Robot, robot arm structure, and driving device
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsHiroshi SAITO, Atsushi ICHIBANGASE, Kentaro TANAKA
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Abstract
A robot according to an aspect of the embodiment includes a driving body including a driving device that drives a driven body. The driving device includes a plurality of hollow shafts and a plurality of driving units. The plurality of hollow shafts are disposed concentrically. The plurality of driving units are disposed along a circumferential direction of the hollow shafts. The output shafts of the driving units are connected to the hollow shafts via gears.
Claims10
A robot comprising
- a driving body including a driving device that drives a driven body,
- the driving device comprising:
- a plurality of hollow shafts disposed concentrically;
- and
- a plurality of driving units disposed along a circumferential direction of the plurality of the hollow shafts, wherein
- output shafts of the driving units are connected to the hollow shafts via gears.
A robot arm structure including a driving device, the driving device comprising:
- a plurality of hollow shafts disposed concentrically;
- and
- a plurality of driving units disposed along a circumferential direction of the hollow shafts, wherein
- output shafts of the driving units are connected to the hollow shafts via gears.
A driving device comprising:
- a plurality of hollow shafts disposed concentrically;
- and
- a plurality of driving units disposed along a circumferential direction of the hollow shafts, wherein
- output shafts of the driving units are connected to the hollow shafts via gears.
A robot comprising
- a driving body including a driving device that drives a driven body,
- the driving device comprising:
- first means for rotating, while securing a hollow region inside;
- second means for rotating, while securing the hollow region inside, the second means being disposed concentrically with the first means;
- third means for driving the driven body, the third means being disposed along a circumferential direction of the first and second means;
- and
- fourth means for driving the driven body, the fourth means being disposed along the circumferential direction of the first and second means, wherein
- an output shaft of the third means is connected to the first means, and
- an output shaft of the fourth means is connected to the second means.
Dependencies are inferred from the claim text.