| 摘要 |
<P>PROBLEM TO BE SOLVED: To disclose a wrist mechanism which is simple, serviceable, and highly reliable. <P>SOLUTION: The wrist mechanism includes: a first motor 21 and a first reduction gear 23 for rotating a first movable part 24 by a wrist rotary shaft R extending along an upper arm 14; a second motor 25 fixed to the first movable part 24 and removable from the side of the wrist mechanism; a second reduction gear 26 which is in line with the second motor along the wrist rotary shaft R and fixed removably from the side of the wrist mechanism removable, and to which the rotation of an output shaft of the second motor is input; a second movable part 27 to be rotated by the second reduction gear on a wrist warped axis B orthogonal to the wrist rotary shaft R; and a third motor 28 and a third reduction gear 29 fixed to the second movable part, rotating a third movable part on a wrist rotary shaft T. <P>COPYRIGHT: (C)2012,JPO&INPIT |
