| 摘要 |
<p>A wrist driving mechanism capable of arranging a large amount of cables and pipes in a robot arm. A robot wrist mechanism having three degrees of freedom is driven by first, second and third drive shafts (4,5,6) for transmitting driving forces of first, second and third motors (M4, M5 and M6) respectively. The first drive shaft (4) is a hollow shaft for transmitting a rotational driving force from the motor M4 to a first wrist element (8) supported rotatably around the first axis B1. The second and third drive shafts (5,6) are arranged eccentrically with the first axis (B1), in an inner space of the first drive shaft (4). The second drive shaft (5) transmits a rotational driving force from the second motor (M5) to a second wrist element (10) supported rotatably around the second axis (B2), and the third drive shaft (6) transmits a rotational force from the third motor (M6) to a third wrist element (13) supported rotatably around the third axis (B3). A first gear (17) and a third gear (19) as planet gears, and second gear (16) and a fourth gear (18) as sun gears,are provided for avoiding complication of structure due to the eccentric arrangement of the second and third drive shafts (5,6). <IMAGE></p> |
