Teijin Seiki Co., Ltd.

Michiyoshi Iwata

Kazuyuki Matsumoto

Masataka Hashimoto

Mashataka Hashimoto

A tool-rest driving device comprising a drive motor having its output shaft, a first rotatable shaft axially aligned with the motor output shaft and driven to rotate by the motor output shaft, a tool rest having at least one rotational tool, a reduction gear arranged between the first rotatable shaft and the tool rest for reducing the number of rotations of the motor output shaft, the tool rest being rotated at the reduced number of rotations, and a second rotatable shaft arranged coaxially of the motor output shaft for driving the rotational tool of the tool rest. A center axis of the rotational shaft, a center axis of the reduction gear and an axis of rotation of the tool rest are arranged on the same axis.

Tool-rest driving 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.

Robot arm drive apparatus of industrial robot

An improved hydraulic control circuit is disclosed for use in crawler type vehicles and the like in which relief valves as used in conventional circuits are eliminated. The resulting hydraulic circuit is not apt to be damaged by surge pressures and high pressures in the return passages, are simple in their design and more convenient to fabricate.

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Fuwa, Japan

Michiyoshi Iwata