| 摘要 |
A hand link for a robot with a bending motion about a first axis of rotation X and a rotational movement about a second axis Z, which is perpendicular to the first axis X. The bending and rotational motion is produced by drive motors via one or more herringbone gear transmissions. Adjustment of gear play is achieved by shifting a gear 22 or 30 along the deflection axis X against a pinion 45 or 52. A gear 30 in the transmission for the bending motion is joined to a unit 8 which contains the rotating axis 11 of the hand link with tool holder 19 and a gear 22 in a transmission for production of the bending motion via a coupling 35, which allows axial shifting but provides a fixed axial and tangential interconnection. Adjustment of the gear play in each of the transmissions making up the hand link can be done without affecting the play in the other transmissions. <IMAGE> |
