Workpiece transfer robot

A workpiece transfer robot having a joint in which a first arm and a second arm, or the second arm and a finger, and a lifting mechanism for lifting and moving the first arm are rotatable about a central axis line, the workpiece transfer robot further comprising;

• an output shaft fixed to a base end of the first arm side or a base end of the second arm side, having a vertical direction being a direction of the central axis line;
• an output gear rotates around the central axis line together with the output shaft;
• a fixed gear disposed in an internal space of the lifting mechanism or a front end of the first arm side and provided with a tooth surface facing a tooth surface of the output gear;
• a substantially cylindrical rotor rotatably attached to the output shaft independently around the central axis line;
• a bearing provided on an inner wall of the rotor with an inclined central axis line inclined at a predetermined angle with respect to the central axis line, as a center of rotation;
• an oscillating gear supported by the bearing and positioned between the tooth surfaces of the output gear and the fixed gear, having a first tooth surface provided on a surface on the fixed gear side meshed with the fixed gear and a second tooth surface provided on a surface on the output gear side meshed with the output gear, and rotating around the inclined central axis line;
• a permanent magnet fixed coaxially around the central axis line of an outer circumference of the rotor as a center;
• and
• an electromagnet in an internal space at the front end of the first arm side or the lifting mechanism, and generating a rotating magnetic field with respect to the permanent magnet.

A workpiece transfer robot having a joint in which the first arm and the second arm, or the second arm and the finger, and the lifting mechanism for lifting and moving the first arm are rotatable about a central axis line, the workpiece transfer robot further comprising;

• an output shaft fixed to a front end of the first arm side or the lifting mechanism, and having a vertical direction in a direction of the central axis line;
• an output gear rotating about the central axis line together with the output shaft;
• a fixed gear disposed in an internal space of a base end of the first arm side or an internal space of a base end of the second arm side and provided with a tooth surface facing a tooth surface of the output gear;
• a substantially cylindrical rotor rotatably attached to the output shaft independently around the central axis line;
• a bearing provided on an inner wall of the rotor with an inclined central axis line inclined at a predetermined angle with respect to the central axis line, as a center of rotation;
• an oscillating gear supported by the bearing and positioned between the tooth surfaces of the output gear and the fixed gear, having a first tooth surface provided on a surface on the fixed gear side meshed with the fixed gear and a second tooth surface provided on a surface on the output gear side meshed with the output gear, and rotating around the inclined central axis line;
• a permanent magnet fixed coaxially around the central axis line of an outer circumference of the rotor;
• and
• an electromagnet provided in an internal space of the base end of the first arm side or an internal space of the base end of the second arm side and generating a rotating magnetic field with respect to the permanent magnet.