| 摘要 |
PCT No. PCT/JP86/00128 Sec. 371 Date Nov. 17, 1986 Sec. 102(e) Date Nov. 17, 1986 PCT Filed Mar. 13, 1986 PCT Pub. No. WO86/05470 PCT Pub. Date Sep. 25, 1986.In articulation drive apparatus of an industrial robot which includes a first member (5) of the robot, a second member (12) of the robot freely rotatably supported on the first member and a reduction gear apparatus for reducing rotation of an electric motor integrally connected to the first member and transmitting the reduced rotation to the second member, the improvement wherein the reduction gear apparatus (3) comprises a primary reduction gear (20) for reducing the number of rotations of the electric motor (1) and a secondary planetary reduction gear (21) for further reducing the number of rotations of output of the primary reduction gear (20). Resonance phenomenon of the drive system is prevented by modifying the construction of the reduction gear apparatus used in the robot drive system, and furthermore, by using bar-shaped members (60), the robot is made small and light in weight and stands a relatively larger torsional rigidity.
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