JPS58149196A - Arm of robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an improvement of a robot arm.

First, a robot proposed prior to this invention will be explained with reference to FIGS. 1 to 4. In Figures 1 and 2, 1 is the robot body, 2 is the vertical motor provided on this body 1,
3 is a screw shaft rotated by the vertical motor 2, 4 is a screw shaft 3
6 is a friend guide installed on the elevating object 4. The guide 6 is fixed to the body 1, and then engaged with the guide rail 7, and the elevating object 4 is screwed onto the elevating object 4. It is designed to guide vertically.

8 is a first arm drive motor provided on the elevating body 4, 9 is a first arm supported by the elevating body 4 and horizontally rotated by a 17th arm drive motor 8, and 10 is built in the first arm 9. A second arm drive motor 11 is a second arm supported by the tip of the first arm 9 and horizontally rotated by the second arm drive motor 10; 12 is a gripper drive motor built into the second arm 11; 13; is a gripper supported at the tip of the second arm 11 and rotated about 14 times on a vertical axis by a gripper drive motor 12.

The descending body 4 moves up and down, and the first arm 9 is supported by the elevating body 4.
．． By also moving the second arm 11 up and down, the gripper 1
3 moves up and down, and the first arm 9 is driven by the first arm drive motor 8, and the second arm is moved by the drive of the second arm drive motor 10.
The grippers 13 move horizontally as the arms 11 rotate horizontally, and the grippers 13 rotate 14 times υ on a vertical axis by the drive of the gripper drive motor 12, thereby gripping a workpiece (not shown) with the grippers 13. After the gripper 13 moves the workpiece to a desired position and performs appropriate operations, the gripper 13 releases the workpiece grip and returns the gripper 13 to its previous state.

In the robot described above, the first arm 9 is shown in FIGS. 3 and 4.
As shown in detail, the cylindrical outer peripheral wall 1 of the first arm 9
5 includes a second arm drive motor 1 such as a DC servo motor.
0 was accommodated with a gap in the radial direction, so the first
Since the arm 9 is heavy and has a large diameter, and the second arm 11 also has the gripper drive monitor 12 housed within the outer circumferential wall 16, the second arm 11 is heavy and large. It was the diameter. Therefore, the first. Second
The drive motors 8 and 10 for the arms 9 and 11 need to have large outputs, and since the arms 9 and 11 have a closed structure, the drive motors 10 and 12 housed in these are not sufficiently cooled. , these outputs are reduced, and furthermore, the arms 9 and 11 have a large diameter, which is undesirable in terms of design.

This invention solves the above-mentioned problems by making the stator of the motor that drives the member supported by the arm also serve as at least -s of the outer circumferential wall of the boom. The aim is to provide a robot arm that can sufficiently cool the motor.

Hereinafter, a first embodiment of the present invention will be explained with reference to FIG. In FIG. 5, the same reference numerals as those in FIG. 4 indicate the same or equivalent parts, and 15 is the cylindrical outer peripheral wall of the 17-m 9, which consists of a part 15 m of this outer peripheral wall 15 and a DC servo motor. The yoke of the stator 17 of the second arm drive motor 10 is also used, and the second arm drive motor 1 is installed in the stator 17.
0 rotor 18 is rotatably fitted. In addition, in FIG. 5, 19 is a rotating shaft, 21 is a commutator, 21 is a brush, 2 is a bearing, and 17m is a stator main body.

In the first arm 9 according to this embodiment configured as described above, the part 15 & of the outer peripheral wall 15 of the first arm 9 and the yoke of the stator 17 of the second arm drive motor 10 are also used. It is lighter than the first arm of the nine robots shown in the figure, and has a small diameter because there is no gap between the outer peripheral wall of the first arm and the second arm drive motor. Since heat is radiated directly to the motor, the l@2 arm drive motor can be sufficiently air-cooled, and there is no problem in maintaining the brush 21, which is the most sensitive to heat.

Although not shown, in this embodiment, a part of the outer circumferential wall of the second arm also serves as the yoke of the stator of the gripper drive motor, and a rotor is provided inside the stator, similar to the @1 arm described above. Advantages are also obtained in the second arm.

Note that the configuration and operation of this embodiment other than those described above are W11.
Since it is similar to the robot shown in FIGS. 4 to 4, the explanation will be omitted.

As explained above, in the robot arm according to the present invention, the stator of the motor supported by the arm and driving the fC member serves as at least a part of the outer peripheral wall of the arm, and the rotor is provided in the stator. , the arm can be made lightweight and small in diameter, and the motor installed in the arm can be sufficiently cooled, so the output of the drive source such as the motor that drives the arm can be small, making it economical and easy to use. Since the diameter is small, the design is also good.

[Brief explanation of the drawing]

Fig. 1 is a plan view showing a robot proposed prior to this invention, Fig. 2 is a side view of the same, and Fig. 3 is a partial cross-section of the first arm portion along the line -■ in Fig. 2. FIG. 4 is an enlarged side sectional view of the motor accommodating portion of the first arm, and FIG. 5 is a view corresponding to FIG. be. 9.11... Arm, 10 * u... Motor, 1
5, 16... Outer peripheral wall, 17... Stator, 18...
...rotor. Note that the same reference numerals in the figures indicate the same or corresponding parts. Agent Shin Kuzuno −

Claims (1)

[Claims] 1. A robot arm, wherein at least a part of an outer peripheral wall of the arm serves as a stator of a motor that drives a member supported by the arm, and a rotor is provided within the stator.