| 摘要 |
PURPOSE:To reduce developing quantity of backlash and to compact wrist construction by making a wrist rotation transmission mechanism building-in only single bevel gear mechanism. CONSTITUTION:The bevel gear 34 at side to be driven is integratedly arranged to an input shaft 46a in a speed reducer 44 fixing a machine frame 44a to a second wrist hausing 62b with a screw 39a and positioning pin 39b and ar ranged as rotatable in a second chamber 23b in a first wrist hausing 22a. There fore, a beta axis rotating input transmitting a wrist driving shaft 24 is changed to the direction at right angle with one pair of the bevel gears 30, 34 and input ted and transmitted to the input shaft 46a in the speed reducer 44. By this method, the developing quantity of the backlash is reduced and the compact of the wrist construction can be achieved. |
