JP5976400B2 - Robot joint - Google Patents

Description

  The present invention relates to a joint body of a robot incorporating a drive unit for driving a joint body.

  When a robot with a multi-joint body stops due to some abnormality such as an emergency stop operation or power failure, if the joint body hangs under its own weight without being able to maintain its posture, the joint bodies are present around the robot It is dangerous to come into contact with. For this reason, the robot is generally provided with a posture holding brake.

For example, Patent Document 1 discloses an industrial robot having a non-excitation brake. The joint body of this industrial robot is provided with a drive unit composed of the non-excitation brake, a motor, and a speed reducer. The input shaft of the speed reducer is connected in series with the motor shaft of the motor. The input shaft of the speed reducer extends through the speed reducer to the opposite side of the motor, and a non-excitation brake is attached to the extended portion of the input shaft.
When operating the robot by rotating the joint body, the current is supplied to the non-excited brake, the armature is attracted toward the stator against the biasing force of the braking spring, and the armature is separated from the brake disc. Release the brake. That is, when the brake is released, current is constantly supplied to the non-excitation brake. On the other hand, when the supply of current is stopped due to an emergency stop or a power failure, the armature is pressed against the brake disc by the urging force of the braking spring, and the brake is activated. Thereby, the posture of the robot can be maintained.

  Patent Document 2 discloses a robot in which a motor, a speed reducer, and a brake are separately formed and arranged in parallel. The brake of this robot is arranged on the side of the motor so that the brake shaft is parallel to the motor shaft of the motor, and the brake shaft of the brake and the motor shaft of the motor are connected by a first endless belt. ing. The speed reducer is provided on the side of the motor opposite to the brake, and the input shaft of the speed reducer and the motor shaft of the motor are connected by a second endless belt. Therefore, the motor, the brake, and the speed reducer are arranged in three rows in parallel.

JP-A-6-285785 JP 2010-94749 A

However, in the industrial robot described in Patent Document 1, when the joint body rotates, current is always supplied to the non-excitation brake, so the brake generates heat and becomes high temperature. And when this heat is transmitted to the motor, the heat load on the motor increases, which may cause a failure.
Further, in this industrial robot, since the motor, the speed reducer, and the brake are connected in series in the axial direction of the motor shaft, the length of the joint body is increased in the axial direction of the motor shaft. For this reason, this industrial robot has the protrusion part which the reduction gear and the brake protruded to the outward of the joint body. A robot having such a protruding portion can be used as an industrial robot installed in a place where a person cannot approach. However, work robots and amusement robots that run on their own and move in close proximity to humans may collide with the protrusions and injure people. It is not preferable.

  On the other hand, in the robot described in Patent Document 2, since the motor, the speed reducer, and the brake are arranged in three rows in parallel, the length of the joint body in the direction orthogonal to the motor axis is increased. Therefore, there is a problem that it is difficult to reduce the size of the joint body.

  Accordingly, the present invention is an invention made under the above-described state of the art, and it is an object of the present invention to provide a joint body of a robot that can reduce the thermal load on the motor and can be miniaturized. Yes.

The present invention was invented in order to solve the above-described problems in the prior art, and the joint body of the robot according to the present invention includes a motor output shaft and a brake disposed in parallel with the output shaft. A transmission mechanism that connects the shaft, the output shaft, and one end of the brake shaft to transmit the rotation of the motor to the brake shaft, and a central portion of the brake shaft is penetrated, and the brake shaft rotates. a hollow reduction gear for transmitting the driven member to decelerate the movement, the other end of the brake shaft is fitted through, and a hollow electromagnetic brake for braking the brake shaft, the joint body of the robot An output shaft of the motor, a brake shaft arranged parallel to the output shaft, a hollow speed reducer and an electromagnetic brake, the speed reducer and the electromagnetic brake arranged in series, and in parallel with the motor Reducer and electromagnetic blur The speed reducer and the electromagnetic brake are provided separately from the motor, the speed reducer and the electromagnetic brake are arranged in parallel with the motor, and the speed reducer and the electromagnetic brake are coaxially attached to one brake shaft. A reduction joint and an electromagnetic brake are arranged in two rows in parallel with a motor.

The joint body of the robot includes an output shaft of a motor, a brake shaft arranged in parallel with the output shaft, a hollow speed reducer, and an electromagnetic brake. In this configuration, the speed reducer and the electromagnetic brake are arranged in series, and the speed reducer and the electromagnetic brake are arranged in parallel with the motor. As described above, the speed reducer and the electromagnetic brake are provided separately from the motor, and the speed reducer and the electromagnetic brake are arranged in parallel with the motor. Therefore, the length of the joint body in the motor axial direction is longer than the joint body described in Patent Document 1. Can be shortened.
In addition, since the speed reducer and the electromagnetic brake are coaxially attached to one brake shaft, even if the speed reducer and the electromagnetic brake are arranged in two rows in parallel with the motor, the joint body in the direction orthogonal to the motor axis The length can be shortened. Therefore, the length of the joint body in the direction orthogonal to the motor axis can be made shorter than the joint body described in Patent Document 2 in which the motor, the electromagnetic brake, and the speed reducer are arranged in three rows in parallel.
As described above, since the length of the joint body in the motor axis direction and the motor axis orthogonal direction of the motor can be shortened, the joint body can be reduced in size. In addition, since the joint body can be downsized, the degree of freedom in design is increased, and a joint body having an excellent aesthetic appearance can be designed.
Furthermore, since the electromagnetic brake is provided separately from the motor, the heat of the electromagnetic brake can be prevented from being transmitted to the motor. Thereby, the thermal load to a motor can be reduced.
In addition, since the operating end of the driven member is connected to the outer periphery of the output unit of the speed reducer, the driven member can be rotated by rotating the output unit.

  The electromagnetic brake may be a non-excitation brake that brakes the brake shaft and stops rotation of the brake shaft when power is not supplied.

  As described above, since the non-excitation brake is provided, when the supply of current is stopped due to an emergency stop or a power failure, the armature is pressed against the brake disc by the urging force of the brake spring, and the brake is activated. Thereby, the posture of the robot can be maintained.

The electromagnetic brake is braked by energizing the brake coil, including a stator enclosing a brake coil and connected to the output portion of the speed reducer, a brake disc fixed to the other end of the brake shaft, and the brake coil. An armature that is attracted to the stator against the biasing force of a spring to form a gap with the brake disk and that is pressed against the brake disk by the biasing force of the brake spring when not energized to brake the brake shaft And,
The stator of the electromagnetic brake may rotate together with the output unit of the speed reducer so as to be rotatable relative to the brake shaft.

  Thus, since the stator of the electromagnetic brake is connected to the output part of the speed reducer, a support material such as a frame that supports the electromagnetic brake is not necessary. Thereby, a joint body can be reduced in size.

The speed reducer is provided with an input portion that is concentric with the brake shaft and can rotate integrally with the brake shaft, and has an inner tooth surrounding the input portion on the inner peripheral surface and a non-rotatable ring shape. The outer portion of the fixed portion and the outer teeth meshing with the inner teeth with a number of teeth different from the inner teeth, and the output portion that decelerates and outputs the rotation of the input portion,
The brake shaft may be inserted into the input portion, the fixed portion, and the output portion of the speed reducer.

Thus, since the external teeth of the output unit and the internal teeth of the fixed unit are different in number of teeth, the rotation of the input unit can be decelerated and output to the output unit.
In addition, since the speed reducer is provided with a fixed portion so as to surround the input portion, and the output portion is disposed so that the external teeth mesh with the internal teeth of the fixed portion, the axial length of the brake shaft is shortened. be able to.

  ADVANTAGE OF THE INVENTION According to this invention, the thermal joint to a motor can be reduced and the joint body of the robot which can be reduced in size can be provided.

It is a typical perspective view showing the whole robot which has a multi-joint body concerning an embodiment of the present invention. It is a perspective view which shows the state which removed the cover case of the one side of the 1st joint body which concerns on this embodiment. It is a conceptual diagram which shows the drive unit which concerns on this embodiment. It is a front sectional view of the 1st joint object concerning this embodiment. It is a figure which shows an example of the planetary gear speed reducer to which the thought of this invention is applied. It is AA sectional drawing of FIG.

Hereinafter, embodiments of the present invention will be described in more detail based on the drawings.
However, the scope of the present invention is not limited to the following embodiments. The dimensions, materials, shapes, relative arrangements, and the like of the components described in the following embodiments are merely illustrative examples and are not intended to limit the scope of the present invention only unless otherwise specified.

FIG. 1 is a schematic perspective view showing an entire robot having an articulated body according to an embodiment of the present invention.
As shown in FIG. 1, the robot 1 includes a base 2, a first joint body 3, a second joint body 4, a third joint body 5, a fourth joint body 6, and a fifth joint body 7. It is equipped with.

The base 2 of the robot 1 is fixed to a traveling device 8 capable of self-running. Note that the base 2 of the robot 1 may be fixed to a floor, a frame, or the like.
Further, the first joint body 3 is supported on the base 2 and is rotatable about a vertical rotation axis A. The first joint body 3 is rotated by a drive unit (not shown) installed in the base 2.

  The second joint body 4 has a base end supported by the first joint body 3 and is rotatable about a horizontal rotation axis B. The second joint body 4 is rotated by a drive unit 10 installed in the first joint body 3.

  The base end of the third joint body 5 is supported by the second joint body 4 and is rotatable about a horizontal rotation axis C. The third joint body 5 is rotated by a drive unit 11 installed in the second joint body 4.

  The fourth joint body 6 is supported by the third joint body 5 and is rotatable about the rotation axis D. The fourth joint body 6 is rotated by a drive unit (not shown) installed in the third joint body 5.

  The fifth joint body 7 has a base end supported by the fourth joint body 6 and is rotatable about a rotation axis E. The fifth joint body 7 is rotated by a drive unit 12 installed in the fourth joint body 6. Further, the fifth joint body 7 includes a grip portion 13 that can grip an object.

  In this embodiment, the case where five joint bodies from the first joint body 3 to the fifth joint body 7 are used has been described. However, the number of joint bodies is not limited to this number. Can do.

  The drive units 10, 11, and 12 installed in the first joint body 3, the second joint body 4, and the fourth joint body 6 have substantially the same configuration. Therefore, in the following, the drive unit 10 installed in the first joint body 3 will be described as a representative example, and the drive units 11 and 12 installed in the second joint body 4 and the fourth joint body 6 respectively. Is omitted.

<About the drive unit 10>
FIG. 2 is a perspective view showing a state in which the cover case on one side of the first joint body 3 according to the present embodiment is removed.
As shown in FIG. 2, the first joint body 3 includes a drive unit 10, a frame 14, and a cover case 23 that houses the drive unit 10 and the frame 14.
The frame 14 is rotatably supported by the base 2 (see FIG. 1), and supports the devices constituting the drive unit 10.

FIG. 3 is a conceptual diagram showing the drive unit 10 according to the present embodiment. FIG. 4 is a front sectional view of the first joint body 3 according to the present embodiment.
As shown in FIGS. 3 and 4, the drive unit 10 includes a motor 20, an electromagnetic brake 21, a speed reducer 22, and a brake shaft 25 penetrating the electromagnetic brake 21 and the speed reducer 22. Yes.

  The motor 20 is supported by the lower part of the frame 14 and is accommodated in the cover case 23. The motor 20 is a servo motor having an encoder 24, and rotates a motor shaft 29 according to a control command of a control device (not shown).

The brake shaft 25 is disposed in parallel with the motor shaft 29. The brake shaft 25 includes an end portion 25a supported by the frame 14, a central portion 25b provided with the speed reducer 22 concentrically, and another end portion 25c provided with the electromagnetic brake 21 concentrically. Yes. Therefore, the electromagnetic brake 21 and the speed reducer 22 are coaxially arranged in series.
The brake shaft 25 is formed so that its diameter increases stepwise from the other end 25c toward the one end 25a. Specifically, the diameter of the center part 25b is formed larger than the diameter of the other end part 25c. Moreover, the diameter of the one end part 25a is formed larger than the diameter of the center part 25b.

Next, the speed reducer 22 will be described. Before describing the speed reducer 22 according to the present invention, an example of a planetary gear speed reducer to which the concept of the present invention is applied will be described with reference to FIG. 5 in order to facilitate understanding of the speed reducer 22. Thereafter, the speed reducer 22 according to the present invention will be described. Note that the planetary gear speed reducer shown in FIG. 5 is different from the speed reducer 22 used in the present embodiment.
As shown in FIG. 5, the planetary gear speed reducer 50 includes an input shaft 51 that transmits power from the motor, and a sun gear 52 (corresponding to the input portion 32 of the speed reducer 22) through which the input shaft 51 is inserted. I have. By rotating the input shaft 51, the sun gear 52 rotates.
The input shaft 51 includes one end 51A (corresponding to one end 25a of the brake shaft 25 of the speed reducer 22) that transmits power from a motor (not shown), and the other end 51B (speed reducer) that protrudes on the opposite side of the motor. 22 corresponding to the central portion 25b and the other end portion 25c of the brake shaft 25).

The planetary gear speed reducer 50 rotates a plurality of planetary gears 53 (corresponding to the output portion 31 of the speed reducer 22) and a plurality of planetary gears 53 that are respectively meshed with the outer peripheral surface of the sun gear 52. And a planetary carrier 54 (corresponding to the output unit 31 of the speed reducer 22) that is supported so as to be capable of revolving, and a ring gear 55 that is disposed outside all the planetary gears 53 and meshed with each planetary gear 53. (Corresponding to the fixed portion 33 of the speed reducer 22).
The planetary gear reducer 50 rotates the input shaft 51 to rotate the sun gear 52 and revolve around the sun gear 52 while the planetary gear 53 rotates. In such a case, the planetary carrier 54 also rotates in the revolution direction of the planetary gear 53. Here, since the ring gear 55 is fixed, it does not rotate.
The other end 51B of the input shaft 51 passes through the shaft hole 57 formed in the planetary carrier 54.

Subsequently, the speed reducer 22 will be described with reference to FIGS. 4 and 6. 6 is a cross-sectional view taken along the line AA in FIG.
As shown in FIGS. 4 and 6, the speed reducer 22 cooperates with the input unit 32, the ring-shaped fixing unit 33 that is fixed to the frame 14 and surrounds the input unit 32, and the input unit 32 and the fixing unit 33. And an output unit 31 that decelerates and outputs the rotation of the input unit 32.
A brake shaft 25 is inserted in the input portion 32, the fixed portion 33, and the output portion 31 of the speed reducer 22.

The input portion 32 through which the brake shaft 25 is inserted is fixed to the brake shaft 25 with bolts 39 and is provided concentrically with the brake shaft 25. Thereby, it can rotate integrally with the brake shaft 25.
The input portion 32 is fixed to the brake shaft 25 and has a cam member 45 having an elliptical outer peripheral surface, an inner ring 44 fitted to the outer peripheral surface of the cam member 45, and a plurality of spheres arranged along the inner ring 44. 37.

The fixing portion 33 has inner teeth 33a surrounding the plurality of spheres 37 on the inner peripheral surface.
The output portion 31 includes a carrier portion 34 having external teeth 38a that mesh with the internal teeth 33a, and a cup-shaped hub 35 connected to the carrier portion 34.
The carrier part 34 is arranged between the sphere 37 and the inner teeth 33a, cooperates with the inner ring 44 to sandwich the sphere 37, and has external teeth that have a different number of teeth from the inner teeth 33a and mesh with the inner teeth 33a. A ring-shaped elastically deformable outer ring 38 having an outer peripheral surface 38a.
The brake shaft 25 passes through the shaft hole 34 a formed in the carrier portion 34.

  Since the input unit 32 includes the elliptical cam member 45, the outer ring 38 that sandwiches the sphere 37 also has an elliptical shape. That is, the carrier part 34 also has an elliptical outer peripheral surface. For this reason, the outer teeth 38 a of the major axis portion of the carrier portion 34 mesh with the inner teeth 33 a of the fixing portion 33, and the outer teeth 38 a of the minor axis portion are separated from the inner teeth 33 a of the fixing portion 33. In this state, when the fixing portion 33 is fixed and the input portion 32 is rotated, the outer ring 38 of the carrier portion 34 is elastically deformed so that the outer teeth 38a of the carrier portion 34 and the inner teeth 33a of the fixing portion 33 mesh. The position sequentially moves in the circumferential direction. When the input unit 32 rotates once, the external teeth 38a of the carrier unit 34 and the internal teeth 33a of the fixed unit 33 have different numbers of teeth, so the rotation of the input unit 32 can be decelerated and output to the carrier unit 34. it can.

The hub 35 connected to the carrier part 34 includes a ring-shaped end wall 35a penetrated by the brake shaft 25, and a cylindrical side wall extending from the outer peripheral edge of the end wall 35a to the side opposite to the speed reducer 22. 35b, and has a cup shape.
The hub 35 is supported by a bearing 36 so as to be rotatable with respect to the brake shaft 25. The electromagnetic brake 21 is accommodated inside the hub 35.

  The electromagnetic brake 21 is configured separately from the motor 20 and is provided concentrically with the other end portion 25 c of the brake shaft 25. The electromagnetic brake 21 includes a stator 19 fixed to a hub 35, a brake coil 26 included in the stator 19, an armature 27, an annular brake disk 28, and a brake spring (not shown). In the present embodiment, a non-excitation brake is used as the electromagnetic brake 21.

The brake disc 28 is provided concentrically with the other end portion 25 c of the brake shaft 25, and can be rotated together with the brake shaft 25.
When opening the electromagnetic brake 21, current is supplied to the brake coil 26, the armature 27 is attracted toward the stator 19 against the biasing force of the braking spring, and the armature 27 is separated from the brake disk 28. Thereby, the brake shaft 25 becomes rotatable.
On the other hand, when the electromagnetic brake 21 is operated, the supply of current to the brake coil 26 is stopped, and the armature 27 is pressed against the brake disk 28 by the urging force of the brake spring to prevent the brake shaft 25 from rotating. .

  Since the stator 19 of the electromagnetic brake 21 is fixed to the hub 35, it can be rotated relative to the brake shaft 25. By fixing the electromagnetic brake 21 to the hub 35 via the stator 19, a frame for supporting the electromagnetic brake 21 becomes unnecessary.

A proximal end (corresponding to an operating end) of the second joint body 4 is connected to the outer periphery of the hub 35. As the hub 35 rotates, the second joint body 4 rotates about the brake shaft 25 (corresponding to the rotation shaft B).
In the present embodiment, a hollow speed reducer manufactured by Harmonic Drive Systems Co., Ltd. was used as the speed reducer 22, but is not limited to this, and a planetary gear speed reducer 50 as shown in FIG. 5 is used. Also good.

The motor shaft 29 and the brake shaft 25 of the motor 20 are connected by a pulley mechanism (corresponding to a transmission mechanism) 40 that transmits power. The pulley mechanism 40 is engaged with the first pulley 41 fixed to the motor shaft 29 of the motor 20, the second pulley 42 fixed to one end portion 25 a of the brake shaft 25, and the first pulley 41 and the second pulley 42. And an endless belt 43.
As the endless belt 43, a timing belt having a convex tooth portion on a surface contacting the first pulley 41 and the second pulley 42 is used. Thereby, the endless belt 43 does not slip. Therefore, power can be transmitted efficiently.
The diameter of the second pulley 42 is formed larger than the diameter of the first pulley 41. Thereby, the rotation speed of the motor 20 can be reduced.

<Operation of Drive Unit 10>
Next, the operation of the drive unit 10 when rotating and stopping the second joint body 4 will be described. First, a case where the second joint body 4 is rotated will be described, and then a case where the second joint body 4 is stopped will be described.

When rotating the second joint body 4, first, the motor 20 is driven to rotate the motor shaft 29. The rotation position and speed of the motor shaft 29 are detected by the encoder 24, and are rotated while controlling the rotation position and speed by the control device.
The driving force of the motor 20 is transmitted to the brake shaft 25 via the pulley mechanism 40 such as the endless belt 43 and also transmitted to the speed reducer 22 via the input portion 32 engaged with the brake shaft 25. Then, the rotational speed is decelerated at a predetermined reduction ratio by the speed reducer 22 and is transmitted to the hub 35 via the carrier portion 34. As a result, the second joint body 4 connected to the hub 35 rotates. In such a case, the electromagnetic brake 21 is released so that the hub 35 can rotate. That is, current is supplied to the brake coil 26 of the electromagnetic brake 21 to attract the armature 27 toward the stator 19 against the urging force of the braking spring, and the armature 27 is separated from the brake disk 28.

  On the other hand, when stopping the 2nd joint body 4, the drive of the motor 20 is stopped and rotation of the motor shaft 29 is stopped. Thereby, rotation of the 2nd joint body 4 stops. Note that the electromagnetic brake 21 remains released as in the case where the second joint body 4 is rotated.

  By the way, when the emergency stop button is pressed and the emergency stop is performed, or when the emergency stop button is stopped due to a power failure, the supply of current to the drive unit 10 is stopped. Accordingly, the supply of electric power to the motor 20 is stopped, so that the drive of the motor 20 is stopped and the rotation of the second joint body 4 is stopped. In addition, since the supply of current to the brake coil 26 is also stopped, the urging force of the brake spring is urged to the armature 27 and the armature 27 is pressed against the brake disc 28 and the electromagnetic brake 21 is applied. Thereby, rotation of the brake shaft 25 is prevented. Therefore, the posture of the second joint body 4 can be maintained.

The first joint body 3, the second joint body 4, and the fourth joint body 6 of the robot 1 according to the above-described embodiment include a motor 20 and a brake shaft 25 provided in parallel with the output shaft 29 of the motor 20. The speed reducer 22 and the electromagnetic brake 21 provided concentrically on the brake shaft 25 are provided. In this configuration, the electromagnetic brake 21 and the speed reducer 22 are arranged in series, and the electromagnetic brake 21 and the speed reducer 22 are arranged in parallel with the motor 20. As described above, the electromagnetic brake 21 and the speed reducer 22 are provided separately from the motor 20, and the electromagnetic brake 21 and the speed reducer 22 are arranged in parallel with the motor 20. The length of each joint body 3, 4, 6 in the output shaft direction can be shortened.
Further, the electromagnetic brake 21 and the speed reducer 22 are coaxially attached to one brake shaft 25, and the input portion 32, the fixed portion 33, and the output portion 31 of the speed reducer 22 are configured to be shorter in the brake shaft direction. Therefore, even if the electromagnetic brake 21 and the speed reducer 22 are arranged in two rows in parallel above the motor 20, the lengths of the joint bodies 3, 4, and 6 in the direction perpendicular to the motor axis can be shortened. it can. Therefore, each joint body 3, 4 in the direction orthogonal to the output axis of the motor 20 is more than the joint body described in Patent Document 2 in which the motor 20, the electromagnetic brake 21, and the speed reducer 22 are arranged in three rows in parallel. , 6 can be shortened.
Therefore, since the lengths of the joint bodies 3, 4, 6 in the output axis direction and the output axis orthogonal direction of the motor 20 can be shortened, the joint bodies 3, 4, 6 can be downsized. In addition, since the joint bodies 3, 4, and 6 can be downsized, the degree of freedom in design is increased, so that the joint bodies 3, 4, and 6 and the robot 1 having an excellent aesthetic appearance can be designed.

Furthermore, since the electromagnetic brake 21 is provided separately from the motor 20, the heat of the electromagnetic brake 21 can be prevented from being transmitted to the motor 20. Thereby, the thermal load to the motor 20 can be reduced.
In particular, since the electromagnetic brake 21 is provided in the hub 35, the heat of the electromagnetic brake 21 can be suitably prevented from being transmitted to the speed reducer 22 and the motor 20.

  Since the motor shaft 29 and the brake shaft 25 of the motor 20 are connected by the endless belt 43, the driving force of the motor 20 can be transmitted to the speed reducer 22 via the brake shaft 25. Further, since the endless belt 43 is used, the joint bodies 3, 4, 6 can be rotated more silently than when power is transmitted via gears.

  The configuration contents of the drive units 11 and 12 respectively installed in the second joint body 4 and the fourth joint body 6 are substantially the same as those of the drive units 10 installed in the first joint body 3. Different sizes and performances of the components may be used. For example, the motor of the second joint body 4 is smaller than the output of the motor 20 of the first joint body 3, and the motor of the fourth joint body 6 is more than the output of the motor of the second joint body 4. Smaller ones may be used. The motor 20 of the first joint body 3 rotates the second joint body 4, the third joint body 5, the fourth joint body 6, the fifth joint body 7, etc. existing above the first joint body 3. High output torque is required. On the other hand, since the motor of the 4th joint body 6 rotates only the 5th joint body 7, it may be a thing with low output torque. Therefore, a motor having a lower output torque can be used as the joint body located above. By using a motor having a low output torque, the size of the motor can be reduced. Thereby, it becomes possible to reduce the size of the joint body as it goes upward.

  In this embodiment, the robot 1 that operates like a human arm has been described. However, the robot 1 is not limited to the arm, and a robot that operates like a leg, a robot that operates like a snake, and the like. You may apply to.

  The present invention can be applied not only to industrial robots, but also to working robots and amusement robots that are self-propelled and approach humans or coexist with humans.

DESCRIPTION OF SYMBOLS 1 Robot 2 Base 3 1st joint body 4 2nd joint body 5 3rd joint body 6 4th joint body 7 5th joint body 8 Traveling apparatus 10 Drive unit 11 Drive unit 12 Drive unit 13 Grip part 14 Frame 19 Stator 20 Motor 21 Electromagnetic brake 22 Reducer 23 Cover case 24 Encoder 25 Brake shaft 25a One end portion 25b Central portion 25c Other end portion 26 Brake coil 27 Armature 28 Brake disk 29 Motor shaft 31 Output portion 32 Input portion 33 Fixed portion 33a Internal teeth 34 Carrier Portion 34a Shaft hole 35 Hub 35a End wall 35b Side wall 36 Bearing 37 Sphere 38 Outer ring 38a Outer gear 39 Bolt 40 Pulley mechanism 41 First pulley 42 Second pulley 43 Endless belt 44 Inner ring 45 Cam member

Claims (4)

The joint body of the robot connects the output shaft of the motor, the brake shaft arranged in parallel with the output shaft, and the output shaft and one end of the brake shaft to transmit the rotation of the motor to the brake shaft. A transmission mechanism, a central portion of the brake shaft is penetrated, a hollow speed reducer that decelerates rotation of the brake shaft and transmits it to a driven member, and the other end portion of the brake shaft is penetrated. A hollow electromagnetic brake for braking the brake shaft,
The joint body of the robot includes an output shaft of the motor, a brake shaft arranged in parallel with the output shaft, a hollow speed reducer and an electromagnetic brake, and the speed reducer and the electromagnetic brake are arranged in series. In addition, a speed reducer and an electromagnetic brake are arranged in parallel with the motor, the speed reducer and the electromagnetic brake are provided separately from the motor, and a speed reducer and an electromagnetic brake are arranged in parallel with the motor, and further, the speed is reduced to one brake shaft. An articulated body of a robot , wherein a speed reducer and an electromagnetic brake are coaxially mounted, and the speed reducer and the electromagnetic brake are arranged in two rows in parallel with the motor .   2. The robot joint according to claim 1, wherein the electromagnetic brake is a non-excited brake that brakes the brake shaft to stop the rotation of the brake shaft when de-energized. 3. The electromagnetic brake includes a stator that includes a brake coil and is connected to the output portion of the speed reducer, a brake disk that is fixed to the other end of the brake shaft, and a brake spring that is energized to the brake coil. An armature that is attracted to the stator against the urging force to form a gap with the brake disc, and is pressed against the brake disc by the urging force of the brake spring when not energized to brake the brake shaft; With
3. The robot joint according to claim 1, wherein the stator of the electromagnetic brake rotates together with the output unit of the speed reducer and can rotate relative to the brake shaft. 4. body. The speed reducer is provided with an input portion that is concentric with the brake shaft and can rotate integrally with the brake shaft, and has an inner tooth surrounding the input portion on the inner peripheral surface, and a non-rotatable ring-shaped fixing. And an outer part having external teeth meshing with the internal teeth with a different number of teeth from the internal teeth, and the output unit that decelerates and outputs the rotation of the input unit,
2. The robot joint according to claim 1, wherein the brake shaft is inserted into the input unit, the fixed unit, and the output unit of the speed reducer.

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