ROBOT AND CONTROL DEVICE FOR SAME

WIPO Patent Application WO/2011/059015

A1

Provided are a joint robot which simultaneously achieves satisfactory safety and excellent control performance, and a control device for the joint robot. A robot is provided with: a base section; three motors disposed at the base section; a support disposed so that the center axis thereof is perpendicular to the surface of the base section; pulleys; three wires having non-linear springs mounted thereto; an output shaft connected to a load; a differential mechanism having a pinion gear connected to the output shaft and also having an affixation member disposed at the upper end of the support; a universal joint disposed at the ring of the differential mechanism; and a wire guide disposed at the affixation member of the differential mechanism. Two side gears of the differential mechanism and two motors are connected in one-to-one correspondence by means of two wires through the pulleys, and the remaining motor and the universal joint are connected by means of the remaining wire which is passed through the wire guide.

ZHANG, Wennong (2-1 Kurosaki-shiroishi, Yahatanishi-k, Kitakyushu-shi Fukuoka 04, 〒8060004, JP)
張　文農 (〒04 福岡県北九州市八幡西区黒崎城石２番１号　株式会社安川電機内 Fukuoka, 〒8060004, JP)

JP2010/070074

May 19, 2011

November 11, 2010

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KABUSHIKI KAISHA YASKAWA DENKI (2-1 Kurosaki-shiroishi, Yahatanishi-ku Kitakyushu-shi Fukuoka, 04, 〒8060004, JP)
株式会社安川電機 (〒04 福岡県北九州市八幡西区黒崎城石２番１号 Fukuoka, 〒8060004, JP)
ZHANG, Wennong (2-1 Kurosaki-shiroishi, Yahatanishi-k, Kitakyushu-shi Fukuoka 04, 〒8060004, JP)

B25J17/00

MIYAZONO, Hirokazu (Shin-Osaka MT Building I, 13-9 Nishinakajima 5-chome, Yodogawa-k, Osaka-shi Osaka 11, 〒5320011, JP)

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