Robot arm drive apparatus of industrial robot

Details Robot arm drive apparatus of industrial robot Robot arm drive apparatus of industrial robot

1986-07-29

1987-09-01

Salce, Patrick R.

Machine element or mechanism

Control lever and linkage systems

74804, 310 83, 901 25, 901 28, B66C 2300, F16H 128, H02K 702

Patent

active

046900101

ABSTRACT:
A robot arm drive apparatus of an industrial robot comprising: an electric motor having a drive shaft; a first robot member having the electric motor mounted thereon; a second robot member rotatably supported on the first robot member; and reduction gear means for reducing rotation of the electric motor and then transmitting to the second robot member. The reduction gear means has a primary reduction gear for reducing the rotation of the electric motor and a secondary, planetary reduction gear for further reducing rotation of output of the primary reduction gear. The primary reduction gear has a reduction ratio such that the maximum number of rotations of the electric motor is reduced less than the characteristic torsion frequency of the drive system. The secondary reduction gear has an eccentric input shaft connected with the primary reduction gear, an external gear which is rotatable eccentrically in response to rotation of the input shaft, an internal gear held in mesh with the external gear, and larger in number of teeth than the external gear by one, and carrier means held in engagement with the external gear.

REFERENCES:
patent: 3129611 (1964-04-01), Lee
patent: 4348918 (1982-09-01), Fukui
patent: 4431366 (1984-02-01), Inaba et al.
patent: 4518308 (1985-05-01), Grzybowski et al.
patent: 4574659 (1986-03-01), Arndt

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