Title:
ARTICULATED ROBOT
Document Type and Number:
WIPO Patent Application WO/1989/000095
Kind Code:
A1
Abstract:
An articulated robot having at least two control arms (4), (7) and two reduction gears disposed at the joints of both control arms (4), (7) and facing each other on the same axis, wherein the two reduction gears consist of first and second harmonic drive reduction gears equipped with a common circular spline (60) fixed to the joint of one of the control arms (4), (7) and brackets (40), (50) fitted to one of the ends of the common circular spline (60) in such a manner as to rotate relatively to the circular spline (60) and connected to the joints of the control arms (4), (7). Thus the present invention provides an articulated robot which makes it possible to reduce the number of components, to render assembling easier, to ensure stable high accuracy and to produce the robot economically.
Inventors:
TERAUCHI TSUNEO (JP)
NISHIMURA TAKAAKI (JP)
NISHIMURA TAKAAKI (JP)
Application Number:
PCT/JP1988/000684
Publication Date:
January 12, 1989
Filing Date:
July 07, 1988
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
International Classes:
B25J9/04; B25J9/06; B25J9/10; B25J19/00; B25J17/00; B25J18/00; (IPC1-7): B25J17/00; B25J19/00
Foreign References:
| JPS5761491A | 1982-04-13 | |||
| JPS58155197A | 1983-09-14 | |||
| JPS59107896A | 1984-06-22 | |||
| JPS4844948Y1 | 1973-12-24 |
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