WRIST ASSEMBLY OF AN INDUSTRIAL ROBOT

Title:

WRIST ASSEMBLY OF AN INDUSTRIAL ROBOT

Document Type and Number:

WIPO Patent Application WO/1987/007555

Kind Code:

A1

Abstract:

A wrist assembly of an industrial robot is provided at the tip of a robot arm (20) and equipped with a first wrist (21) which has a pair of parallel protrusions (22, 23) at the tip thereof. A second wrist (24) is provided between the protrusions of the first wrist and is supported so as to rotate relative to the protrusions about a first axis (beta) that meets at right angles with the axis (gamma) in the lengthwise direction of the robot arm. A third wrist (25) is supported so as to rotate relative to the second wrist about a second axis (alpha) that meets at right angles with the first axis. The third wrist permits a working attachment to be mounted on the tip thereof. A first motor (45) and a second motor (55) are used to drive the second wrist and the third wrist. A first power transmission mechanism (I) that transmits the driving force of the first motor to the second wrist is provided in one protrusion of the first wrist, and has a first pair of hypoid gears (35, 36) that are in mesh with each other. A second power transmission mechanism (II) that transmits the driving force of the second motor to the third wrist is provided in the other protrusion of the first wrist, and has a second pair of hypoid gears (51, 52) that are in mesh with each other.

Inventors:

TORII NOBUTOSHI (JP)
MIZUNO HITOSHI (JP)
IWASAKI KYOJI (JP)

Application Number:

PCT/JP1987/000360

Publication Date:

December 17, 1987

Filing Date:

June 09, 1987

Export Citation:

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Assignee:

FANUC LTD (JP)

International Classes:

B25J17/02; (IPC1-7): B25J17/02

Foreign References:

JPH05953176A
JPH05817729A
JPH03618554B

Other References: