Title:
INDUSTRIAL ROBOT ARM MECHANISM
Document Type and Number:
WIPO Patent Application WO/2005/051613
Kind Code:
A1
Abstract:
An object of the invention is to provide an industrial robot arm mechanism which is reduced in backlash and in transmission loss of drive force for speed reducers and which can be reduced in size for attachment of a feeder when a conduit cable is installed. According to the invention, an arm mechanism comprises a drive section (10) spaced from above an R shaft so as to be installed at one end (3a) of an upper arm (3) and having a harmonic drive speed reducer (9) connected to the output shaft of an R shaft motor (8), a driven gear (11) rotatively supported around the axis of the R shaft and connected to the other end (3b) of the upper arm (3), an insertion hole (13) which opens to the outside of one end side (3a) of the upper arm (3) installed along the R shaft and which extends through the driven gear (11) to communicate with the other end side (3b) of the upper arm (3), and a scissors gear (12) installed on the output shaft of the harmonic drive speed reducer (9) to mesh with the driven gear (11).
Inventors:
ICHIBANGASE ATSUSHI (JP)
HANIYA KAZUHIRO (JP)
SANADA TAKASHI (JP)
HANIYA KAZUHIRO (JP)
SANADA TAKASHI (JP)
Application Number:
PCT/JP2004/012788
Publication Date:
June 09, 2005
Filing Date:
August 27, 2004
Export Citation:
Assignee:
YASKAWA DENKI SEISAKUSHO KK (JP)
ICHIBANGASE ATSUSHI (JP)
HANIYA KAZUHIRO (JP)
SANADA TAKASHI (JP)
ICHIBANGASE ATSUSHI (JP)
HANIYA KAZUHIRO (JP)
SANADA TAKASHI (JP)
International Classes:
B25J9/10; B25J18/00; B25J19/00; F16H55/18; (IPC1-7): B25J17/00
Foreign References:
| JPS56163624A | 1981-12-16 | |||
| JP2000153488A | 2000-06-06 | |||
| JP2000097314A | 2000-04-04 | |||
| US20030014860A1 | 2003-01-23 | |||
| JPS6372969A | 1988-04-02 | |||
| US6408224B1 | 2002-06-18 | |||
| JPS5888048U | 1983-06-15 |
Attorney, Agent or Firm:
Oguri, Shohei (13th Floor ARK Mori Building, 12-32, Akasaka 1-chom, Minato-ku Tokyo, JP)
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