Machine element or mechanism – Mechanical movements – Reciprocating or oscillating to or from alternating rotary
Patent
1986-06-26
1988-05-03
Spar, Robert J.
Machine element or mechanism
Mechanical movements
Reciprocating or oscillating to or from alternating rotary
74440, 901 21, 901 25, 901 28, B25J 1700
Patent
active
047412186
ABSTRACT:
An a manipulator having a pair of main elements pivoted together at a main axis has a drive having a motor mounted on one of the elements and having a motor output, and first, second, and third stepdown transmissions connecting this output with continuous-mesh force transmission to the other element. The first stepdown transmission has an input wheel connected to the motor output, an output wheel, and a toothed belt interconnecting the input and output wheels. The second stepdown transmission has a rotary input element connected to the output wheel, and a rotary output element noncoaxially associated with the input element and connected thereto. The third stepdown transmission has an output gear connected to the other element centered on the main axis, and an input gear rotatable about a gear axis offset from the main axis and having two axially separate halves relatively rotatable about the gear axis and both meshing with the output gear. A shaft has an outer end connected to one of the gear halves and an inner end connected to the output element of the second transmission. A sleeve surrounding the shaft has an outer end connected to the other gear half and an inner end connected to the output element of the second transmission. The sleeve and shaft are of generally the same torsional elasticity between their inner and outer ends. A slip-adjusting unit is effective between the inner ends of the shaft and sleeve for maintaining opposite torsional stresses in the sleeve and shaft.
REFERENCES:
patent: 2868033 (1959-01-01), Caither
patent: 3037396 (1962-06-01), Martin
patent: 4072064 (1978-02-01), Lloyd et al.
patent: 4399718 (1983-08-01), Zimmer
Dubno Herbert
Kuka Schweissanlagen & Roboter GmbH
Ross Karl F.
Spar Robert J.
Underwood Donald W.
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