Title:
ROBOT
Document Type and Number:
WIPO Patent Application WO/2012/070547
Kind Code:
A1
Abstract:
[Problem] To operate at a high speed when a load is small, and to output a large torque when the load is large. [Solution] Provided is a robot wherein a joint mechanism (100) is provided with a servomotor (101) and a speed reducing mechanism (102). The speed reducing mechanism (102) has: a base link (103); a cam (104), which is rotatably connected to one end side of the base link (103), and is oscillated by means of the servomotor (101); a transmission link (105) having one end side thereof rotatably connected to the cam (104); and an output link (106), which is rotatably connected to the other end side of the transmission link (105) and the other end side of the base link (103), and is oscillated by the oscillation of the cam (104) by following the oscillation of the cam. The robot is configured such that the speed reduction rate can be changed by having a connecting position (P3) move corresponding to the magnitude of a load operated to the output link (106), said connecting position being the position where the cam (104) and the one end side of the transmission link (105) are connected to each other.
Inventors:
KISHI YASUO (JP)
Application Number:
PCT/JP2011/076838
Publication Date:
May 31, 2012
Filing Date:
November 21, 2011
Export Citation:
Assignee:
YASKAWA DENKI SEISAKUSHO KK (JP)
KISHI YASUO (JP)
KISHI YASUO (JP)
International Classes:
B25J19/00; B25J17/00; F16H21/10
Foreign References:
| JP2005090562A | 2005-04-07 | |||
| JPH05248509A | 1993-09-24 | |||
| JP2008055541A | 2008-03-13 |
Attorney, Agent or Firm:
MASUDA HIROFUMI (JP)
Hirofumi Masuda (JP)
Hirofumi Masuda (JP)
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Claims:
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