Title:
JOINT DRIVING STRUCTURE FOR AN INDUSTRIAL ROBOT
Document Type and Number:
WIPO Patent Application WO/1995/011781
Kind Code:
A1
Abstract:
A joint driving structure for an industrial robot wherein a box-like end portion (11) of a first arm (1) and a box-like end portion (21) of a second arm (2) are connected to each other in such a manner as to rotate via a bearing (23), wherein an output portion of a reduction gear (5) is connected to a rotational shaft of a driving motor (4) for rotatingly driving the second arm (2), and wherein the driving motor (4) is incorporated in the end portion (21) of the second arm (2), said joint driving structure being characterized in that an opposite-to-load side bracket (41) fixed to a fixing portion (40) of the driving motor (4) is fixed to the end portion (21) of the second arm (2), that a fixing portion (51) of the reduction gear (5) is fixed to the fixing portion (40) of the driving motor (4), and that a reduction mechanism portion (53) which is an output portion of the reduction gear (5) is fixed to the end portion (21) of the first arm (1). Thus, a joint driving structure for an industrial robot can be provided which realizes high frequency arm operations.
Inventors:
KATAMINE KUNIAKI (JP)
MATSUSHITA SHIGEO (JP)
MATSUSHITA SHIGEO (JP)
Application Number:
PCT/JP1994/001790
Publication Date:
May 04, 1995
Filing Date:
October 26, 1994
Export Citation:
Assignee:
YASKAWA DENKI SEISAKUSHO KK (JP)
KATAMINE KUNIAKI (JP)
MATSUSHITA SHIGEO (JP)
KATAMINE KUNIAKI (JP)
MATSUSHITA SHIGEO (JP)
International Classes:
B25J9/06; B25J9/10; B25J17/00; B25J17/02; B25J18/00; B25J19/00; (IPC1-7): B25J17/00
Foreign References:
| JPS58120487A | 1983-07-18 |
Other References:
See also references of EP 0677359A4
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