UNIFIED STRUCTURE OF ROBOT STRUCTURE AND MOTOR CASING IN DIRECT DRIVE TYPE ROBOT

摘要

PURPOSE:To improve the space factor of a robot and to enlarge the effective working range of the robot by forming a motor associated in the arm of the robot in an outer rotor shape, and forming the arm itself of the robot in an outer rotor. CONSTITUTION:A motor for moving the upper and lower arms 24 of a rotor is formed in an outer rotor shape. A stator 27 is mounted on a motor shaft 25, a field 29 of the motor and the motor casing 31 used as a yoke of the field are integrally mounted in the upper and lower arms 24 of the robot so that the arms themselves of the robot become outer rotor. Thus, the robot can be simplified while using the large motor by a direct drive type to improve the space factor of the rotor.