| 摘要 |
PROBLEM TO BE SOLVED: To improve transmission efficiency without use of a hypoid gear set.SOLUTION: A wrist driving structure part includes two bevel gear sets consisting of prime motor side gears and driven-side ring gears, and the two driven-side ring gears are superposed on a second axis concentrically. The two prime motor side gears are arranged each on one side and the other side of the plane including the first and second axes so as to form mutually a specified angle. The individual prime motor gears have two to-be-driven gears which rotate integrally with the prime motor gears, and the individual to-be-driven gears are engaged in two driving gears which transmit rotation of two drive motors to the to-be-driven gears. The individual rotation shafts of the two driving gears are arranged in parallel with the first axis. |
