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

PROBLEM TO BE SOLVED: To prevent the settling of sodium sulfate crystals during the whole steps of producing a heat storage material comprising a high-viscosity heat storage material composition filled in a container to thereby obtain a heat storage material which undergoes little change in quantity of heat even on repeated fusion and solidification and is excellent in durability. SOLUTION: A process for producing a heat storage material by dispersing sodium sulfate and a supercooling inhibitor in a water-swelling crosslinked polymer matrix, which involves the following steps: step (1) of mixing an alkali silicate with a polymerizable unsaturated carboxylic acid in water and adjusting pH to 5 to 9 to form colloidal silicate; step (2) of mixing sodium sulfate therewith; step (3) of mixing a supercooling inhibitor therewith; step (4) of mixing a polyfunctional monomer therewith; and step (5) of mixing a polymerization initiator therewith to form a water-swelling crosslinked polymer matrix. The order of steps (2) to (4) can be changed, provided that they precede the step (5).

Production of heat storage material

PURPOSE: To provide possibilities of shifting a point where the max. vibration is generated to outside the working region by installing a planetary gearing device and a parallel axis type gearing device, arranging the gears in the specific condition, and specifying the reducing gear ratios and the total gearing ratio of the overall device. CONSTITUTION: A rotary shaft 7 of a motor 1 is coupled with the input shaft 8 of a reduction gear device 3, whose output shaft, 10 is coupled with a robot arm. The device 3 is composed of a fore-stage reduction gear machine 20 consisting of a parallel shaft type gearing device and a rear-stage reduction gear machine 21 consisting of a planetary gearing device. An exteriorly cogged gear 29 is installed between the input gear 22 and output gear 25 and one-side end face of a support 44, and the input gear 22 and output gear 25 are located between the other side end face of the support 44 and the exteriorly cogged gear 20. The gear ratio of the fore-stage reduction machine 20 is set to 1/2-1/5, while the gear ratio of the rear-stage reduction machine 21 is set to 1/25-1/60, and the overall gearing ratio is set to 1/110-1/190. COPYRIGHT: (C)1995,JPO

Deceleration device for joint drive of industrial robot

A gripper device and method is provided. The method includes capturing, using an electronic device, information of an object that is indicative of holding position; determining, using the information, by a hardware processor, an optimal holding orientation and an optimal movement of at least one of (i) a plurality of fingers, or (ii) a plurality of suction cups of a gripper device; identifying the at least one of (i) the plurality of fingers, and (ii) the plurality of suction cups as one or more grasping components based on the information, the optimal holding orientation and the optimal movement; and enabling, using an actuator, the one or more identified grasping components to grasp the object based on the information, the optimal holding orientation and the optimal movement.

Adaptive gripper device

Joint device for robot

Gripper for article

PURPOSE:To set in a short time a limit switch for preventing an overrun by storing both end point values of an operating area in which a safety operation can be executed, and a work point value, also, reading them, and setting automatically the first and the second soft limits. CONSTITUTION:At the time of teaching, a storage part 33 receives a detector 34 signal of an operating shaft 11, and stores it successively as a work point value 25. Also, at the time of installation, the operating shaft 11 is operated manually, an operating area 17 corresponding to a safety operating area of the operating shaft 11 concerned is detected, and both its end point values 18, 19 are stored. As a result, a registering part 35 reads out said values 18, 19, and the maximum movable areas 20, 21 being narrower than said values are set automatically as the first soft limits 23, 24, and registered. Also, in the same way, the second soft limits 31, 32 are set automatically, and registered as a movable area 28. In this way, at each work program, movable area values 29, 30 and the movable area 28 are set and registered, by which a monitor part 36 monitors it, and cuts off a power source to a driving control part through a power cutting-off circuit 38, at the time of its protrusion.

Akira Nakada

Papers

Joint device for robot

Gripper for article

Overrun preventing device