JP2577573Y2 - Robot drive mechanism - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving mechanism for a robot such as a scalar type robot.

[0002]

2. Description of the Related Art A structure as shown in FIG. 5 is provided as a scalar type robot. In this scalar type robot, a first arm 32 is rotatably supported by a base post 31, and a second arm 33 is rotatably supported at a tip of the first arm 32. A second driving motor 43 having a stator core 39, a driving magnet 40, a winding 41 and an output shaft 42 together with a first driving motor 38 having a stator core 34, a driving magnet 35, a winding 36 and an output shaft 37. Are provided on the base post 31.

In such a structure, by controlling the first drive motor 38 and the second drive motor 43, the rotation angle and the rotation direction of the first arm 32 and the second arm 33 can be changed. , So that a desired operation is performed.

[0004]

By the way, in the conventional driving mechanism of the robot, the base post is provided with the respective driving motors as the first and second driving means, so that the first and second arms are driven. There is a problem that it is difficult to reduce the thickness because the height dimension is large. In addition, since the number of bearings to be used increases due to the structure, there is also a problem that cost increase is unavoidable and manufacture is difficult.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and has as its object to provide a drive mechanism for a robot which not only enables a reduction in thickness, but also reduces costs and facilitates manufacturing. It is intended for.

[0006]

Means for Solving the Problems In order to achieve the above object, the present invention provides a spindle and a shaft provided on an outer peripheral side of the spindle.
1st stator and the supporter facing the first stator.
A first rotor having a first rotor rotatably provided with respect to a shaft;
1 driving means, and a second driving means provided on the outer peripheral side of the support shaft.
The support shaft is opposed to the stator and the second stator.
A second rotor having a second rotor rotatably provided
Driving means, rotatably supported about the support shaft,
And the first drive means and the second drive means
Arm driven by the first arm and the first arm
A pulley rotatably supported at the tip of the
A second arm that is provided and rotates integrally with the pulley;
A first belt connecting a first rotor and the pulley
And the second rotor rotates in the same direction as the first rotor.
When the roll is turned, the
Direction of the torque transmitted to the first belt
The second rotor so that the rotation direction is opposite to the rotation direction.
And a second belt connecting the pulley and the pulley,
The first belt is connected to the first rotor of the first rotor.
Wrap around the part facing the data and move the second belt forward.
The second rotor is opposed to the second stator.
The first driving means and the second driving means
It is characterized in that the step and the step are driven cooperatively .

[0007] Further, the present invention according to claim 2 is characterized in that:
The first driving means and the second driving means are connected to the first arc.
It is housed inside the system.

[0008]

According to the configuration of the present invention, the first rotor having the first and second rotors rotatably on the outer peripheral side of the support shaft .
If only setting the second drive means, said a first rotor and the pulley are connected by a first belt, and connecting the second rotor and the pulley at the second belt, said first drive Means and second
And the other driving means are driven cooperatively. At this time, the second rotor
When the roller rotates in the same direction as the first rotor, the guide roller
Direction of the torque transmitted to the pulley
Is opposite to the direction of rotation by the first belt
Since the second rotor and the pulley are connected, various operations are performed.
Can be performed at high speed.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. 1 and 2 are a sectional view and a plan view showing an embodiment of the drive mechanism of the robot of the present invention. An arm mounting shaft 1 has a first arm 2 rotatably supported by ball bearings 13 and 16 on the arm mounting shaft 1 serving as a support shaft. 3 is a rotor of the first drive unit A
First which also serves as a drive pulley of the belt 10 as a first belt
And is rotatably supported on the arm mounting shaft 1 by a ball bearing 14. Rotor 3
The pulley 9 and the pulley 9 are connected by a belt 10 so that the pulley 9 rotates in the same direction as the rotation direction of the rotor 3.

Reference numeral 4 denotes a rotor of the second drive unit B.
Second which also serves as a drive pulley of the belt 11 as the second belt
And is rotatably supported on the arm mounting shaft 1 by a ball bearing 15. Reference numerals 5 and 6 denote stators of the first drive unit A and the second drive unit B, respectively, 5 is a first stator, and 6 is a second stator.
It has become theta. Reference numerals 7 and 8 denote drive magnets of the first and second drive units A and B, respectively. The belt 11 is rotated between the rotor 4 and the pulley 9 via a guide roller 19 so that the pulley 9 rotates in a direction opposite to the rotation direction of the rotor 4.
Are connected by

A second arm 12 is rotatably supported on the first arm 2 by ball bearings 17 and 18 integrally with the pulley 9.

When the rotor 3 of the drive unit A and the rotor 4 of the drive unit B rotate in the same direction by the same angle, the belt 10 and the belt 11
And try to apply the opposite rotational force,
The pulley 9 is killed and does not rotate. As a result, the first arm 2 rotates, and the second arm 12 does not rotate. Next, when the rotor 3 and the rotor 4 rotate in the opposite directions by the same angle, the pulley 9 rotates in the same direction as the rotation direction of the rotor 3, so that the second arm 12 rotates and the first arm 2 does not rotate. Further, in the above operation, when the rotation angles of the rotors 3 and 4 are not equal, the first arm 2 and the second arm 12 rotate simultaneously.

According to the structure of this embodiment, the first
Of the drive unit A and the second drive unit B
The rotor 4 is provided in a so-called outer rotor type provided on the outer peripheral side of the arm mounting shaft 1, so that the height dimension of the first arm 2 and the second arm 12 does not increase. Therefore, the thickness of the drive mechanism of the robot can be reduced. In addition, the number of ball bearings used is reduced, so that an increase in cost can be avoided, and accordingly, manufacturing can be facilitated.

FIG. 3 shows another embodiment of the present invention.
This shows an example in which the robot controller 20 is used as a robot table. FIG. 4 shows another embodiment of the present invention, in which the robot controller 20 is installed on a support 21 separately from the robot controller 20.

As in each of these embodiments, according to the present invention, it is not necessary to mount the drive mechanism on the base post as in the conventional robot, and it is possible to mount the drive mechanism on a required position as an arm. , The scope of application can be expanded. In this embodiment, a scalar type robot has been described as an example, but the present invention is not limited to this.

[0016]

[Effects of the Invention] As described above, according to the present invention ,
The pulley and the opposed part of the rotor facing the data
Since it is connected by a bolt, it is possible to provide a rotatable driving means on the outer peripheral surface of the arm mounting shaft, not only to enable a reduction in thickness, but also to reduce costs and facilitate manufacturing. . Also, the first driving means and
The second drive means is provided on a common support shaft, and the second arm is provided on the second arm.
Has no drive means, so high-speed response
It becomes possible. Moreover, one of the two belts
So that the pulleys rotate in the reverse direction, and drive both
It is possible to perform various operations with a simple configuration.
And what can be done.

[Brief description of the drawings]

FIG. 1 is a sectional view showing an embodiment of a driving mechanism of a robot according to the present invention.

FIG. 2 is a plan view showing the embodiment.

FIG. 3 is a schematic view showing another embodiment of the present invention.

FIG. 4 is a schematic view showing another embodiment of the present invention.

FIG. 5 is a sectional view showing a conventional example.

[Explanation of symbols]

 Reference Signs List 1 arm mounting shaft 2 first arm 3, 4 rotor 5, 6 stator 7, 8 drive magnet 9 pulley 10, 11 belt 12 second arm 20 robot controller

Claims (2)

(57) [Scope of request for utility model registration] 1. A support shaft and a support shaft provided on an outer peripheral side of the support shaft.
1st stator and the supporter facing the first stator.
A first rotor having a first rotor rotatably provided with respect to a shaft;
1 driving means, and a second driving means provided on the outer peripheral side of the support shaft.
The support shaft is opposed to the stator and the second stator.
A second rotor having a second rotor rotatably provided
Driving means, rotatably supported about the support shaft,
And the first drive means and the second drive means
Arm driven by the first arm and the first arm
A pulley rotatably supported at the tip of the
A second arm that is provided and rotates integrally with the pulley;
A first belt connecting a first rotor and the pulley
And the second rotor rotates in the same direction as the first rotor.
When the roll is turned, the
Direction of the torque transmitted to the first belt
The second rotor so that the rotation direction is opposite to the rotation direction.
And a second belt connecting the pulley and the pulley,
The first belt is connected to the first rotor of the first rotor.
Wrap around the part facing the data and move the second belt forward.
The second rotor is opposed to the second stator.
The first driving means and the second driving means
Driving of a robot characterized by being driven cooperatively with a step
Dynamic mechanism. 2. The first driving means and the second driving means.
The step being housed inside the first arm;
The drive mechanism of a robot according to claim 1, wherein