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 obtain an axial driving force effectively by providing a shaft supported on a fluid bearing and having grooves axially and polarity plates provided on both sides of a permanent magnet and having specific grooves and exciting coils. CONSTITUTION:A shaft 21 consisting of a magnetic material with grooves formed axially at a constant pitch on the circumfence and a nonmagnetic substance 21a buried in the grooves is borne on a fild bearing, and plates 23, 24 excited by a permanent magnet 22 are provided outside the shaft 21. Then, poles in four, for example (poles 27, 28, for example, with reference to a place shoe 24), having an exciting coil each and a groove 31 with the same pitch as the groove of the shaft 21 on the tip are provided inside the plates 23, 24. The grooves for the poles opposite each other through the shaft 21 are given in phase and those for the adjacent poles are given in dislocation each by half pitch. Then, the poles facing to the direction of the shaft 21 between the plates 23 and 24 have the grooves dislocated by 1/4 pitch.

Toshitoki Inoue

Papers

Joint device for robot

Gripper for article

Linear stepping motor