Rotary driving system and robot operating thereon

A robot comprising:

• a base member;
• a finger for manipulating a workpiece;
• a first arm member mounting said finger thereon and turning said finger with reference to a first axis of said base member;
• driving means;
• first reduction means provided with an output shaft for driving said first arm member on a driving force from said driving means, said first reduction means comprising:
• a sun roller coupled to said driving means;
• a plurality of planetary rollers pressed against said sun roller, with
• each planetary roller having a large-diameter portion coming in contact with said sun roller and a small-diameter portion coming in contact with said output shaft;
• means for adjusting a pressing force between said sun roller and said output shaft, said adjusting means having a ring member placed between said sun roller and said output shaft and provided with a tapered surface on one side, and a member for fixing said ring member to said output shaft.

A robot, comprising:

• a fixed member;
• a finger for manipulating a workpiece;
• an arm member mounting said finger thereon and turning said finger with reference to a first axis of said fixed member;
• a motor mounted on said fixed member;
• reduction means for transferring a driving force of said motor to said arm member, said reduction means comprising:
• a cylindrical-shaped rotation member journaled inside of said fixed member;
• an output shaft mounted on said rotation member for transferring rotation of said arm member;
• a reduction part comprising a sun roller journaled inside of said fixed member and said rotation member and coupled to said motor, a plurality of planetary rollers disposed around said sun roller and rotating about their own axes and revolving around said sun roller, and a coupling member for transferring rotation of said planetary rollers to said rotation member;
• and
• hollow turning position detection means mounted to said sun roller for detecting rotation of said output shaft based on revolutions of said planetary rollers.

A rotary driving system, comprising:

• a fixed member;
• a motor mounted on said fixed member;
• a sun roller journaled in said fixed member and coupled to said motor;
• a plurality of planetary rollers disposed around said sun roller;
• pressing means including a pressing ring for pressing said planetary rollers onto the sun roller;
• an output shaft mounted on said fixed member and coupled to said planetary rollers;
• a coupling member coupling said output shaft to said planetary rollers, said coupling members having a bearing and a shaft portion for journaling said planetary rollers;
• and
• turning position detection means for detecting rotation of said output shaft, with said turning position detection means inputting a turning position of said output shaft through said shaft portion.