| 摘要 |
PCT No. PCT/JP91/01290 Sec. 371 Date May 26, 1992 Sec. 102(e) Date May 26, 1992 PCT Filed Sep. 27, 1991 PCT Pub. No. WO92/05921 PCT Pub. Date Apr. 16, 1992.A compound drive mechanism (30) according to the invention is capable of driving an output element (10, 40) of an industrial robot for a linear motion along an axis and of rotating the output element (10, 40) independently of the linear motion of the output element (10, 40). The mechanism includes a linear-motion drive motor (M1) for driving the output element (10, 40) for linear motion, a rotation drive motor (M2) for driving the output element (10, 40) for a rotational motion arranged at a fixed position, a linear motion transmitting system (12 and 14; 42 and 44) for transmitting a linear motion to the output element (10, 40) a rotational motion transmitting system (18 and 20; 48 and 50) for transmitting a rotational motion to the output element (10, 40), and a rolling contact bearing (18, 46) interconnecting the linear motion transmitting means (12 and 14; 42 and 44) the rotational motion transmitting means (18 and 20; 48 and 50) to thereby obviate interference between those transmission systems.
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