| 摘要 |
An articulated robot having a swivel base (12) supported on a support base (10) for swivel movement about a vertical axis (100), a first arm (14) pivoted on the swivel base (12) for swing movement about a first swing axis (101) perpendicular to the vertical axis (100) and a second arm (15) pivoted on the forward end of the first arm (14) for swing movement about a second swing axis (102) parallel to the first swing axis (101), wherein a servomotor (17) for moving the second arm (15) is mounted on the swivel base (12). The robot is provided with a gear train transmitting the rotation of the servomotor (17) to the second arm (15), and the gear train is composed of a drive gear (82) rotated by the servomotor (17) to be rotated about the first swing axis (101), a driven gear (83) fixed to the second arm for rotational movement about the second swing axis (102) together with the second arm, and three idler gears (60a, 60b, 60c) disposed between the drive gear (82) and driven gear (83) for transmitting the rotation of the drive gear (82) to the driven gear (83). The robot is also provided with a backlash eliminating mechanism for eliminating backlashes between those gears. <IMAGE> |
