JOINT DRIVING APPARATUS FOR INDUSTRIAL ROBOTS

Title:

JOINT DRIVING APPARATUS FOR INDUSTRIAL ROBOTS

Document Type and Number:

WIPO Patent Application WO/1986/005470

Kind Code:

A1

Abstract:

A joint driving apparatus for industrial robots, provided with a first arm (5), a second arm (12) supported pivotably on the first arm, and reduction gears (3, 40, 70, 80) adapted to reduce the rotational speed of an electric motor (1), which is fixed to the first arm, and transmit the resultant rotational speed to the second arm. The reduction gears consist of a front-step reduction gear (20) for reducing the number of rotation of the electric motor, and a rear-step planetary reduction gear (21) for further reducing the number of output revolution from the front-step reduction gear. The construction of the reduction gears installed in a robot driving system is modified so as to prevent the resonance of the driving system. A rod type member (60) is used to connect the reduction gears (20, 21) to each other and thereby reduce the dimensions and weight and increase the torsional rigidity of the robot.

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Inventors:

MATSUMOTO KAZUYUKI (JP)
HASHIMOTO MASATAKA (JP)
IWATA MICHIYOSHI (JP)

Application Number:

PCT/JP1986/000128

Publication Date:

September 25, 1986

Filing Date:

March 13, 1986

Export Citation:

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Assignee:

TEIJIN SEIKI CO LTD (JP)

International Classes:

B25J9/10; B25J9/12; B25J17/00; B25J17/02; F16H1/32; (IPC1-7): B25J18/00

Foreign References:

JPS5924283U	1984-02-15
JPS5716714Y2	1982-04-07
JPS55112450A	1980-08-30

Other References: