JPS61117691U - - Google Patents
Info
- Publication number
- JPS61117691U JPS61117691U JP20070184U JP20070184U JPS61117691U JP S61117691 U JPS61117691 U JP S61117691U JP 20070184 U JP20070184 U JP 20070184U JP 20070184 U JP20070184 U JP 20070184U JP S61117691 U JPS61117691 U JP S61117691U
- Authority
- JP
- Japan
- Prior art keywords
- rotor
- pulse motor
- stator
- teeth
- fixed
- 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.)
- Pending
Links
- 230000005284 excitation Effects 0.000 claims description 2
- 210000000245 forearm Anatomy 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
Description
第１図〜第３図は本考案の直接駆動形ロボツト
の一実施例を示す構成図である。
１０……台部、２０……第１のパルスモータ、
３０……上腕部、４０……第２のパルスモータ、
５０……前腕部、６１，６２……エンコーダ、１
……固定子、２……回転子、１１……磁性体、１
１１〜１１６……突極、１４１〜１４６……励磁
コイル、７１，７２……ベアリング。
1 to 3 are configuration diagrams showing one embodiment of the direct drive type robot of the present invention. 10... Base part, 20... First pulse motor,
30... upper arm, 40... second pulse motor,
50... Forearm, 61, 62... Encoder, 1
... Stator, 2 ... Rotor, 11 ... Magnetic material, 1
1 1 to 11 6 ... Salient poles, 14 1 to 14 6 ... Excitation coils, 71, 72 ... Bearings.
Claims (1)
一方が固定される第１のパルスモータと、この第
１のパルスモータの前記固定子または回転子の他
方にその一端が固定され前記第１のパルスモータ
の回転軸を中心として水平に回動される上腕部と
、この上腕部の他端にその固定子または回転子の
一方が固定される第２のパルスモータと、この第
２のパルスモータの前記固定子または回転子の他
方にその一端が固定され前記第２のパルスモータ
の回転軸を中心として水平に回動される前腕部と
を備え、前記第１、第２のパルスモータが、その
内周に一定ピツチの歯が設けられた回転子と、３
の整数倍の数でその一部にそれぞれ前記回転子の
歯と対向するような歯が設けられた複数の突極を
有する固定子と、この固定子を３相の励磁電流に
より励磁する複数の励磁コイルとを具備したこと
を特徴とする直接駆動形ロボツト。 a first pulse motor having one of its stator or rotor fixed to the base; and a first pulse motor having one end fixed to the other of the stator or rotor of the first pulse motor. a second pulse motor having one of its stator or rotor fixed to the other end of the upper arm; a forearm portion having one end fixed to the other of the stator or rotor of the pulse motor and rotating horizontally about the rotation axis of the second pulse motor, the first and second pulse motors However, there is a rotor with teeth of a constant pitch on its inner periphery, and 3
a stator having a plurality of salient poles whose number is an integral multiple of , and each of which has teeth facing the teeth of the rotor; A direct drive robot characterized by being equipped with an excitation coil.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20070184U JPS61117691U (en) | 1984-12-28 | 1984-12-28 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20070184U JPS61117691U (en) | 1984-12-28 | 1984-12-28 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61117691U true JPS61117691U (en) | 1986-07-24 |
Family
ID=30761797
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20070184U Pending JPS61117691U (en) | 1984-12-28 | 1984-12-28 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61117691U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1988004979A1 (en) * | 1986-12-24 | 1988-07-14 | Fanuc Ltd | First arm structure of horizontally articulated robot |
| WO1988005713A1 (en) * | 1987-01-31 | 1988-08-11 | Fanuc Ltd | Direct drive articulated robot |
-
1984
- 1984-12-28 JP JP20070184U patent/JPS61117691U/ja active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1988004979A1 (en) * | 1986-12-24 | 1988-07-14 | Fanuc Ltd | First arm structure of horizontally articulated robot |
| WO1988005713A1 (en) * | 1987-01-31 | 1988-08-11 | Fanuc Ltd | Direct drive articulated robot |