摘要 |
<p> A wrist mechanism having a reduced size and improved acceleration/deceleration performance, wherein on the front face part of the wrist section mounted on the end part of a robot arm, provided is a first reduction gear of an α-rotating shaft whose axis is aligned with the η-shaft axis of the robot arm; on the lateral face part of the wrist section, provided is a second reduction gear of a bending β-shaft perpendicular to the η-shaft axis of the robot arm; on the shaft axis aligned with the η-shaft axis, rotatably supported are inside and outside turning shafts; on the respective end parts of which bevel gears are mounted; to the bevel gear of the end part of the outside turning shaft, provided is a device which is engaged with the input bevel gear of the bending β-shaft and performs the bending rotation of the wrist by the transmission of the rotation of the input bevel gear of the bending β-shaft; the bevel gear of the end part of the inside turning shaft is engaged with the gear mounted on the β-rotational shaft supported perpendicularly to the robot arm shaft; a bevel gear mechanism is provided at each of both ends of an inclined rotational shaft whose axis is at an acute angle to the β-rotational shaft center; and a device is provided which is engaged with the input bevel gear of the reduction gear of an α-turning shaft, and performs the turning of the wrist by the transmission of the rotation.</p> |