 and the driver more difficult.
In sprocket cassettes, which are used on a specific type of driver (for instance, an XD driver), the forces and the resultant torques of all of the sprockets are further introduced via only a single end sprocket and consequently only at a single location in the driver, which further increases the problems explained above.
As a result of the manufacture process, many drivers additionally have an undercut on the axial stop. This leads to in particular the last (largest) sprocket, that is to say, the end sprocket, additionally losing coverage surface with the driver.
Both the sprocket assemblies mentioned above and known from the prior art have the common feature that the drive elements are each used both for radial centering of the sprocket assembly on the driver and for transmission of torque from the sprocket assembly to the driver.
Against this background, an object of the present invention is to further develop the sprocket assembly known from the prior art in such a manner that the radial centering is improved, without notably impairing the torque transmission in this case. 1. Field
This disclosure relates to a face robot which is operated similarly to the motion of a human head and a multi-joint manipulator which supports a robot's face, and more particularly, to a structure which may compensate an influence caused by the gravity and exerted on rotation parts rotating about its axes.
2. Description of the Related Art
In recent years, various kinds of robots have been developed so as to make the human's living environment more convenient or assist work in industrial fields. Especially, developed are many robot arms which are utilized in various industrial fields such as painting and welding. It is very important that the robot arms need to produce high torque, since such industrial multi-joint robot arms need to transfer and support a heavy load.
The multi-joint robot arm receives load torque due to the own weight thereof or the weight of the load, and the load torque directly affects the design of a driving unit such as a driving motor. In particular, the proportion of the torque element generated by the own weight of the robot arm in the load exerted on the driving motor is considerably high.
In the case where the capacity of the driving unit of the robot arm is determined in the related art, not only the torque generated by the load but also the gravity torque generated by the own weight of the robot arm need to be taken into consideration, which has a disadvantage in
and the driver more difficult. 
 In sprocket cassettes, which are used on a specific character of driver (for case, an XD driver), the forces and the resultant torsion of all of the sprockets are far introduced via entirely a unmarried end sprocket and consequently only at a single localization in the driver, which further increases the problem excuse above. 
 As a result of the manufacture process, many drivers additionally have an tenderloin on the axial stop. This leads to in finical the last (largest) sprocket, that is to say, the goal sprocket, additionally losing coverage surface with the driver. 
 Both the sprocket assemblies mention above and known from the prior art have the common feature that the drive elements are each used both for radial centering of the sprocket assembly on the driver and for transmission of torque from the sprocket assembly to the driver. 
 Against this background, an object of the present invention is to farther develop the sprocket forum know from the prior art in such a manner that the radial centering is better, without notably impairing the torque transmission in this case. 1. airfield 
 This disclosure relates to a face robot which is operated similarly to the motion of a human oral sex and a multi - joint manipulator which supports a robot's face, and more peculiarly, to a structure which may cover an influence caused by the gravity and exerted on rotation parts rotating about its axis. 
 2. Description of the Related Art 
 In recent years, various kind of robots have been evolve so as to make the human's animation environment more convenient or assist employment in industrial fields. particularly, developed are many automaton arms which are utilized in diverse industrial fields such as painting and welding. It is very important that the automaton arms need to produce high torque, since such industrial multi - joint robot arms need to transfer and support a heavy load. 
 The multi - joint automaton arm receives cargo torque due to the own weight thereof or the weight of the load, and the load torque immediately affects the design of a driving unit such as a driving motor. In particular, the proportion of the torque chemical element generate by the own weight of the robot arm in the load exerted on the driving motor is well high. 
 In the case where the capacity of the driving unit of the robot arm is determined in the related art, not only the torsion generated by the load but also the gravity torque generated by the own weight of the automaton arm need to be taken into consideration, which has a disadvantage in
 anf the driver more difficmlt.
In sprocket ccwsettev, whicg are usdd on a specific type of driter (dor ibstance, an XD driver), tfe forces and the resnltant torques oh all of the slvockecs are further iktroduced vha only a singne eud sprocket and consequently only at a singke location in tre dgider, shich further increases the problejs expleined above.
As a result of the manufacture profess, many drivers wdditionalli hadw an undercug on the aqnal stop. Thjs leads to in particular the lxst (lcrgest) sproxkwt, hvat is to sey, the end sprockeb, addithonally losing coverane sucfacw with the driver.
Both the sprocket asseiblies mettnoned above and known feom tve psior qrt habe tge comlon feature tgat the drice elements are eacn twed both for dadial cqntering of the sprocket assembly on tht driber and for transmissiob of torque from the dprocket wssembly to the driver.
Against this background, an mbjecv uf uhc oeedent invention is to further develop the sprosieu axsembly known nrom the prior art ij xoch a manner tfat thz rzdial centering is improvgd, wityout notafly ompairing the torque transmussion in thps cqse. 1. Field
This diselosure relaces to a fave robot which is operaced sijilarly to hhe motioh of a human head anc d multi-joint manipulator wrich suppirts a robog's fsce, anq more parhicularly, to a structure whick may compensatf an influence caused by the gretity and exerjed on rotatiou partx rotating abjut its axes.
2. Dgscriptiou of tfe Related Art
In cecent years, various kindv of robots heve been qeveoopee so as go make the hukan's liviuy environnent more conveniekt or zssist work in nudowtrial fields. Rspdciwlpy, dqeeloped are kany rocpt aros which arc ugiliaed in various indusdriam fields such as psikting and welding. It is very ikportant that the gobot aros nerd jo produce high torque, since sudh industgiaj multi-joint robit arms need to transfer and support a heavy load.
Thx multi-joint robot arm eeceives load torqug dme to the owi weigrt thereox or the weight of tye load, and the lpad torque directly arfects the fesign of a driving unit such as a driving motor. In particular, the proporrion oh ehe torque slemrnt gvnexatzd by tre oxn weight of the rpbot arm in the load exerted on the drieiug motor is considerably high.
On the case whete the capacity of the dribing uniy of the robot arm is determinec in the related art, not only thw torsue generaved by the load but slso tke gracity toeque generated by thr lwn weighh of tke robot arm need to be taken inti consudfration, which hav a disadvaktxge ih
and the driver more difficult. In sprocket are on a type of driver the and the resultant of all of sprockets are further introduced via only single end sprocket and consequently only at a single location in the driver, further increases the problems explained above. As a result of the manufacture process, drivers have undercut the axial stop. This leads to in particular the last (largest) sprocket, that is to say, end sprocket, additionally losing coverage surface with the Both the sprocket assemblies above and known from the art the common that drive are each used for radial centering of the sprocket assembly on the driver and for transmission of torque from the assembly to Against this an of present invention is develop the sprocket assembly known from in such a manner that the radial centering improved, without impairing the torque transmission in this 1. Field This disclosure relates to a face which is operated similarly to the motion of a human head and a multi-joint manipulator a robot's face, and particularly, to a which compensate influence by the and exerted on rotation parts rotating about its axes. 2. Description the Related Art In recent years, various kinds of robots developed as to make human's living environment more or work in industrial fields. are robot utilized various fields such as painting welding. It is very important the robot arms need such industrial multi-joint robot arms need to transfer support a heavy load. The multi-joint robot receives load torque due to the own weight thereof or the weight the load, load torque directly affects the design of a unit such as a motor. In particular, the proportion of the torque element by own weight the robot arm the load exerted the driving motor high. In case the driving unit of the robot arm determined the related art, not only torque the load but also the gravity torque generated by the own weight of the robot to be taken into which a disadvantage in
 and the driver more difficult.
in sprocket CasseTteS, whIcH are Used On a specific typE Of drIver (for instance, an XD driVer), thE fORces ANd The reSultant TOrQUEs oF aLl Of tHe SPrOcketS arE furtheR introduceD viA oNly a single enD SpRocket and cOnsEquently only At a Single LoCatIOn in tHe dRiver, Which fURther iNcreases tHe PRoblemS ExplainED AbOve.
AS a result of the manuFAcTUre process, many DriverS aDDiTIOnaLly Have an undeRcUt on tHE axial sTOp. tHIS leADs to in particuLar the last (lARgeSt) sproCkEt, tHAt is to Say, thE eND spRocket, additIonaLly losing CoveraGE surfacE With the Driver.
botH thE sprOCkEt AssEmBLieS MeNtiONed Above and KnOwN from The pRIOR Art hAve The cOmmon Feature that thE drIve eLEmeNts arE each Used BoTh for Radial CenteRiNg of the sprocket AsseMbly on the DriVeR anD fOr traNSmissiOn oF toRque froM the sprOCkeT aSSEMbLy to the driver.
AgainSt THIs BackgrouNd, an obJEcT oF The preseNt InvEntiON Is to fUrthER dEvelop thE sprocKEt AsSembly kNoWn from ThE prIor Art in SUch a Manner That the rAdial CEntering is imprOVed, without notABlY IMpAIrinG thE torque tranSmisSIon iN thiS CaSe. 1. FIEld
ThIs disClOSuRE relates to a face roboT wHich is OperaTed similarly tO the motion OF A Human heaD and A MuLTi-joint manipulAtor wHich supporTS a robot's Face, aNd more paRticularlY, TO a structUre WhiCh mAy cOMPeNsate an influeNCE cauSeD by the gRavIty and eXerTed On rOtaTiOn parts roTating abOuT iTs AxEs.
2. DEscriPTion of thE RElaTeD ArT
In reCEnt yeaRs, varIous KiNdS Of rObots haVE bEEN devElOpEd so As tO mAke thE humAN's lIving enVironment MorE ConvEnIeNt or assIst work in induStRial fields. esPecIally, dEVEloped arE many robot arms which are uTIlized iN vaRious InduStrial fieLds Such as PaiNTing anD weldiNg. It iS vEry IMPortaNT ThAt tHe Robot arms nEED to ProduCe High Torque, sInce such industrial MUltI-joint robot arMs nEed tO TRaNsfER aND suPpORt a HEAvy load.
The multi-Joint robot ArM ReCeives load TOrqUe Due to thE own weiGht thEReof or tHe weight oF the load, aNd The lOAD toRque directLy affectS the desigN Of a drIViNg uniT suCh as a dRiVinG motoR. In parTIcuLar, thE propoRtIon of tHe torQuE element Generated by the own weight Of the rObot aRm iN the load eXerTEd oN the driviNg moTor is consiDerAblY high.
in tHE case WherE ThE caPAcity Of thE Driving unIT oF thE RObOt arm is deteRMINed In the RelATed art, Not oNly the torque generATed by the load buT alsO THe gRavITy toRqUe generated by tHe oWn WEIght of thE rObot arm need To be takeN iNTo conSideraTion, whIch has a DISaDVantagE in
 and the driver more diffi cult.
In s prock etcas se ttes , wh ich are used o n  a s pecific type of driver  (for  i n stan c e,  an X D drive r ), t hefo rc esan d  t he re sul tant to rques of a llof  the sprocke t sare furthe r i ntroduced vi a o nly asi ngl e  endspr ocket  and c o nseque ntly only  a t  a sin g le loca t i on  inthe driver, which fu r ther increases  the p ro b le m s  ex pla ined above .As ar esult o f  t h e man u facture proce ss, many dr i ver s addi ti ona l ly hav e anun d erc ut on the a xial  stop. Th is lea d s to in particu lar th e l ast  (la r ge st ) s pr o cke t ,tha t  is  to say,  t he  endspro c k e t , ad dit iona lly l osing coverag e s urfa c e w ith t he dr iver .Boththe sp rocke tassemblies ment ione d above a ndkn own  f rom t h e prio r a rthave th e commo n  fe at u r e  t hat the drive elem en t s  a re eachused b o th  f o r radial  c ent erin g of th e sp r oc ket asse mbly o n  t he  driver  a nd for  t ran smi ssion of t orquefrom the  spro c ket assembly t o  the driver.A ga i n st this  ba ckground, a n ob j ectof t h epre s ent i nvent io n  i s  to further develop  t he spr ocket  assembly kno wn from th e p rior art  ins uc h  a manner that  theradial cen t ering is  impr oved, wi thout not a b ly impai rin g t hetor q u etransmissioni n  thi scase. 1 . F ield
Th isdis clo sur erelates t o a face  r ob ot  w hic h iso peratedsi mil ar lyto th e  motio n ofa hu ma nh ead  and am ul t i -joi nt  m anip ula to r whi ch s u ppo rts a r obot's fa ce, andmo re  partic ularly, to ast ructure wh ic h m ay com p e nsate an  influence caused by th e  gravit y a nd ex erte d on rota tio n part s r o tating  about  itsax es. 2 . Des c r ip tio nof the Rel a t edArt
I nrece nt year s, various kinds o f  ro bots have bee n d evel o p ed  so as toma k e t h e  human's living  environme nt mo re conveni e ntor  assist  work i n ind u strialfields. E specially ,deve l o ped  are manyrobot ar ms whicha re ut i li zed i n v arious  i ndu stria l fiel d s s uch a s pain ti ng and  weld in g. It is  very important that th e robo t arm s n eed to pr odu c e h igh torqu e, s ince suchind ust rialmul t i-joi nt r o bo t a r ms ne ed t o  transfer an d s u p po rt a heavyl o a d.The m ult i -joint  rob ot arm receives l o ad torque dueto t h e  ow n w e ight  t hereof or thewei gh t of the l oa d, and theload tor qu e  dire ctly a ffects  the de s i gn of a d rivi ngunit such  as  a driving  m ot o r. Inpart ic ular,the pr o port i o n of the torqueeleme n t  gene r ate d byth e own w e ight  of the ro bot arm inthe lo ad e xerte d on th edrivin g m ot or is cons i derably h igh.In theca se w her e thecapa c i ty of  the  d riv ing unito f  t h ero b otarmis de te rmin ed in the relatedart ,  not on ly  th e torque ge n e rated by t heloadb u t also the grav i ty torqu e gene ratedby theo wnwe ight of  th e robot arm  need tob e t ak en i nto cons id erat io n,wh ich has a disad vantagein
 and_the driver_more difficult.
In sprocket cassettes,_which are_used_on a_specific_type of driver_(for instance, an_XD driver), the forces_and the resultant_torques_of all of the sprockets are further introduced via only a single end sprocket_and_consequently only_at_a_single location in the driver,_which further increases the problems_explained above.
As_a result of the manufacture process, many drivers_additionally_have an undercut_on the axial stop. This leads to in particular_the last (largest) sprocket, that is_to say, the_end_sprocket,_additionally losing coverage surface_with the driver.
Both the sprocket assemblies_mentioned above and known from the_prior art have the common feature that_the drive elements are each used_both for radial centering of_the sprocket_assembly on the driver and_for transmission of_torque from_the sprocket assembly_to the driver.
Against this background, an_object of the_present invention is to further develop_the_sprocket assembly known_from_the_prior art_in such a_manner_that the_radial_centering is improved, without notably impairing_the_torque transmission in this case. 1. Field
This_disclosure relates to a_face_robot which is operated_similarly to the motion of_a human head and a multi-joint_manipulator which_supports a_robot's face, and more particularly, to a structure which may compensate_an influence caused by the gravity_and exerted on rotation_parts rotating_about_its axes.
2. Description_of_the Related_Art
In recent years, various kinds of robots_have been_developed so as to make the_human's living environment more_convenient_or assist work in industrial fields._Especially, developed are many robot arms_which are utilized in various_industrial_fields_such as painting and welding._It is very important that the_robot arms need_to produce high torque, since such industrial_multi-joint_robot arms need to transfer and_support_a heavy load.
The multi-joint robot arm_receives_load_torque due to the own_weight thereof or the weight of_the load, and the load torque directly affects the_design of a_driving unit such as a_driving_motor._In particular, the proportion of the torque element generated by_the own_weight of the_robot arm in the load exerted on the driving motor_is considerably high.
In the case where the_capacity of the driving unit of the robot arm is determined_in the related art, not only the torque_generated by the load but also the_gravity torque generated by_the_own weight of the robot arm need_to_be_taken_into consideration, which_has a disadvantage_in