| 摘要 |
An articulation structure for industrial robots, adapted to drive a movable element, such as a rotatable trunk (14), via a driving gear, and provided with a driven gear (26) connected to the movable element, two driving pinions (28, 30) meshed with two different teeth of the driven gear (26), a driving belt mechanism (28a, 30a, 32) connecting the two driving pinions (28, 30) together, a tensioner (36) engaged with the driving belt mechanism (28a, 30a, 32) so as to apply the tension of the driving belt (32) regulatably to the rolls (28a, 30a), and a driving power source (34) connected to one pinion (28) out of the two driving pinions (28, 30). In this articulation structure, mutually opposite-direction pre-loaded meshed portions are formed in advance between the meshed tooth surfaces of the driving pinions (28, 30) and driven gear (26) via the driving belt mechanism (28a, 30a, 32) by regulating the tensioner (36), to remove a backlash. |
