| 摘要 |
PURPOSE:To make a shape of a wrist member as a whole small while to make it possible to cover these motors with one cover for arranging the shape of the wrist member as a whole in smart and functional design by arranging two motors for the wrist in a same direction and still on neighboring in parallel. CONSTITUTION:Respective motors 2, 8 for two shafts of a robot wrist are arranged in the same direction and still on neighboring in parallel, the wrist's 17 (alpha) turning driven by one motor 2 for (alpha) turning on a axial line parallel to the motor axis as a center is performed by output of an (alpha) speed reducer 7 without backlash on transmitting power from the motor shaft to the (alpha) speed reducer 7 via a spur gear train 4, 5. Again, the wrist's 17 (beta) turning driven by a motor 8 for (beta) turning around an axis rectangular to the motor axis is achieved by output of a (beta) speed reducer on transmitting power to the (beta) speed reducer from the motor shaft via a spur gear train 10, 11 and a bevel gear train. |
