JP2518702Y2 - Drive transmission device for articulated robot arm - Google Patents
Drive transmission device for articulated robot armInfo
- Publication number
- JP2518702Y2 JP2518702Y2 JP1989095400U JP9540089U JP2518702Y2 JP 2518702 Y2 JP2518702 Y2 JP 2518702Y2 JP 1989095400 U JP1989095400 U JP 1989095400U JP 9540089 U JP9540089 U JP 9540089U JP 2518702 Y2 JP2518702 Y2 JP 2518702Y2
- Authority
- JP
- Japan
- Prior art keywords
- arm
- motor
- direct drive
- opening
- drive motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Description
【考案の詳細な説明】 （産業上の利用分野） 本考案は多関節ロボットアームの駆動伝達装置に関す
る。DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a drive transmission device for an articulated robot arm.
（従来技術） 従来第３図に示す如く、基部アーム１先端に先端アー
ム２駆動用のダイレクトドライブモータ３を配設し、先
端アーム２先端の作業軸４駆動用の作業軸モータ５を先
端アーム２中間上部に配設し、該作業軸モータ５の出力
軸６とをベルト７で連動するようにした多関節ロボット
アームの駆動伝達装置は公知である。(Prior Art) Conventionally, as shown in FIG. 3, a direct drive motor 3 for driving a tip arm 2 is arranged at the tip of a base arm 1, and a work axis motor 5 for driving a work axis 4 at the tip of the tip arm 2 is provided as a tip arm. A drive transmission device for a multi-joint robot arm, which is disposed in the middle upper part of the work shaft and is linked with the output shaft 6 of the work shaft motor 5 by a belt 7, is known.
（考案が解決しようとする課題） 上記従来技術にあってはダイレクトドライブモータ３
は径が大きいので先端アーム２中間上面に配設されたサ
ーボモータ５と基部アーム１が第４図の如く干渉し、先
端アーム２の回動範囲θ′がかなり狭くなるという問題
点があった。(Problems to be Solved by the Invention) In the above conventional technology, the direct drive motor 3 is used.
Since the diameter is large, there is a problem that the servo motor 5 disposed on the intermediate upper surface of the tip arm 2 interferes with the base arm 1 as shown in FIG. 4, and the rotation range θ ′ of the tip arm 2 becomes considerably narrow. .
（課題を解決するための手段） 本考案は上記問題点を解決することを目的とし、基部
アームの先端上部に開口を形成し、ダイレクトドライブ
モータのステータを基部アーム先端に固定し、その中空
部を前記開口と一致させ、先端アームの基部を前記ダイ
レクトドライブモータのロータに固定し、前記ダイレク
トドライブモータの中空部に作業軸モータ及びエンコー
ダーを配設し、下方に減速機を突出し、減速機出力軸と
作業軸とをベルト連動し、前記開口より作業用モータ及
びエンコーダーのケーブルを取り出すようにしたことを
特徴とするものである。(Means for Solving the Problems) In order to solve the above problems, the present invention forms an opening at the upper end of the base arm and fixes the stator of the direct drive motor to the end of the base arm. Is aligned with the opening, the base of the tip arm is fixed to the rotor of the direct drive motor, the working shaft motor and the encoder are arranged in the hollow part of the direct drive motor, and the speed reducer is projected downward to output the speed reducer. The shaft and the work shaft are interlocked with each other by a belt, and the cables of the work motor and the encoder are taken out from the opening.
（実施例） 以下、第１図、第２図に示した実施例に基づいて具体
的に説明する。10は基部アームでその先端上部に開口部
10aが形成され、該開口部とダイレクトドライブモータ1
1の中空部11aとを合致してダイレクトドライブモータ11
のステータを基部アーム10に固定するよう配設し、先端
アーム12の基部をダイレクトドライブモータ11のロータ
11bに固定してある。ダイレクトドライブモータ11の中
空部11aには先端アーム12先端の作業軸13を駆動する作
業軸モータ14及びエンコーダー15を所定の間隙を存して
嵌挿し、下方に減速機16を突出し、減速機出力軸と作業
軸13をベルト17で連動している。18は作業軸モータ14及
びエンコーダー15のケーブルである。(Example) Hereinafter, a specific description will be given based on the example shown in FIGS. 1 and 2. 10 is a base arm, and an opening is formed at the upper end of the base arm.
10a is formed, the opening and the direct drive motor 1
Direct drive motor 11 by matching hollow part 11a of 1
Of the direct drive motor 11 is arranged so that the base of the tip arm 12 is fixed to the base arm 10.
It is fixed to 11b. In the hollow portion 11a of the direct drive motor 11, the work shaft motor 14 and the encoder 15 for driving the work shaft 13 at the tip of the tip arm 12 are inserted with a predetermined gap, and the speed reducer 16 is projected downward to output the speed reducer. The shaft and the work shaft 13 are linked by a belt 17. Reference numeral 18 is a cable for the work shaft motor 14 and the encoder 15.
次に作用について説明する。先端アーム12と基部アー
ム10とが干渉するまでの角θは従来のθ′に比べてかな
り大きくなった。Next, the operation will be described. The angle θ until the tip arm 12 and the base arm 10 interfere with each other is considerably larger than the conventional θ ′.
又、作業軸モータ14の発熱は間隙部内で上方へ対流
し、上方開口部10aより外部に放熱され冷却効果が良好
である。Further, the heat generated by the work shaft motor 14 convects upward in the gap and is radiated to the outside through the upper opening 10a, which has a good cooling effect.
尚、作業軸モータ14の取りはずしが容易に行えるの
で、簡単に作業軸モータ14の交換、配線ができる。Since the work shaft motor 14 can be easily removed, the work shaft motor 14 can be easily replaced and wired.
（効果） 本考案によると、基部アームの先端上部に開口を形成
し、ダイレクトドライブモータのステータを基部アーム
先端に固定し、その中空部を前記開口と一致させ、先端
アームの基部を前記ダイレクトドライブモータのロータ
に固定し、前記ダイレクトドライブモータの中空部に作
業軸モータ及びエンコーダーを配設し、下方に減速機を
突出し、減速機出力軸と作業軸とをベルト連動し、前記
開口より作業用モータ及びエンコーダーのケーブルを取
り出すようにしてあるので、先端アームの回転イナーシ
ャーが小さく、先端アームの回転範囲を大にできる。(Effect) According to the present invention, an opening is formed at the upper end of the base arm, the stator of the direct drive motor is fixed to the end of the base arm, and the hollow part is aligned with the opening, and the base of the front arm is directly driven. It is fixed to the rotor of the motor, the working shaft motor and the encoder are installed in the hollow part of the direct drive motor, the speed reducer is projected downward, the speed reducer output shaft and the working shaft are linked with the belt, and work is performed from the opening. Since the cables of the motor and the encoder are taken out, the rotation inertia of the tip arm is small and the rotation range of the tip arm can be widened.
第１図は本考案の一実施例要部切断正面図、第２図は第
１図の作動説明平面図、第３図は従来装置の要部切断平
面図、第４図は第３図の作動説明平面図である。 10……基部アーム 11……ダイレクトドライブモータ 11a……中空部 14……作業軸モータFIG. 1 is a front view of the essential part of an embodiment of the present invention, FIG. 2 is a plan view of the operation of FIG. 1, FIG. 3 is a plan view of the essential part of a conventional device, and FIG. FIG. 10 …… Base arm 11 …… Direct drive motor 11a …… Hollow part 14 …… Working axis motor
Claims (1)
イレクトドライブモータのステータを基部アーム先端に
固定し、その中空部を前記開口と一致させ、先端アーム
の基部を前記ダイレクトドライブモータのロータに固定
し、前記ダイレクトドライブモータの中空部に作業軸モ
ータ及びエンコーダーを配設し、下方に減速機を突出
し、減速機出力軸と作業軸とをベルト連動し、前記開口
より作業用モータ及びエンコーダーのケーブルを取り出
すようにした多関節ロボットアームの駆動伝達装置。1. An opening is formed at an upper end of a base arm, a stator of a direct drive motor is fixed to a front end of the base arm, a hollow portion thereof is aligned with the opening, and a base of the front arm is a rotor of the direct drive motor. Fixed to the direct drive motor, the work shaft motor and the encoder are installed in the hollow part, the speed reducer is projected downward, the speed reducer output shaft and the work shaft are belt-linked, and the work motor and encoder are installed through the opening. Drive transmission device for an articulated robot arm designed to take out the cable of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1989095400U JP2518702Y2 (en) | 1989-08-14 | 1989-08-14 | Drive transmission device for articulated robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1989095400U JP2518702Y2 (en) | 1989-08-14 | 1989-08-14 | Drive transmission device for articulated robot arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0336787U JPH0336787U (en) | 1991-04-10 |
| JP2518702Y2 true JP2518702Y2 (en) | 1996-11-27 |
Family
ID=31644661
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1989095400U Expired - Lifetime JP2518702Y2 (en) | 1989-08-14 | 1989-08-14 | Drive transmission device for articulated robot arm |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2518702Y2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012029173A1 (en) * | 2010-09-03 | 2012-03-08 | 三菱電機株式会社 | Ceiling-mounted scara robot |
| WO2014024690A1 (en) * | 2012-08-09 | 2014-02-13 | 日本電産サンキョー株式会社 | Industrial robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6377673A (en) * | 1986-09-19 | 1988-04-07 | 株式会社三協精機製作所 | Dd drive horizontal multi-joint robot |
| JPH0192085A (en) * | 1987-09-30 | 1989-04-11 | Nitto Seiko Co Ltd | Controller for attitude of working tool for industrial robot |
-
1989
- 1989-08-14 JP JP1989095400U patent/JP2518702Y2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0336787U (en) | 1991-04-10 |
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