| 摘要 |
<p>PROBLEM TO BE SOLVED: To reduce the size and extend a life of a joint structure.SOLUTION: A joint structure is equipped with a first rotator 8 which rotates about a first rotary axis S1 intersecting a joint shaft A5 to a base side arm member 4a, and a second rotator 9 which rotates about a second rotary axis A2 intersecting the first rotary axis A1 and tilted to the first rotary axis A1 to the first rotator 8 while rotating with the first rotator 8. The second rotator 9 includes an output portion 10 which extends from an intersection point of the two rotary axes A1 and A2 along an extension shaft A3 tilted to the second rotary axis A2, and engages with a tool side arm member 4b. The second rotator 9 rotates about the second rotary axis A2 to the first rotator 8 while rotating about the first rotary axis A1 to the base side arm member 4a, so that the output portion 10 and the tool side arm member 4b supporting the output portion 10 carry out rotational movement about a joint shaft A5 to the base side arm member 4a.</p> |
