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)
MIZUNO HITOSHI (JP)
IWASAKI KYOJI (JP)
Application Number:
PCT/JP1987/000360
Publication Date:
December 17, 1987
Filing Date:
June 09, 1987
Export Citation:
Assignee:
FANUC LTD (JP)
International Classes:
B25J17/02; (IPC1-7): B25J17/02
Foreign References:
JPH05953176A | ||||
JPH05817729A | ||||
JPH03618554B |
Other References:
See also references of EP 0269751A4
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