JPS57114051A - Articulated mechanism - Google Patents

Articulated mechanism

Info

Publication number
JPS57114051A
JPS57114051A JP18912280A JP18912280A JPS57114051A JP S57114051 A JPS57114051 A JP S57114051A JP 18912280 A JP18912280 A JP 18912280A JP 18912280 A JP18912280 A JP 18912280A JP S57114051 A JPS57114051 A JP S57114051A
Authority
JP
Japan
Prior art keywords
gears
gear
reduction
backlash
contacted
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP18912280A
Other languages
Japanese (ja)
Inventor
Takashi Uchiyama
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fujitsu Ltd
Original Assignee
Fujitsu Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fujitsu Ltd filed Critical Fujitsu Ltd
Priority to JP18912280A priority Critical patent/JPS57114051A/en
Publication of JPS57114051A publication Critical patent/JPS57114051A/en
Pending legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H2001/2881—Toothed gearings for conveying rotary motion with gears having orbital motion comprising two axially spaced central gears, i.e. ring or sun gear, engaged by at least one common orbital gear wherein one of the central gears is forming the output

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

PURPOSE:To prevent the backlash of gears in the articulated mechanism of a robot, etc., by using a system in which two harmonic drive type reduction gears are attached so taht the contact faces between their outer and inner gears are directed oppositely. CONSTITUTION:A rotary shaft pivotally supported on the first arm 21 supports rotatably the second arm 22. The rotor 5 of motor M is fixed to the rotary shaft 4, and paired harmonic drive type reduction gears A and B are attached to a drive shaft 4'. The toothed face of the outer gear 10a for the reduction gear A is contacted counterclockwise with the toothed face of the output inner gear 12a, and for the reduction gears B, they are clockwise contacted with each other. Thus, when the drive shaft 4' turns, the backlash of the outer gear during counterclockwise rotation is prevented by the reduction gear A, but the basklash during the clockwise rotation is preveted by the reduction gear B.
JP18912280A 1980-12-30 1980-12-30 Articulated mechanism Pending JPS57114051A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP18912280A JPS57114051A (en) 1980-12-30 1980-12-30 Articulated mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP18912280A JPS57114051A (en) 1980-12-30 1980-12-30 Articulated mechanism

Publications (1)

Publication Number Publication Date
JPS57114051A true JPS57114051A (en) 1982-07-15

Family

ID=16235751

Family Applications (1)

Application Number Title Priority Date Filing Date
JP18912280A Pending JPS57114051A (en) 1980-12-30 1980-12-30 Articulated mechanism

Country Status (1)

Country Link
JP (1) JPS57114051A (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59121255A (en) * 1982-12-27 1984-07-13 Komatsu Ltd Backlash removing device for reduction gear in industrial robot
JPS59190541A (en) * 1983-04-09 1984-10-29 Haamonitsuku Drive Syst:Kk Harmonic gear device
US4557662A (en) * 1982-03-24 1985-12-10 Mitsubishi Denki Kabushiki Kaisha Industrial robot
JPS62171551A (en) * 1986-01-22 1987-07-28 Kanemitsu Hasegawa Reduction gear
US5355743A (en) * 1991-12-19 1994-10-18 The University Of Texas At Austin Robot and robot actuator module therefor
JP2011033186A (en) * 2009-05-20 2011-02-17 Kanai Denki Seisakusho:Kk Power transmission mechanism and robot using the same
CN102771462A (en) * 2012-07-11 2012-11-14 于复生 Liquid medicine spraying equipment for vehicular trees

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4557662A (en) * 1982-03-24 1985-12-10 Mitsubishi Denki Kabushiki Kaisha Industrial robot
JPS59121255A (en) * 1982-12-27 1984-07-13 Komatsu Ltd Backlash removing device for reduction gear in industrial robot
JPS59190541A (en) * 1983-04-09 1984-10-29 Haamonitsuku Drive Syst:Kk Harmonic gear device
JPH0327781B2 (en) * 1983-04-09 1991-04-17 Haamonitsuku Doraibu Shisutemuzu Kk
JPS62171551A (en) * 1986-01-22 1987-07-28 Kanemitsu Hasegawa Reduction gear
US5355743A (en) * 1991-12-19 1994-10-18 The University Of Texas At Austin Robot and robot actuator module therefor
JP2011033186A (en) * 2009-05-20 2011-02-17 Kanai Denki Seisakusho:Kk Power transmission mechanism and robot using the same
CN102771462A (en) * 2012-07-11 2012-11-14 于复生 Liquid medicine spraying equipment for vehicular trees

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