Teijin Seiki Co., Ltd.

Kazuyuki Matsumoto

Michiyoshi Iwata

Masataka Hashimoto

Akio Hashimoto

Mashataka Hashimoto

A screw fastening device comprising a casing, a motor connected to the casing, a block body rotatably housed in the casing and having a pair of axially spaced plate portions, a plurality of torque transmitting pins each rotatably supported on the plate portions of the block body, the pins having eccentric cam portions, respectively, and being rotated by the motor, an externally toothed gear formed with engagement portions engaged by the eccentric cam portions of the torque transmitting pins, an internally toothed gear fixedly mounted in an inner periphery of the casing so that it can engage with the externally toothed gear, the internally toothed gear being slightly different in number of teeth from the externally toothed gear, and a rotational output shaft connected to either one of the plate portions of the block body. The externally toothed gear is given an eccentric motion and rotated by the rotations of the torque transmitting pins, and the block body is rotated by the rotation of the externally toothed gear.

Screw fastening device

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 gears for reducing rotation of the electric motor and then transmitting to the second robot member; the reduction gears comprising a planetary reduction gear and furthermore an additional reduction gear which is purposely provided so that the number of rotations of the electric motor, at which the resonance of a drive system comprising the electric motor, the second robot member and the reduction gear means occurs, is shifted from a predetermined operational region of the electric motor. The planetary reduction gear comprises an input shaft having a cam surface and connected with the additional reduction gear, an external gear, an internal gear held in mesh with the external gear and different in number of teeth from the external gear, the external gear being connected to the cam surface of the input shaft in such a manner that differential motion between the external gear and the internal gear is developed.

Articulation drive apparatus of industrial robot

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.

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Ogaki, Japan

Kazuyuki Matsumoto