JPS6323064A - Backlash removing device for speed reduction drive mechanism - Google Patents
Backlash removing device for speed reduction drive mechanismInfo
- Publication number
- JPS6323064A JPS6323064A JP16479286A JP16479286A JPS6323064A JP S6323064 A JPS6323064 A JP S6323064A JP 16479286 A JP16479286 A JP 16479286A JP 16479286 A JP16479286 A JP 16479286A JP S6323064 A JPS6323064 A JP S6323064A
- Authority
- JP
- Japan
- Prior art keywords
- drive
- pinion
- drive mechanism
- large gear
- toothed
- 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.)
- Granted
Links
- 238000006073 displacement reaction Methods 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims abstract description 3
- 239000011295 pitch Substances 0.000 abstract 1
- 238000000034 method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/103—Gears specially adapted therefor, e.g. reduction gears with backlash-preventing means
-
- 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
- F16H57/00—General details of gearing
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
-
- 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
- F16H57/00—General details of gearing
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
- F16H2057/121—Arrangements for adjusting or for taking-up backlash not provided for elsewhere using parallel torque paths and means to twist the two path against each other
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は歯車対を有した減速用駆動機構においてバンク
ラッシを除去する装置に関し、特に産業用ロボットのベ
ース部に配設され、胴体を旋回させる駆動装置のバラク
ラフシ除去装置に関する。[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a device for removing bank crush in a speed reduction drive mechanism having a pair of gears, and particularly to a device that is disposed at the base of an industrial robot and rotates the body. The present invention relates to a device for removing blisters from a drive device.
一般に、歯車対をなす２つの歯車が噛み合った場合に、
従動側の歯車のピッチ円上で測った歯の隙間の長さく＠
みその幅）と、駆動側の歯車のピンチ円上で測った歯の
厚さく歯厚）との差は有限微小値であり、ハノクランシ
と言う。従って駆動側から観るとこのバソクラソシは遊
びであって、精度を要する制御駆動部においてはこのハ
ノクラソシのおかげで精度の良い制御が困難となる。更
には、高速で制御を行なう場合にはこのバソクラ７シに
起因して振動や騒音が発生する。特に産業用ロボットの
制御駆動部に歯車対を有している場合には、ハラクラフ
シが起因して、ひいては手首部先端の制１７１１精度に
悪影響を及ぼすと共に、高速制御時には振動や騒音が発
生する。Generally, when two gears forming a gear pair mesh,
The length of the tooth gap measured on the pitch circle of the driven gear @
The difference between the tooth width (width) and the tooth thickness (tooth thickness) measured on the pinch circle of the drive side gear is a finite and minute value, and is called Hanokurashi. Therefore, from the perspective of the drive side, this spacing is play, and in a control drive section that requires precision, this spacing makes it difficult to perform accurate control. Furthermore, when high-speed control is performed, vibrations and noise are generated due to the bathocrush 7. In particular, when the control drive unit of an industrial robot has a gear pair, the scratches cause a negative impact on the precision of the control 1711 at the tip of the wrist, and generate vibrations and noise during high-speed control.
依って、本発明は斯る問題点の解決を図るべく、歯車対
のハラクラフシを除去せんとするものである。Therefore, in order to solve this problem, the present invention aims to eliminate the roughness of the gear pair.
〔問題点を解決するための手段と作用〕本発明は上述し
た発明目的に鑑みて、大歯車と第１ピニオンの各回転軸
線が互いに平行な歯車対を有する減速用駆動機構におい
て、前記第１ピニオンと同一の円ピッチを有した第２ピ
ニオンを前記大歯車に噛合させ、前記第１、第２のピニ
オンの回転軸に各々第１、第２の被駆動側歯付プーリを
固定し、前記駆動機構の駆動装置の駆動軸に第１、第２
の２つの駆動側歯付プーリを相対的な回転変位を設定可
能に係合させ、前記駆動側、被駆動側の歯付プーリを歯
付ベルトを介して伝動対となし、前記第１、第２の駆動
側歯付プーリ間に付与した相対的調節回転変位によって
前記歯付ベルトを介して前記第１、第２のピニオンと前
記大歯車とを常時噛合状態に維持し、歯車対のハラクラ
フシを除去することを特徴とした歯車対を有する減速用
駆動機構を提供する。[Means and effects for solving the problems] In view of the above-mentioned objects of the invention, the present invention provides a reduction drive mechanism having a gear pair in which the rotation axes of the large gear and the first pinion are parallel to each other. A second pinion having the same circular pitch as the pinion is meshed with the large gear, first and second driven side toothed pulleys are fixed to the rotating shafts of the first and second pinions, respectively, and the The first and second drive shafts of the drive device of the drive mechanism
The two drive-side toothed pulleys are engaged so that a relative rotational displacement can be set, and the drive-side and driven-side toothed pulleys form a transmission pair via a toothed belt, and The first and second pinions and the large gear are always maintained in a meshing state via the toothed belt by the relative adjustment rotational displacement applied between the two drive-side toothed pulleys, and the Harakurafushi of the gear pair is maintained. A reduction drive mechanism having a gear pair characterized in that it is removed is provided.
以下、本発明を添付図面に示す実施例に基づいて更に詳
細に説明する。第１図は本発明による歯車対を有する減
速用駆動機構の略示斜視図、第２図は歯車対の模式的上
面図、第３図は駆動軸への２つのプーリの取付状態を示
す断面図である。Hereinafter, the present invention will be explained in more detail based on embodiments shown in the accompanying drawings. Fig. 1 is a schematic perspective view of a deceleration drive mechanism having a gear pair according to the present invention, Fig. 2 is a schematic top view of the gear pair, and Fig. 3 is a cross section showing how two pulleys are attached to the drive shaft. It is a diagram.
まず第１図を参照すると、駆動装置としてのサーボモー
タ１０の駆動軸１２には第１の駆動側歯付プーリ１４と
第２の駆動側歯付プーリ１６とが固定されている。一方
、大歯車３０をその回転軸線３６の周りに回転させるよ
う該回転軸線３６と互いに平行な回転軸線３２ 、３４
を有し、互いに適宜離間して大歯車３０と噛合した第１
．第２のピニオン２６ 、２８が配設されている。これ
ら第１、第２のピニオン２６ 、２８には第１１第２の
被駆動側歯付プーリ２２ 、２４が固定され、該第１、
第２の被駆動側歯付プーリ２２ 、２４と前記第１、第
２の駆動側歯付プーリ１４ 、１６とは各々弾性体から
成る第１、第２の歯付ベル） １８ 、２０を介して連
結されている。First, referring to FIG. 1, a first drive-side toothed pulley 14 and a second drive-side toothed pulley 16 are fixed to a drive shaft 12 of a servo motor 10 as a drive device. On the other hand, rotation axes 32 and 34 are mutually parallel to the rotation axis 36 so as to rotate the large gear 30 around the rotation axis 36.
, and meshed with the large gear 30 at an appropriate distance from each other.
．． A second pinion 26, 28 is provided. Eleventh and second driven toothed pulleys 22 and 24 are fixed to these first and second pinions 26 and 28, and
The second driven side toothed pulleys 22, 24 and the first and second driving side toothed pulleys 14, 16 are connected to each other via first and second toothed bells (18, 20) each made of an elastic body. are connected.
第２図を参照しながら、第１図で図示した装置機溝によ
り歯車対のバラクラフシを除去する原理につき記載する
。第１の駆動側歯付プーリ１４と第１歯付ベルト１８と
第１被駆動側歯付プーリ２２とを介して第１ピニオン２
６を回転軸線３２の周りに矢印ＣＩ方向に適量回転させ
、自身の歯の側面Ｆ１を大歯車３０の歯の側面Ｆ３と当
接させる。この第１ピニオン２６を逆回転させないよう
保持して歯の側面Ｆ１とＦ３との当接状態を維持したま
ま、第２ピニオン２８を第２の駆動側歯付プーリ１４と
第２歯付ベルト２０と第２被駆動側歯付プーリ２４とを
介して回転軸線３４の周りに矢印０２方向に回転させる
。そうすると、この第２ピニオン２８の歯の側面Ｆ２が
大歯車３０の他の歯の側面Ｆ４と当接する。こうして大
歯車３０の別々の歯と２つのピニオン歯車２６ 、２８
の歯とが当接した状態を維持すべく第１、第２の駆動側
歯付プーリ１４ 、１６をサーボモータ１０の駆動軸１
２に後述の手段により固定し、更には２つの歯付ベルト
１８ 、２０に張力を付与するようサーボモータ１０を
２つの回転軸線３２ 、３４から離隔する方向に僅かに
移動させて、適宜な固定手段によりサーボモータ１０を
固定する。この移動の方向は好ましくは２つの回転軸線
３２ 、３４を結ぶ線分の垂直二等分線の方向がよい。With reference to FIG. 2, the principle of removing brackishness from a gear pair using the machine groove shown in FIG. 1 will be described. The first pinion 2
6 is rotated by an appropriate amount in the direction of arrow CI around the rotational axis 32, so that the side surface F1 of its own teeth comes into contact with the side surface F3 of the teeth of the large gear 30. While holding the first pinion 26 so as not to rotate in the reverse direction and maintaining the state of contact between the side surfaces F1 and F3 of the teeth, the second pinion 28 is moved between the second drive-side toothed pulley 14 and the second toothed belt 20. and the second driven toothed pulley 24 around the rotation axis 34 in the direction of arrow 02. Then, the side surface F2 of the tooth of the second pinion 28 comes into contact with the side surface F4 of another tooth of the large gear 30. Thus the separate teeth of the big gear 30 and the two pinion gears 26, 28
The first and second drive-side toothed pulleys 14 and 16 are connected to the drive shaft 1 of the servo motor 10 in order to maintain the state in which the teeth of the
2 by the means described below, and further move the servo motor 10 slightly in a direction away from the two rotational axes 32 and 34 so as to apply tension to the two toothed belts 18 and 20, and fix the belts appropriately. The servo motor 10 is fixed by means. The direction of this movement is preferably in the direction of the perpendicular bisector of the line segment connecting the two rotational axes 32, 34.
こうして設定された減速用駆動機構において第１ピニオ
ン２６が矢印ＣＩの方向に回転する方向にサーボモータ
ｌＯを回転させると、第１ピニオン２６と大歯車３０と
が各々側面Ｆｌ、Ｆ３を介して当接状態を維持したまま
矢印Ｃ１，Ｃ３の方向に回転する。この時、第２ピニオ
ン２８は矢印Ｃ２とは逆の方向に回転するが、初期設定
の段階においてこの第２ピニオン２８の歯の側面Ｆ２と
大歯車３０の他の歯の側面Ｆ４とは当接しているため常
に当接状態を維持したまま各々矢印Ｃ２の逆方向と０３
方向とに回転する。サーボモータ１０の駆動軸１２を逆
の方向に回転させると今度は第２ピニオン２８が矢印Ｃ
２の方向に回転し、大歯車３０と第１ピニオン２６とは
各々矢印Ｃ３，ＣＩの逆方向に回転するが、前記と同様
に側面Ｆ２とＦ４ 、Ｆ３とＦｌとは常に当接状態を維
持しながら回転する。従って、サーボモータ１０の駆動
軸１２をどちらに回転させようともバソクラフシは完全
に除去されている。When the servo motor lO is rotated in the direction in which the first pinion 26 rotates in the direction of the arrow CI in the deceleration drive mechanism set in this way, the first pinion 26 and the large gear 30 are brought into contact with each other via the side surfaces Fl and F3. It rotates in the directions of arrows C1 and C3 while maintaining the contact state. At this time, the second pinion 28 rotates in the opposite direction to the arrow C2, but at the initial setting stage, the side surface F2 of the tooth of the second pinion 28 and the side surface F4 of the other tooth of the large gear 30 are in contact with each other. 03 in the opposite direction of arrow C2 and 03 while always maintaining the contact state.
Rotate in the direction. When the drive shaft 12 of the servo motor 10 is rotated in the opposite direction, the second pinion 28 moves in the direction of arrow C.
2, and the large gear 30 and the first pinion 26 rotate in the opposite directions of the arrows C3 and CI, respectively, but the side surfaces F2 and F4 and F3 and Fl always maintain a state of contact as before. Rotate while doing so. Therefore, no matter in which direction the drive shaft 12 of the servo motor 10 is rotated, the bathoclave is completely removed.
第３図を参照しながら２つの駆動側歯付プーリ１４ 、
１６をサーボモータ１０の駆動軸１２に締結する締結機
構、並びに締結の過程において該プーリ１４ 、１６を
互いに逆回転させることにより歯車対のバソクラッシを
除去する方法につき記載する。まず第１の駆動側歯付プ
ーリ１４はキー（図示せず）を介して駆動軸１２のテー
パ部４０に固定される。Referring to FIG. 3, two drive-side toothed pulleys 14,
16 to the drive shaft 12 of the servo motor 10, and a method for eliminating vaso crush of the gear pair by rotating the pulleys 14 and 16 in opposite directions during the fastening process. First, the first drive-side toothed pulley 14 is fixed to the tapered portion 40 of the drive shaft 12 via a key (not shown).
−次に第２駆動側歯付プーリ１６はその円錐台部４２を
前記第１駆動側歯付プーリ１４のテーパ状凹所４１に挿
入して、めねし部を具備した固定用ねじ棒４６を２つの
プーリ托、１４の中心孔部に挿太し、駆動軸１２の先端
のねじ部４４と係合させることにより仮止めされる。こ
の状態のプーリ１４ 、１６と被駆動側歯付プーリ２２
，２４（第１図）とを各々歯付ベルト１８．２０（第１
図）を張架して連結する。第１駆動側歯付プーリ１４と
仮止め状態の第２駆動側歯付プーリ１６とは固定用ねし
棒４６を介して緩く締結されているだけなので、テーパ
状凹所４１と円錐台部４２とは小さな摩擦力しか作用し
ない。従って２つのプーリ１４ 、１６を互いに反対方
向に容易に回転させ得る。こうして２つの駆動側歯付プ
ーリ１４ 、１６を互いに逆方向に回転させると、各々
歯付ベル日８．２０と被駆動側歯付プーリ２２ 、２４
とを介して第１、第２のピニオン２６ 、２８を第２図
に示す互いに逆方向のＣ１，Ｃ２方向に回転させ、前述
の如く大歯車３０とは各々側面Ｆ１とＦ３、側面Ｆ２と
Ｆ４とが互いに当接することによりバックラソシが除去
される。この第１１第２のピニオン２６ 、２８と大歯
車３０とが当接噛合した状態を維持したまま固定用ねし
捧４６を十分に締め込むことにより第２駆動側歯付プー
リ１６は円錐台部４２とテーパ状凹所４１との強い摩擦
により第１駆動側歯付プーリ１４に締結され、以後第１
、第２のプーリ１４ 、１６は一体となり同一方向にの
み回転可能である。更に好ましくは、２つの歯付きベル
ト１８．２０（第１図）の張りを十分なものとするよう
２つの回転軸線３２．３４（第１図）を結ぶ線分の垂直
二等分線上を２つのピニオン歯車２６ 、２８から離隔
する方向にサーボモータ１０を僅かに平行移動させ、適
宜な固定手段により固定するとよい。- Next, the second drive-side toothed pulley 16 inserts its truncated cone portion 42 into the tapered recess 41 of the first drive-side toothed pulley 14, and then inserts the fixing threaded rod 46 having a female threaded portion. is inserted into the center hole of the two pulleys 14, and is temporarily fixed by engaging with the threaded portion 44 at the tip of the drive shaft 12. The pulleys 14 and 16 in this state and the toothed pulley 22 on the driven side
, 24 (Fig. 1) and toothed belts 18.20 (1st
(Figure) and connect them. Since the first drive-side toothed pulley 14 and the temporarily fixed second drive-side toothed pulley 16 are only loosely fastened via the fixing threaded rod 46, the tapered recess 41 and the truncated conical portion 42 Only a small frictional force acts on it. Therefore, the two pulleys 14, 16 can be easily rotated in opposite directions. When the two drive side toothed pulleys 14 and 16 are rotated in opposite directions in this way, the toothed bell date 8.20 and the driven side toothed pulleys 22 and 24 are respectively rotated.
The first and second pinions 26 and 28 are rotated in mutually opposite directions C1 and C2 shown in FIG. Backlash is removed by contacting each other. By sufficiently tightening the fixing stud 46 while maintaining the state in which the eleventh second pinions 26 and 28 and the large gear 30 are in contact with each other, the second drive-side toothed pulley 16 is moved to a truncated conical portion. 42 and the tapered recess 41, it is fastened to the first drive-side toothed pulley 14.
, the second pulleys 14 and 16 are integral and can only rotate in the same direction. More preferably, the perpendicular bisector of the line connecting the two rotational axes 32, 34 (Fig. 1) is 2 It is preferable that the servo motor 10 is slightly translated in a direction away from the two pinion gears 26 and 28 and then fixed by suitable fixing means.
以上に記載説明した減速用駆動機構は産業用ロボットの
ベース部に設けられて、その胴体を旋回させる駆動機構
として利用できるものである。The deceleration drive mechanism described above can be installed on the base of an industrial robot and used as a drive mechanism for rotating the body of the industrial robot.
〔発明の効果］
以上の説明から明らかなように、本発明によればバック
ラソシが除去され、従って振動及び騒音が発生せず、特
に産業用ロボットの制御駆動部に[Effects of the Invention] As is clear from the above description, according to the present invention, backlash is eliminated, and therefore, vibration and noise are not generated, and this invention is particularly effective for control drive parts of industrial robots.
第１図は本発明による歯車対を有する減速用駆動機構の
略示斜視図、第２図は歯車対の模式的上面図、第３図は
２つのプーリの駆動軸への取付状態を示す断面図。
ｌＯ・・・サーボモータ、 １２・・・駆動軸、１
４・・・第１駆動側歯付プーリ、
１６・・・第２駆動側歯付プーリ、
１８・・・第１歯付ベルト、
２０・・・第２歯付ベルト、
２２・・・第１被駆動側歯付プーリ、
２４・・・第２被駆動側歯付プーリ、
２６・・・第１ピニオン、 ２８・・・第２ピニオ
ン、３０・・・大歯車、 ３２ 、３４ 、３６・
・・回転軸線、４６・・・固定用ねし棒。Fig. 1 is a schematic perspective view of a deceleration drive mechanism having a gear pair according to the present invention, Fig. 2 is a schematic top view of the gear pair, and Fig. 3 is a cross section showing how two pulleys are attached to the drive shaft. figure. lO... Servo motor, 12... Drive shaft, 1
4... First drive side toothed pulley, 16... Second drive side toothed pulley, 18... First toothed belt, 20... Second toothed belt, 22... First Driven side toothed pulley, 24... Second driven side toothed pulley, 26... First pinion, 28... Second pinion, 30... Large gear, 32, 34, 36.
... Rotation axis, 46... Fixing rod.
Claims (1)
歯車対を有する減速用駆動機構において、前記第１ピニ
オンと同一の円ピッチを有した第２ピニオンを前記大歯
車に噛合させ、前記第１、第２のピニオンの回転軸に各
々第１、第２の被駆動側歯付プーリを固定し、前記駆動
機構の駆動装置の駆動軸に第１、第２の２つの駆動側歯
付プーリを相対的な回転変位を設定可能に係合させ、前
記駆動側、被駆動側の歯付プーリを歯付ベルトを介して
伝動対となし、前記第１、第２の駆動側歯付プーリ間に
付与した相対的調節回転変位によって前記歯付ベルトを
介して前記第１、第２のピニオンと前記大歯車とを常時
噛合状態に維持し、歯車対のバックラッシを除去するこ
とを特徴とした歯車対を有する減速用駆動機構。 ２、前記減速用駆動機構が産業用ロボットのベース部に
設けられ、胴体を旋回させる駆動機構である特許請求の
範囲第１項に記載の歯車対を有する減速用駆動機構。[Scope of Claims] 1. In a reduction drive mechanism having a pair of gears in which the rotation axes of a large gear and a first pinion are parallel to each other, the second pinion having the same circular pitch as the first pinion is connected to the large gear and the first pinion. First and second driven side toothed pulleys are meshed with gears and fixed to the rotating shafts of the first and second pinions, respectively, and the first and second toothed pulleys are connected to the drive shaft of the drive device of the drive mechanism. Two drive-side toothed pulleys are engaged so that a relative rotational displacement can be set, and the drive-side and driven-side toothed pulleys form a transmission pair via a toothed belt, and the first and second The first and second pinions and the large gear are always maintained in a meshed state via the toothed belt by a relative adjustment rotational displacement applied between the toothed pulleys on the drive side, thereby eliminating backlash of the gear pair. A reduction drive mechanism having a gear pair characterized by: 2. A deceleration drive mechanism having a gear pair according to claim 1, wherein the deceleration drive mechanism is provided at a base portion of an industrial robot and is a drive mechanism for rotating a body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16479286A JPS6323064A (en) | 1986-07-15 | 1986-07-15 | Backlash removing device for speed reduction drive mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16479286A JPS6323064A (en) | 1986-07-15 | 1986-07-15 | Backlash removing device for speed reduction drive mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6323064A true JPS6323064A (en) | 1988-01-30 |
| JPH0416664B2 JPH0416664B2 (en) | 1992-03-24 |
Family
ID=15800028
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16479286A Granted JPS6323064A (en) | 1986-07-15 | 1986-07-15 | Backlash removing device for speed reduction drive mechanism |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6323064A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5085619A (en) * | 1989-03-02 | 1992-02-04 | Fanuc Ltd. | Dual pinion anti-backlash tensioner for a robot |
| EP1006293A1 (en) * | 1998-12-01 | 2000-06-07 | Konrad Seidler Maschinenbau-Werkzeugmaschinen GmbH | Chuck driving means |
| JP2007015023A (en) * | 2005-07-05 | 2007-01-25 | Daihen Corp | Link device and carrying robot |
| WO2014162127A1 (en) * | 2013-04-01 | 2014-10-09 | Michael Paul Alexander Geissler | Geared drive assemblies |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62171565A (en) * | 1986-01-23 | 1987-07-28 | Hitachi Ltd | Turning device for industrial robot |
-
1986
- 1986-07-15 JP JP16479286A patent/JPS6323064A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62171565A (en) * | 1986-01-23 | 1987-07-28 | Hitachi Ltd | Turning device for industrial robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5085619A (en) * | 1989-03-02 | 1992-02-04 | Fanuc Ltd. | Dual pinion anti-backlash tensioner for a robot |
| EP1006293A1 (en) * | 1998-12-01 | 2000-06-07 | Konrad Seidler Maschinenbau-Werkzeugmaschinen GmbH | Chuck driving means |
| JP2007015023A (en) * | 2005-07-05 | 2007-01-25 | Daihen Corp | Link device and carrying robot |
| JP4490341B2 (en) * | 2005-07-05 | 2010-06-23 | 株式会社ダイヘン | Link device and transfer robot |
| WO2014162127A1 (en) * | 2013-04-01 | 2014-10-09 | Michael Paul Alexander Geissler | Geared drive assemblies |
| US9915341B2 (en) | 2013-04-01 | 2018-03-13 | Michael Paul Alexander GEISSLER | Geared drive assemblies |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0416664B2 (en) | 1992-03-24 |
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