Robot arm and robot
First Claim
1. A joint driving device in which a first link and a second link relatively turn, the joint driving device comprising:
- a motor including a rotor, a rotor shaft, a stator, and a plurality of bearings that support the rotor shaft;
a reduction gear engaged with the rotation shaft that decelerates rotation from the motor and increases and outputs a torque output of the motor;
a reduction gear output shaft engaged with the reduction gear and the second link that transmits the torque output from the reduction gear to the second link;
a transmission shaft that is a motor frame extending longitudinally with the motor and supporting the rotor, rotor shaft, and stator, wherein the transmission shaft is engaged with a frame of the reduction gear and the first link, transmitting a reaction torque output from the frame of the reduction gear to the first link;
a transmission shaft outer cylinder arranged on the outer circumference of the transmission shaft and connected to the transmission shaft;
a reduction gear output shaft outer cylinder arranged on the outer circumference of the reduction gear output shaft and connected to the reduction gear output shaft; and
a wire body arranged between the first link and the second link and including at least one of a wire and a pipe, whereinthe wire body is housed in a housing space defined by the transmission shaft outer cylinder, the transmission shaft, and the reduction gear output shaft outer cylinder,the rotor shaft extends from within the motor to the second link, andthe reduction gear output shaft is disposed within the second link.
1 Assignment
0 Petitions
Accused Products
Abstract
A joint driving device includes: a reduction gear output shaft that transmits a torque to a second link; a transmission shaft that transmits reaction of the torque to a first link; a transmission shaft outer cylinder arranged on the outer circumference of the transmission shaft and connected to the transmission shaft; a reduction gear output shaft outer cylinder arranged in the outer circumference of the reduction gear output shaft and connected to the reduction gear output shaft; and a wire body arranged between the first link and the second link and including at least one of a wire and a pipe. The transmission shaft includes the motor frame as at least a part. The wire body is housed in a space between the transmission shaft outer cylinder and the transmission shaft, and a space between the reduction gear output shaft outer cylinder and the reduction gear output shaft.
61 Citations
18 Claims
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1. A joint driving device in which a first link and a second link relatively turn, the joint driving device comprising:
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a motor including a rotor, a rotor shaft, a stator, and a plurality of bearings that support the rotor shaft; a reduction gear engaged with the rotation shaft that decelerates rotation from the motor and increases and outputs a torque output of the motor; a reduction gear output shaft engaged with the reduction gear and the second link that transmits the torque output from the reduction gear to the second link; a transmission shaft that is a motor frame extending longitudinally with the motor and supporting the rotor, rotor shaft, and stator, wherein the transmission shaft is engaged with a frame of the reduction gear and the first link, transmitting a reaction torque output from the frame of the reduction gear to the first link; a transmission shaft outer cylinder arranged on the outer circumference of the transmission shaft and connected to the transmission shaft; a reduction gear output shaft outer cylinder arranged on the outer circumference of the reduction gear output shaft and connected to the reduction gear output shaft; and a wire body arranged between the first link and the second link and including at least one of a wire and a pipe, wherein the wire body is housed in a housing space defined by the transmission shaft outer cylinder, the transmission shaft, and the reduction gear output shaft outer cylinder, the rotor shaft extends from within the motor to the second link, and the reduction gear output shaft is disposed within the second link. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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Specification