JPS611234A - Drive device of robot arm - Google Patents
Drive device of robot armInfo
- Publication number
- JPS611234A JPS611234A JP59122319A JP12231984A JPS611234A JP S611234 A JPS611234 A JP S611234A JP 59122319 A JP59122319 A JP 59122319A JP 12231984 A JP12231984 A JP 12231984A JP S611234 A JPS611234 A JP S611234A
- Authority
- JP
- Japan
- Prior art keywords
- motor
- robot arm
- drive circuit
- cylinder
- drive device
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/33—Drive circuits, e.g. power electronics
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
Description
【発明の詳細な説明】
〔技術分野〕
この発明は、ロボットやプロッタに適用されるロボット
アームの駆動装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Technical Field] The present invention relates to a robot arm drive device applied to a robot or a plotter.
従来のこの種の駆動装置は、ステップモータの電力増幅
部を含む駆動回路が大形化したためモータと回路部が分
離して設けられ、全体としても大形になるという欠点が
あった。Conventional drive devices of this type have had the disadvantage that the drive circuit including the power amplification section of the step motor has become large in size, so the motor and the circuit section are provided separately, resulting in a large size as a whole.
この発明の目的は、小形化を図ることができるロボット
アームの駆動装置を提供することである。An object of the present invention is to provide a robot arm drive device that can be downsized.
この発明のロボットアームの駆動装置は、ステップモー
タの後端部に放熱筒を設け、放熱筒内にモータ用ＩＣ内
蔵駆動回路を配設したことを特徴としている。ＩＣ内蔵
駆動回路は集積回路により構成されているため一体化か
つ小形化でき、しかも放熱筒内に設けているため熱影響
が少ない。The robot arm drive device of the present invention is characterized in that a heat radiation cylinder is provided at the rear end of the step motor, and a drive circuit with a built-in motor IC is disposed within the heat radiation cylinder. Since the IC built-in drive circuit is constituted by an integrated circuit, it can be integrated and miniaturized, and furthermore, since it is provided within the heat dissipation tube, the influence of heat is small.
この発明の第１の実施例を第１図ないし第４図ｒ（基づ
いて説明する。すなわち、ディスク型ステップモータｌ
の前端部の上蓋２に受台３を介して遊星歯車式減速機構
４を内蔵した・・ウジング５が設けられ、ハウジング５
より出力シャフト６が突出している。ステ、ツブモータ
１の後端部の丁着７に円筒形放熱筒８がねじ９で取付り
られ、放熱筒８内でＩＣ内蔵駆動回路部１０の円板杉プ
リント基板１１がスペーサ１２を介して底部に取付けら
れている０１３は位置センサ、１４は放熱筒８のキャッ
プ、１５はベアリングである。A first embodiment of the present invention will be explained based on FIGS.
A housing 5 is provided on the upper lid 2 at the front end of the housing 5, which houses a planetary gear type reduction mechanism 4 via a pedestal 3.
The output shaft 6 protrudes further. A cylindrical heat dissipation tube 8 is attached to the hinge 7 at the rear end of the motor 1 with screws 9, and a circular cedar printed circuit board 11 of the drive circuit section 10 with built-in IC is mounted inside the heat dissipation tube 8 via a spacer 12. 013 attached to the bottom is a position sensor, 14 is a cap of the heat sink 8, and 15 is a bearing.
減速機構４において、１６はモータ軸１７に連結された
ビニオン、１８は遊星歯車（４個）、１９はハウジング
５に形成された太陽歯車、２０は遊星歯車１８と出力シ
ャフト６を連結する回転板であり、ビニオン歯数、遊星
歯数を１５、太陽歯数を４５として１の減速比を得てい
る。また、ＩＣ内蔵駆動回路部１０は、チョッパ回路に
より構成され、第３図および第４図のようにＩＣ□は分
配回路およびＰＷＭ（パルス幅変調）回路を構成要素と
した集積回路、ＩＣ２は電力増幅部を構成する集積回路
、Ｒ工〜Ｒ□。は抵抗、Ｃ０〜Ｃ４はコンデンサ、Ｄ工
〜Ｄ、はダイオード、Ｅ□（５Ｖ）、Ｅ、（４０Ｖ）は
直流電圧、Ｌ□〜Ｌ４はモーターのコイルである。In the speed reduction mechanism 4, 16 is a pinion connected to the motor shaft 17, 18 is a planetary gear (4 pieces), 19 is a sun gear formed in the housing 5, and 20 is a rotating plate that connects the planetary gear 18 and the output shaft 6. A reduction ratio of 1 is obtained by setting the number of binion teeth, the number of planetary teeth to 15, and the number of sun teeth to 45. Further, the IC built-in drive circuit section 10 is composed of a chopper circuit, and as shown in FIGS. 3 and 4, IC□ is an integrated circuit whose components include a distribution circuit and a PWM (pulse width modulation) circuit, and IC2 is a power supply circuit. Integrated circuits constituting the amplifier section, R engineering ~ R□. are resistors, C0 to C4 are capacitors, D to D are diodes, E□ (5V), E, (40V) are DC voltages, and L□ to L4 are motor coils.
第２図はロボットアームに適用した例であり、ロボット
アーム２１の出力シャフト６に手２２が取付けられてい
る。２３は腕である。FIG. 2 shows an example in which the present invention is applied to a robot arm, in which a hand 22 is attached to an output shaft 6 of a robot arm 21. 23 is an arm.
このように構成したため、このロボットアームの駆動装
置は、ＩＣ内蔵駆動回路部１０の小形化により、モータ
１に一体に設けることができ、ロボットアームの駆動装
置の小形化を達成することができる。また放熱筒８内に
回路部１０を収納しているため熱影響を回避することが
できる。With this configuration, the robot arm drive device can be integrated with the motor 1 by downsizing the IC built-in drive circuit section 10, and the robot arm drive device can be downsized. Further, since the circuit section 10 is housed within the heat dissipation tube 8, the influence of heat can be avoided.
第５図はこの実施例の変形例であり、回路部１０は二つ
のプリント基板１１ａ、１１ｂに実装され、プリント基
板１１ａ、１１ｂを高さ調整スペーサ１２ａ。FIG. 5 shows a modification of this embodiment, in which the circuit section 10 is mounted on two printed circuit boards 11a and 11b, and the printed circuit boards 11a and 11b are separated by a height adjusting spacer 12a.
１２ｂを介して２段に重ねたものである。２４はリード
線、２５はコネクタである。They are stacked in two stages via 12b. 24 is a lead wire, and 25 is a connector.
この発明の第２の実施例を第６図および第７図に示す。A second embodiment of the invention is shown in FIGS. 6 and 7.
すなわち、第１の実施例において、放熱筒２６の外周に
放射状に放熱フィン２７を設けたものである。放熱フィ
ン２７により放熱面積が増大し、放熱効果が高まるため
回路の熱影響の回避が効果的になる。その他は第１の実
施例と同様である。That is, in the first embodiment, radiation fins 27 are provided radially around the outer periphery of the radiation cylinder 26. The heat dissipation fins 27 increase the heat dissipation area and enhance the heat dissipation effect, making it possible to effectively avoid the effects of heat on the circuit. The rest is the same as the first embodiment.
第８図はこの実施例の変形例で、第５図に対応するもの
である。FIG. 8 shows a modification of this embodiment and corresponds to FIG. 5.
この発明によれば、ＩＣ内蔵駆動回路部の放熱効果に優
れ、しかも小形化が図れるという効果がある。According to the present invention, the IC built-in drive circuit section has an excellent heat dissipation effect and can be miniaturized.
第１図はこの発明の第１の実施例の断面図、第２図はロ
ボットアームの側面図、第３図はモータのＩＣ内蔵駆動
回路ブロック図、第４図はその具体回路図、第５図は変
形例の断面図、第６図は第２の実施例の断面図、第７図
は放熱筒の斜視図、第８図は変形例の断面図である。
１ ステップモータ、５・・・ハウジング（出力部）、
６ 出力シャフト（出力軸）、８．２６・・放熱筒、１
０ ・ＩＣ内蔵駆動回路部、２７・・・放熱フィント
第 １ 図
−（出力側）
第２図
第６図Fig. 1 is a sectional view of the first embodiment of the present invention, Fig. 2 is a side view of the robot arm, Fig. 3 is a block diagram of the motor IC built-in drive circuit, Fig. 4 is its specific circuit diagram, and Fig. 5 is a sectional view of the first embodiment of the invention. 6 is a sectional view of the second embodiment, FIG. 7 is a perspective view of the heat sink, and FIG. 8 is a sectional view of the modified example. 1 step motor, 5...housing (output part),
6 Output shaft (output shaft), 8.26... Heat sink, 1
0 ・IC built-in drive circuit section, 27... Heat dissipation fin Fig. 1 - (Output side) Fig. 2 Fig. 6
Claims (2)
られてモータ軸に連動連結される出力軸をもった出力部
と、前記モータの後端部に取付けられた放熱筒と、この
放熱筒内に配設されたモータ用ＩＣ内蔵駆動回路部とを
備えたロボットアームの駆動装置。(1) A step motor, an output section having an output shaft attached to the front end of the motor and interlocked with the motor shaft, a heat sink attached to the rear end of the motor, and an inside of the heat sink. A drive device for a robot arm, comprising a drive circuit section with a built-in motor IC installed in the drive circuit section.
る特許請求の範囲第（１）項記載のロボットアームの駆
動装置。(2) The robot arm drive device according to claim (1), wherein the heat radiation cylinder has radial radiation fins on its outer peripheral surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59122319A JPS611234A (en) | 1984-06-14 | 1984-06-14 | Drive device of robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59122319A JPS611234A (en) | 1984-06-14 | 1984-06-14 | Drive device of robot arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS611234A true JPS611234A (en) | 1986-01-07 |
Family
ID=14833014
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59122319A Pending JPS611234A (en) | 1984-06-14 | 1984-06-14 | Drive device of robot arm |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS611234A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0242783U (en) * | 1988-09-09 | 1990-03-23 | ||
| US5283485A (en) * | 1990-11-27 | 1994-02-01 | Bayerische Motoren Werke Ag | Small-size motor and a process for manufacture and use thereof |
| JP2002059390A (en) * | 2000-07-07 | 2002-02-26 | Kuka Roboter Gmbh | Robot having driving electronics, servo amplifier and inverter |
| JP2005237168A (en) * | 2004-02-23 | 2005-09-02 | Yaskawa Electric Corp | Amplifier integrated actuator device and robot arm |
| WO2007128310A2 (en) * | 2006-05-05 | 2007-11-15 | Danfoss Drives A/S | Device for accommodating at least one electronic component |
| JP2012076193A (en) * | 2010-10-05 | 2012-04-19 | Yaskawa Electric Corp | Multi-finger hand unit and robot |
| EP2532927A3 (en) * | 2011-05-13 | 2013-02-27 | HDT Robotics, Inc. | Modular rotational electric actuator |
| JP2015054389A (en) * | 2013-09-13 | 2015-03-23 | セイコーエプソン株式会社 | Robot arm, and robot |
| US9796097B2 (en) | 2013-09-10 | 2017-10-24 | Seiko Epson Corporation | Robot and manufacturing method for robot |
| US10099367B2 (en) | 2013-09-10 | 2018-10-16 | Seiko Epson Corporation | Robot arm and robot |
| WO2021217881A1 (en) * | 2020-04-30 | 2021-11-04 | 北京理工大学 | Active heat dissipation joint and bionic robot comprising said active heat dissipation joint |
-
1984
- 1984-06-14 JP JP59122319A patent/JPS611234A/en active Pending
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0242783U (en) * | 1988-09-09 | 1990-03-23 | ||
| US5283485A (en) * | 1990-11-27 | 1994-02-01 | Bayerische Motoren Werke Ag | Small-size motor and a process for manufacture and use thereof |
| JP2002059390A (en) * | 2000-07-07 | 2002-02-26 | Kuka Roboter Gmbh | Robot having driving electronics, servo amplifier and inverter |
| JP4543369B2 (en) * | 2004-02-23 | 2010-09-15 | 株式会社安川電機 | Amplifier integrated actuator device and robot arm |
| JP2005237168A (en) * | 2004-02-23 | 2005-09-02 | Yaskawa Electric Corp | Amplifier integrated actuator device and robot arm |
| WO2007128310A2 (en) * | 2006-05-05 | 2007-11-15 | Danfoss Drives A/S | Device for accommodating at least one electronic component |
| WO2007128310A3 (en) * | 2006-05-05 | 2008-01-17 | Danfoss Drives As | Device for accommodating at least one electronic component |
| JP2012076193A (en) * | 2010-10-05 | 2012-04-19 | Yaskawa Electric Corp | Multi-finger hand unit and robot |
| EP2532927A3 (en) * | 2011-05-13 | 2013-02-27 | HDT Robotics, Inc. | Modular rotational electric actuator |
| US9321172B2 (en) | 2011-05-13 | 2016-04-26 | Hdt Expeditionary Systems, Inc. | Modular rotational electric actuator |
| US9796097B2 (en) | 2013-09-10 | 2017-10-24 | Seiko Epson Corporation | Robot and manufacturing method for robot |
| US9802327B2 (en) | 2013-09-10 | 2017-10-31 | Seiko Epson Corporation | Robot arm and robot |
| US10099367B2 (en) | 2013-09-10 | 2018-10-16 | Seiko Epson Corporation | Robot arm and robot |
| JP2015054389A (en) * | 2013-09-13 | 2015-03-23 | セイコーエプソン株式会社 | Robot arm, and robot |
| WO2021217881A1 (en) * | 2020-04-30 | 2021-11-04 | 北京理工大学 | Active heat dissipation joint and bionic robot comprising said active heat dissipation joint |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JPS611234A (en) | Drive device of robot arm | |
| JPH05103451A (en) | Spindle motor | |
| JPH0252393U (en) | ||
| JPS58133666A (en) | Floppy disc device | |
| JPH01160892U (en) | ||
| JPH0217962U (en) | ||
| JPS61149974U (en) | ||
| JPS61149973U (en) | ||
| JPH0314951U (en) | ||
| JPS6137268U (en) | Ultrasonic atomization unit mounting device | |
| JPS6071542U (en) | Dustproof device for lead screw | |
| JPS60108191U (en) | DC servo motor | |
| JPS6373856A (en) | Dc motor with electronic control circuit | |
| JPS62142891A (en) | Fan unit | |
| JPS6268477U (en) | ||
| JPH01129084U (en) | ||
| JPH02142974U (en) | ||
| JPS60513U (en) | pulse generator | |
| JPH02102791U (en) | ||
| JPS6381359U (en) | ||
| JPH1155890A (en) | Motor with driver | |
| JPS58196560U (en) | motor device | |
| JPS5849488U (en) | power supply | |
| JPH0265070U (en) | ||
| JPS6045493U (en) | gear change switch |