| 摘要 |
A robot wrist with a plurality of rotatable parts arranged in series with each other arranged to be mounted on a robot arm or automation machine to enable rotary movement of the first wrist part about a first axis, and a second wrist part 2 journalled in the first wrist part. Each wrist part 1, 2, may be arranged with one or more gear members to drive a rotary movement and rotate any wrist part relative to another wrist part, and at least one gear member of one engaging pair is a concave bevel gear arranged with negative bevel angle (Cn) to the plane of rotation (P) at the engaging face. In another embodiment the robot wrist has three wrist parts 1, 2, 3. The robot wrist may also comprise an inner protection hose. |
