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US 9,095,982 B2Granted
Drive apparatus and robot
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsTakenori Oka, Masato Itou, Yusuke Kinoshita, Manabu Okahisa
Life of this patent
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Abstract
This drive apparatus includes a first rotation mechanism portion including a first driven gear portion rotated by a first drive gear portion rotating about a first axis and a second rotation mechanism portion including a second driven gear portion rotated by a second drive gear portion rotating about the first axis.
Claims17
A drive apparatus comprising:
- a first rotation mechanism portion including a first drive gear potion rotating axis and a first driven gear portion rotated about a second axis by the first drive gear portion, the second axis intersecting with the first axis when viewed from a direction orthogonal to the first axis and the second axis, and
- a second rotation mechanism portion including a second drive gear portion rotating about the first axis, arranged inside or outside the first drive gear portion and a second driven gear portion meshing with the second drive gear portion, rotated about the second axis by the second drive gear portion, arranged inside or outside the first driven gear portion;
- and
- a third rotation mechanism portion rotating the first driven gear portion of the first rotation mechanism portion and the second driven gear portion of the second rotation mechanism portion about the first axis to rotate the end effector about the first axis,
- wherein the first drive gear portion is formed to have a smaller number of teeth than the first driven gear portion, and the second drive gear portion is formed to have a smaller number of teeth than the second driven gear portion.
2 more elements
A robot comprising:
- an arm;
- and
- a joint provided on one end portion of the arm, wherein
- the joint has:
- a first rotation mechanism portion including a first drive gear potion rotating axis and a first driven gear portion rotated about a second axis by the first drive gear portion, the second axis intersecting with the first axis when viewed from a direction orthogonal to the first axis and the second axis, and
- a second rotation mechanism portion including a second drive gear portion rotating about the first axis, arranged inside or outside the first drive gear portion and a second driven gear portion meshing with the second drive gear portion, rotated about the second axis by the second drive gear portion, arranged inside or outside the first driven gear portion;
- and
- a third rotation mechanism portion rotating the first driven gear portion of the first rotation mechanism portion and the second driven gear portion of the second rotation mechanism portion about the first axis to rotate the end effector about the first axis,
- wherein the first drive gear portion is formed to have a smaller number of teeth than the first driven gear portion, and the second drive gear portion is formed to have a smaller number of teeth than the second driven gear portion.
6 more elements
Dependencies are inferred from the claim text.