| 摘要 |
PURPOSE:To improve safety by inverting torque transmission mutually between two power sources in normal use and two driven bodies. CONSTITUTION:Spline/idle shafts 34A and 34B and drive shafts 38A and 38B are arranged in three dimensions, and the rotating speeds of the shafts 38A and 38B are transmitted to encoders 44A and 44B by pulleys 40A and 40B, and 46A and 46B, and belts 45A and 45B. Further, spline gears 35 (35A and 35B) are placed where they engage gears 37A and 37B by the resiliency of springs 41A and 41B when arm driving sources 23 (23A and 23B) operate normally. If one driving source 23 becomes faulty, spline pressures 48A and 48B move until the gears engage idle gears 36A and 36B. Consequently, if one driving source 23 is broken, a piston rod is moved by a cylinder to move the gears 35 by the spline pressures 48A and 48B, thereby switching torque transmission paths. The safety is therefore improved. |
