Robot arm planetary driving gear

摘要

Inside the housing (3) for an epicyclic gearing, driving a robot arm, are two parallel spindles carrying pairs of gear pinions (9, 11; 15, 19). One spindle (23) is connected to an external auxiliary drive (43) and the other one is an extension of a projecting spindle (7) passing through a hollow spindle (5), which carries one gear pinion (11). The projecting spindle is driven by a right angle bevel drive at its far end. The two gear trains inside the housing have different velocity ratios.