| 摘要 |
A spur-gear speed-reduction mechanism unit includes a first spur gear attached to an output shaft of a wrist inner frame driving motor, a second spur gear rotatably supported by a first auxiliary shaft attached to a wrist housing machine frame, a third spur gear rotatably supported by the first auxiliary shaft to be integrated with the second spur gear, a fourth spur gear rotatably supported by a second auxiliary shaft, a fifth spur gear rotatably supported by the second auxiliary shaft to be integrated with the fourth spur gear, a sixth spur gear rotatably supported by a third auxiliary shaft, a seventh spur gear attached to a rotational shaft of the wrist inner frame and engaging the sixth spur gear. A distance between the fourth spur gear and the wrist housing machine frame is smaller than a distance between the first spur gear and the wrist housing machine frame. |
