| 摘要 |
PURPOSE:To reduce the load to a Z-axis up-and-down driving mechanism and offering this driving mechanism in the form of a unit by suspending the upper end of a feed screw from the upper panel of a column and joining the lower end to a driving unit which is stuck to the lower panel of the column. CONSTITUTION:An upper panel 8 and a lower panel 9 are stuck to the upper end and the lower end of a vertical member 7, respectively, whereby making up the column 2 of a robot. A slide 6 is attached to this column 2 as the slide can be moved up and down, a feed screw 12 is vertically screwed with this slider 6 and the base part of an arm having a horizontal joint is stuck to the slider 6. The upper end of this feed screw 12 is suspended from the upper panel 8 of the column 2 and the feed screw 12 is turned by the driving force of the Z-axis motor 15 of a driving unit 5 stuck to the lower panel 9 of the column 2. This turning action is translated into the up-and-down action of the slider 6, that is, the arm via a ball nut 11. Furthermore, the servo motor for each of the joints of the arm is driven to set the position of the wrist which is the end part of the arm. |
