| 摘要 |
PROBLEM TO BE SOLVED: To achieve a high output of a robot driving device limited with an installation space.SOLUTION: A robot driving device is in a robot driving mechanism in which a first joint and a second joint are provided in a junction between a first link 111 and a second link 112 and a junction between the second link 112 and a third link 113, respectively, and the two joints can be driven by three first to third motors. In the robot driving device, an output of the first motor 51 disposed in the first link 111 is transmitted to a first joint rotary shaft by a first force transmission mechanism 41, an output of the second motor 53 disposed in the second link 112 is transmitted to a second joint rotary shaft by a second force transmission mechanism 42, an output of the third motor 55 disposed in the first link 111 is transmitted to a rotary shaft of a relay member 114 rotatably supported around a joint shaft of the first joint by a third force transmission mechanism 43, the output transmitted to the relay member 114 is transmitted to the second joint rotary shaft by a fourth force transmission mechanism 44, and driving current is made to flow to each motor from three first to third motor drivers to drive the two joints. |
