| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a wrist shaft rotating and driving mechanism for a SCARA robot, capable of reducing the mass and the inertia of an arm, and maintaining the response performance as the arm and the positioning accuracy in a high level. <P>SOLUTION: A spline groove 16s is formed in a wrist shaft 16 for rotating it. A spline nut 22 through which the wrist shaft 16 is passed comprises a fixed cylinder 22a and a rotary cylinder 22b, and when the rotary cylinder 22b is rotated, the wrist shaft 16 is rotated via a bearing to be fitted to the spline groove 16s. The driving force of a third motor M3 is transmitted to the rotary cylinder 22b through the transmission mechanism of the rotating power. In other words, the rotating power from the third motor M3 is transmitted to a fore end side pulley 25 from a base end side pulley 23 via a timing belt 26, and transmitted to the rotary cylinder 22b from a scissors gear 28 to be engaged with a pinion gear 27 interlocked with the pulley 25. Thus, the wrist shaft 16 is rotated clockwise/counterclockwise according to the clockwise/counterclockwise rotation of the third motor M3. <P>COPYRIGHT: (C)2010,JPO&INPIT</p> |
