| 摘要 |
PURPOSE:To improve safety by preventing the relative movement of a handle caused when a wrist is solely rotated, through the control of servomotors. CONSTITUTION:With a servomotor 12 stopped, a servomotor 11 is solely operated to revolve the wrist 21 around an axis 20. Consequently, the handle 23 is also revolved, because a planetary gear mechanism has been formed of bevel gears 67 and 69. Therefore, by operating also the servomotor 12 simultaneously with the operation of the servomotor 11 so that a shaft 66 is rotated in the same direction and at the same rotational speed as a hollow shaft 65, no relative rotation is caused between the bevel gears 67 and 69, and the handle 23 is prevented from revolving. Accordingly, safety improves. |
