公开(公告)号：US20130237368A1

公开(公告)日：2013-09-12

申请号：US13873237

申请日：2013-04-30

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Wennong ZHANG ,  Hiroshi NAKAMURA ,  Yasuo KISHI

IPC: F16H1/46

CPC classification number: F16H1/46

Abstract: A compound planetary gear mechanism includes at least two planetary gear mechanisms and a carrier. The at least two planetary gear mechanisms include a first planetary gear mechanism and a second planetary gear mechanism. The first planetary gear mechanism includes a plurality of first planetary gears. The second planetary gear mechanism includes a plurality of second planetary gears. The carrier is coupled to the plurality of first planetary gears and the plurality of second planetary gears. The carrier includes a first support shaft and a second support shaft. The first support shaft rotatably supports a first planetary gear among the plurality of first planetary gears. The second support shaft rotatably supports a second planetary gear among the plurality of second planetary gears and is independent of the first support shaft.

Abstract translation: 复合行星齿轮机构包括至少两个行星齿轮机构和载体。 所述至少两个行星齿轮机构包括第一行星齿轮机构和第二行星齿轮机构。 第一行星齿轮机构包括多个第一行星齿轮。 第二行星齿轮机构包括多个第二行星齿轮。 载体联接到多个第一行星齿轮和多个第二行星齿轮。 载体包括第一支撑轴和第二支撑轴。 第一支撑轴可旋转地支撑多个第一行星齿轮中的第一行星齿轮。 所述第二支撑轴可旋转地支撑所述多个第二行星齿轮中的第二行星齿轮并且独立于所述第一支撑轴。

公开(公告)号：US20130142608A1

公开(公告)日：2013-06-06

申请号：US13756554

申请日：2013-02-01

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Wennong ZHANG ,  Hiroshi NAKAMURA

IPC: B25J17/02 ,  B25J17/00 ,  B25J9/10

CPC classification number: B25J17/0266 ,  B25J9/0051 ,  B25J9/1065 ,  B25J17/00 ,  F16H21/04 ,  Y10T74/20305

Abstract: A parallel mechanism includes a fixed plate, four turnable actuators, four peripheral driving mechanisms, and a movable plate. The four turnable actuators are disposed in respective four directions of the fixed plate with pivot axes of two adjacent turnable actuators being orthogonal to one another and with pivot axes of two opposing turnable actuators being parallel to one another. The four peripheral driving mechanisms each include an upper arm made up of a bar integral with a rotor of a turnable actuator corresponding to the upper arm. An upper joint couples the upper arm to the lower arm. A lower joint couples the lower arm to the movable plate. The movable plate is driven by the four turnable actuators through the four peripheral driving mechanisms with at least four degrees of freedom including one rotational degree of freedom along a plane direction of the movable plate.

Abstract translation: 平行机构包括固定板，四个可转动致动器，四个外围驱动机构和可移动板。 四个可转动致动器设置在固定板的相应四个方向上，其中两个相邻的可转动致动器的枢转轴线彼此正交，并且两个相对的可转动致动器的枢转轴线彼此平行。 四个外围驱动机构各自包括由与上臂相对应的可转动致动器的转子一体的杆构成的上臂。 上接头将上臂连接到下臂。 下接头将下臂连接到可动板。 可移动板由四个可转动致动器通过四个外围驱动机构驱动，其具有至少四个自由度，包括沿着可移动板的平面方向的一个旋转自由度。