| 摘要 |
<p>[Problem to be solved] A multijoint robot which has excellent workability and designability can be realized while a wide movable range is ensured.
[Solution] A robot (2) includes a first link member (7), intermediate link members (8A,8B) connected to the first link member (7) rotatably around a first joint axis (14), a second link member (9) which is connected to the intermediate link members (8A,8B) rotatably around a second joint axis (15) and in which small link members (9A,9B) are connected with each other capable of relative rotation around a rotation axis (17), and joints (5,6). The joint (6) has a double joint structure composed of the first link member (7), the intermediate link members (8A,8B), and the second link member (9). The robot (2) has bevel gears (19,20) disposed facing each other on the second joint axis (15), motors (12,13) for transmitting a driving force to the bevel gears (19,20), and a bevel gear (21) meshed with both the bevel gears (19,20) and connected to the second small link member (9B) by a rotating shaft (28) disposed along the rotation axis (17).</p> |
