| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot joint structure and a robot device capable of downsizing a joint part.SOLUTION: A first wrist support 531 has a first wrist support power feeding surface 531a in a shape of a tapered surface having a first inclination with respect to a fifth axis J5. A wrist housing 544 has: a wrist housing power receiving surface 541a in a shape of a truncated cone having the first inclination with respect to the fifth axis J5; and a wrist housing power feeding surface 543a in a shape of a tapered surface having a second inclination with respect to a sixth axis J6. A hand interface 540 has a hand interface power receiving surface 551a in a shape of a truncated cone having the second inclination with respect to the sixth axis J6. A first slip ring is provided between the first wrist support power feeding surface 531a and the wrist housing power receiving surface 541a. A second slip ring is provided between the wrist housing power feeding surface 543a and the hand interface power receiving surface 551a. |
