| 摘要 |
<p>A wrist device of a robot is provided for transmitting a rotational motion from a motor for driving a wrist casing through a gear device having a plurality of gears and disposed in the proximity of the wrist casing so as to rotate the wrist casing of the robot fitted to the distal end of a robot arm. A wrist driving motor (36) is disposed near the wrist casing, and the gear device includes a first gear (A) fitted to an output shaft for rotating the wrist casing (32), a second gear (B) engaging with the first gear (A) and receiving the driving force from the wrist casing driving motor (36), and gear base displacement means (12) for changing the axial distance between the first and second gears (A), (B) and rotating a rotary shaft (14) of the second gear (B) round an eccentric shaft (16) which is eccentric by a predetermined distance (a) from the rotary shaft (14) so as to adjust backlash between the first and second gears (A, B).</p> |
