Title:
ROBOT ARM, ROBOT SYSTEM, GEAR UNIT, AND ROBOT ARM MANUFACTURING METHOD
Document Type and Number:
WIPO Patent Application WO/2016/084177
Kind Code:
A1
Abstract:
[Problem] To increase speed without degrading operational precision. [Solution] A robot arm comprises: a frame 30; a second movable wrist part 14 that is supported on the distal end of the frame 30 so as to be rotatable about a B axis AxB; a third movable wrist part 16 that is supported by the second movable wrist part 14 so as to be rotatable about a T axis AxT; a power transmission mechanism PS that comprises a plurality of gears and transmits power from motors M, M to at least one of the second and third movable wrist parts 14, 16; and a means to adjust backlash from the power transmission mechanism PS. The power transmission mechanism PS has a coupled drive mechanism IS that comprises first bevel gears BG1, BG1 that are supported so as to be rotatable about the B axis AxB and that have power transmitted respectively from the motors M, M, and a second bevel gear BG2 that meshes with both first bevel gears BG1, BG1 and can rotate about the T axis AxT.
Inventors:
MOTOMURA YOUICHI (JP)
TANAKA KENTARO (JP)
TANAKA KENTARO (JP)
Application Number:
PCT/JP2014/081296
Publication Date:
June 02, 2016
Filing Date:
November 26, 2014
Export Citation:
Assignee:
YASKAWA DENKI SEISAKUSHO KK (JP)
International Classes:
B25J17/02
Foreign References:
| JPH0328612B2 | 1991-04-19 | |||
| JPH10512813A | 1998-12-08 | |||
| JPS62287991A | 1987-12-14 | |||
| JP2594437Y2 | 1999-04-26 | |||
| JPS63123685A | 1988-05-27 | |||
| JPS6364487U | 1988-04-28 | |||
| JP2010269400A | 2010-12-02 |
Attorney, Agent or Firm:
MASUDA Hirofumi et al. (JP)
Hirofumi Masuda (JP)
Hirofumi Masuda (JP)
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