Drive unit for use in articulated arm, has rotary drive mechanisms arranged in housing completely outside rotary axes of rotary drives that are driven by rotary drive mechanisms, where each mechanism has motor for providing driving torque

摘要

The drive unit has a housing (1) in which two rotary drive mechanisms are mounted, and two rotary output drives (2) whose rotary axes angularly run together. Rotating motions of the two rotary drive mechanisms are transferable to the two rotary output drives by two harmonic drive gears, respectively. Each of the rotary drive mechanism has a motor (16) for providing a driving torque. Each rotary drive mechanism is arranged in the housing completely outside the rotary axes of the rotary output drives that are driven by the rotary drive mechanisms.