| 摘要 |
PURPOSE:To eliminate the backlash of a gear mechanism and increase the accuracy for a robot wrist in the turning action about the gamma-axis by driving the turning an external shaft via a planetary gear speed reduction gear and furthermore transmitting the turning driving force to a wrist mechanism. CONSTITUTION:The turning moment generated by a drive motor Mr is transmitted to a ring gear 12 engaged with a small gear 22. The turning driving force transmitted to the external gear 18 of this ring gear 12 is transmitted to three pinions 24 via the internal gear 20 and then decelerated by the planetary gear speed reduction part 26 of a planetary gear speed reduction device 10. The decelerated output of this deceleration part 26 is transmitted to a robot wrist via the external shaft 36 of a robot arm to drive and turn the wrist about the gamma axis. |
