| 摘要 |
PURPOSE: To miniaturize the dimensions of the wrist part by constituting in such a way that an inclined axis is journable by a twist wrist head part being a part of a first wrist part situated on one side of the axis of a farthest arm and the transmission of the rotational drive to the revolving wrist part being a third wrist part by means of a gear mechanism at the end of the inclined axis. CONSTITUTION: When a first driving shaft 14 is turned, a first turning shaft 17 inside a first wrist body is turned through a coupling 21, a connecting shaft 19, and a coupling 23, and a revolving wrist part 4 is revolved around an axis 13 through gears 29 and 27, a sleeve 16, a gear mechanism (consisting of bevel gears 28 and 34), and a bent wrist body 9 in the posture it makes an angleθto the axis 13. When a second driving shaft 15 is turned, a second turning shaft 18 or a bevel gear 30 is turned through a coupling 22, a connecting shaft 20, and a coupling 24, and the revolving wrist part 4 being a third wrist part or the various work elements fitted to its end flange part 13 is revolved around the axis making an angleθto the axis 13 through a gear mechanism at the end of an inclined axis 25 or the bevel gears 31, 32 fitted back to back.
|
