| 摘要 |
Shortening power transmission distances enables the robot wrist to be compact for energy savings. The first wrist(29) is connected and supported by a bearing(4) to robot arm(1) rotating according to the driving motor; the second wrist(30) is connected to the 1st wrist(29) by shaft(32) rotating perpendicularly to the 1st wrist(29); decelerator(33) is connected to shaft(32); pulley(34) and fixed bevel gear(35) engage each other to bevel gear(10) fixed to the end edge of the 2nd shaft(7), so the power of the 2nd shaft(7) is transmitted to the 2nd wrist(30) through timing belt(36) hung between pulley(34) and decelerator(33). To the other side of the 2nd wrist(30) is connected double pulley(37). Pulley(40) is fixed to the shaft(39) of bevel gear(38).
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