Abstract
The present invention relates to a vertical multi-joint robot wrist axis fastening structure. The present invention comprises: 5-axis bevel gear A having the other end connected to a 5-axis shaft, a bevel gear crest being formed on one end of the 5-axis bevel gear A, and the 5-axis bevel gear A being supported at a 6-axis shaft via a bearing; 5-axis bevel gear B meshing with a thread of the 5-axis bevel gear A at one end of the 5-axis shaft so as to convert the axis of rotation perpendicularly, the 5-axis bevel gear B being coupled to the input axis of a 5-axis reducer and fixed by a first nut; 6-axis bevel gear A positioned on the front end of a 6-axis shaft while being fixed by a second nut, the 6-axis bevel gear A having a bevel gear crest meshing with a bevel gear crest formed on one end of 6-axis bevel gear B for converting the axis of rotation perpendicularly; 6-axis bevel gear B having a bevel gear crest formed on one end thereof so as to mesh with the 6-axis bevel gear A, and having a spur gear crest formed on the other end thereof; 6-axis bevel gear C having a bevel gear crest formed on one end thereof so as to mesh with 6-axis bevel gear D, and having a spur gear crest formed on the other end thereof so as to mesh with the 6-axis bevel gear B; and 6-axis bevel gear D having a bevel gear crest formed on one end thereof so as to mesh with the 6-axis bevel gear C, the other end of the 6-axis bevel gear D being fixed to the input axis of a 6-axis reducer by a third nut. The position in which the 5-axis bevel gear A and the 5-axis bevel gear B mesh and position in which the 6-axis bevel gear A and the 6-axis bevel gear B mesh are determined such that respective axes of rotation are arranged on the same straight line.