| 摘要 |
A rotation section structure for a robot has a rotation section having low center of gravity and resultant stability that are achieved by downsizing a gear device used for the structure. The gear device has an input gear fixed to a motor output shaft, an internally toothed gear, an externally toothed gear meshing with the internally toothed gear and rotating while revolving around the center axis of the internally toothed gear, a carrier rotatably supported within the internally toothed gear and rotating about the center axis of the internally toothed gear as the externally toothed gear rotates, crankshafts rotatabgly supported by the carrier and causing the externally toothed gear to revolve around the center axis of the internally toothed gear, transmission gears each provided at the center of each corresponding crankshaft, and circular hollow cylindrical gears each meshing with the transmission gear of each corresponding crankshaft and to which rotation of the input gear is transmitted. The circular hollow cylindrical gears are located on the radially inner side of an imaginary circle passing through the centers of rotation of the crankshafts and are rotatably supported by the carrier. The input gear and the circular hollow cylindrical gears mesh with each other at the center in the axial direction of the carrier. |
