Robot wrist comprising a plurality of parts arranged in series and driven by bevel gears

摘要

A robot wrist comprises three wrist parts (1, 2, 3) and protection hose (4). Each wrist part is arranged with at least one gear member 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 to the plane of rotation at the engaging face.