| 摘要 |
PROBLEM TO BE SOLVED: To easily ensure position accuracy while suppressing productivity reduction in an articulated robot wrist structure using a hypoid gear in a power transmission mechanism. ! SOLUTION: A first power transmission mechanism 20 of a wrist structure 10 transmits a rotation driving force of a first motor 15 to a second wrist member 12 rotatably coupled to a first wrist member 11. The first power transmission mechanism 20 includes a first hypoid gear 21; and a first gear train 22 of a parallel shaft type or a crossing shaft type, the first gear train 22 being a speed reduction mechanism located between the first hypoid gear 21 and the second wrist member 12, and slowing down input rotation and outputting the rotation. If the wrist structure 10 includes a second power transmission mechanism 30 transmitting a rotation driving force of a second motor 16 to a third wrist member 13 rotatably coupled to the second wrist member 12, the second power transmission mechanism 30 may be configured similar |
