Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1991-03-29
1992-06-09
Herrmann, Allan D.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
74397, 74409, 901 25, F16H 5518, B25J 1700, B25J 1800
Patent
active
051196875
ABSTRACT:
An articulated robot having a swivel base supported on a support base for swivel movement about a vertical axis, a first arm pivoted on the swivel base for swing movement about a first swing axis perpendicular to the vertical axis and a second arm pivoted on the forward end of the first arm for swing movement about a second swing axis parallel to the first swing axis, wherein a servomotor for moving the second arm is mounted on the swivel base. The robot is provided with a gear train transmitting the rotation of the servomotor to the second arm, and the gear train is composed of a drive gear rotated by the servomotor to be rotated about the first swing axis, a driven gear fixed to the second arm for rotational movement about the second swing axis together with the second arm, and three idler gears disposed between the drive gear and driven gear for transmitting the rotation of the drive gear to the driven gear. The robot is also provided with a backlash eliminating mechanism for eliminating backlashes between those gears.
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patent: 4435120 (1984-03-01), Ikeda et al.
patent: 4532822 (1985-08-01), Godlewski
patent: 4806069 (1989-02-01), Tellden
Kawasaki Takashi
Nakamura Hisanori
Naruoka Shinji
Toyama Osamu
Herrmann Allan D.
Toyoda Koki Kabushiki Kaisha
Toyota Jidosha & Kabushiki Kaisha
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