JPH0259289A - Articulated robot for direct drive - Google Patents

Abstract

PURPOSE:To simplify structure and to transmit a rotary force to an arm efficiently by constituting a direct driving motor for driving a 1st arm in an outer rotor type and a direct driving motor for driving a 2nd arm in an inner rotor type. CONSTITUTION:In the case of the 1st coil 13 of a direct driving motor 11 becoming in an electrified state, a 1st rotor 16 is turned and a 1st arm 10 is turned in specified direction. In the case of the 2nd coil 24 of a direct driving motor 21 becoming in an electrified state, a 2nd hollow rotor 25 is turned, this rotary force is transmitted to a 2nd arm 20 via a driving transmission means 30 and rotated by the necessary angle in the specified direction centering around a shaft 27 at the terminal part of the 1st arm 10. Accordingly, the 1st arm 10 and 2nd arm 20 are rotated by the necessary angle, a work shaft 28 is moved in the specified direction and the necessary work can be performed by a chuck 29 with the rotation thereof and vertical movement.

Description

DETAILED DESCRIPTION OF THE INVENTION Technical Field of the Invention The present invention relates to a direct drive articulated robot.

BACKGROUND OF THE INVENTION The invention disclosed in Japanese Unexamined Patent Publication No. 173875/1987 discloses a direct drive type articulated robot.

In the robot, two direct motors are arranged one above the other in the main body of the robot, and their rotational force is transmitted to the first arm or the second arm by two concentric struts. In such a structure, since the support portion is double, the motor portion becomes structurally complex.

OBJECT OF THE INVENTION Accordingly, an object of the present invention is to simplify the structure of the rotational force transmitting portion when the direct drive motors for driving the first arm and the second arm are disposed above and below.

Solution to the Invention In view of the above object, the present invention provides a direct drive motor for driving the first arm and a direct drive motor for driving the second arm, which are arranged vertically on a base. The direct drive motor is an outer rotor type, and the direct drive motor for driving the second arm is an inner rotor type. This simplifies the structure of the upper and lower direct drive motors, and allows their rotational forces to be efficiently transmitted to the arm.

The configuration diagram of the invention shows a direct drive articulated robot 1 of the invention.

The direct drive articulated robot 1 is of a horizontal two-joint type and includes a direct drive motor 11 for driving the first arm 10 and a direct drive motor 21 for driving the second arm 20.

These direct drives 11.21 are stacked one above the other and constitute the robot body.

First, the direct drive motor 21 is of an inner rotor type, and has a cylindrical stator 2 on the fixed side that also serves as the base 2.
2, an annular magnet 23 fixed inside this cylindrical stator 22, a second coil 24 facing away from the inner peripheral surface of the magnet 23, and this second coil 24 fixed, It is constituted by a second hollow rotor 25 rotatably supported by a bearing 26 with respect to the cylindrical stator 22. Note that this second hollow rotor 25 extends upward and reaches the inside of the first arm 10.

Further, the direct drive motor 11 for driving the first arm 10 is of an outer rotor type, and has a cylindrical stator 22.
A cylindrical first stator 12 fixed to the upper part of the cylindrical first stator 12, and a first coil 1 fixed to the outside of this first stator 12.
3, an annular magnet 14 facing away from the outer peripheral surface of the first coil 13 on the outside of the first coil 13, and a first rotor rotatably supported by a bearing 15 to the first stator 12 and fixing the magnet 14. 16.

The first arm 10 is directly fixed to the upper part of the first rotor 16 at its base end portion. Further, the second arm 20 is rotatably fixed to the distal end portion of the first arm 10 by a vertical shaft 27 at its base end portion.

The second arm 20 has a vertically movable and rotatable working shaft 28 at its tip, and a chuck 29 suitable for the work at its lower end.

The rotational force of the hollow rotor 25 is then applied to the first arm 1.
The drive transmission means 30 inside the second arm 20
is transmitted to. In this embodiment, the drive transmission means 30 includes a pulley 31 fixed to the upper part of the second hollow rotor 25;
A pulley 32 fixed to the upper end of the shaft 27, these pulleys 3
It is composed of two belts 33 and 34 that are wrapped around the outer periphery of 1.32 in a parallel or cross pattern and fixed at each end.

Effect of the Invention The first arm 10 is driven by the direct drive motor 11 and rotates about the second hollow rotor 25 as the center of rotation. Further, the second arm 20 is driven by the direct drive motor 21 via the drive transmission means 30, and rotates about the shaft 27.

That is, when the first coil 13 becomes energized, the first
This causes the rotor 16 of the first arm lO to rotate.
rotates in a predetermined direction. Further, when the second coil 24 of the direct drive motor 21 becomes energized, the second coil 24 of the direct drive motor 21 becomes energized.
Since the hollow rotor 25 rotates and this rotational force is transmitted to the second arm 20 via the drive transmission means 30, the second arm 20 rotates in a predetermined direction around the shaft 27 at the tip of the first arm 10. Rotate only the required angle. Note that the rotation amounts of the first rotor 16 and the second hollow rotor 25 are detected by rotation detection means provided between the corresponding fixed side first stator 12 and cylindrical stator 22, respectively. Ru. These rotation detection means are arranged, for example, in the intermediate part of the direct drive motor 11.21.

In this way, the first arm 10 and the second arm 20
The chuck 29 rotates by a necessary angle to move the work shaft 28 in a predetermined direction, and performs the necessary work with the chuck 29 by its rotation and vertical movement.

Effect of the invention The present invention provides the following effects.

Since the upper and lower direct drive motors are configured as an outer rotor and an inner rotor and are arranged above and below, the robot main body can be configured by these motors themselves, and their outer diameter can be reduced. Furthermore, since these motors themselves constitute the robot body, the configuration of the robot body can be simplified compared to conventional robots.

When the direct drive motor for driving the first arm rotates, the rotating part of the direct drive motor for driving the second arm does not become a load, so the rotational force of the motor can be used effectively, and Sometimes no rotational correction is required for the second arm.

[Brief explanation of the drawing]

The figure is a vertical sectional view of the direct drive articulated robot of the present invention. DESCRIPTION OF SYMBOLS 1... Direct drive articulated robot, 2... Base, 10... First arm, 11... Direct drive motor, 12... First stator, 13... First coil, 14... Magnet. 16...first rotor, 20...second
Arm, 21... Direct drive motor, 22...
Cylindrical stator, 23... Magnet, 24... Second coil, 2
5. Second hollow rotor, 27. Shaft, 3o. Drive transmission means.

Claims (1)

[Claims] In a robot in which direct drive motors for driving the first arm and the second arm are arranged above and below, a fixed cylindrical stator, an annular magnet fixed within the cylindrical stator,
a second coil that faces the magnet at a distance within the magnet; a second hollow rotor that fixes the second coil and is rotatably supported by the cylindrical stator; and an upper end of the hollow rotor that extends vertically. a first arm housing the drive transmitting means; a first stator in which the upper part of the cylindrical stator extends outside the extension of the rotor; The first fixed to the outer periphery of the stator
a coil, an annular magnet facing the first coil at a distance from the outside of the first coil, and a first rotor to which the magnet is fixed and a first arm fixed to the upper part. Direct drive articulated robot.