Title:
WRIST DEVICE AND ROBOT
Document Type and Number:
WIPO Patent Application WO/2021/230153
Kind Code:
A1
Abstract:
A wrist device 4 that comprises a first element 5 that is connected to an arm 2 so as to be capable of rotating around a fifth axis L5, a second element 6 that is connected to the first element 5 so as to be capable of rotating around a sixth axis L6, a fifth motor M5 that rotationally drives the first element 5, a sixth motor M6 that rotationally drives the second element 6, a fifth transmission mechanism T5 that transmits drive force from the fifth motor M5 to the first element 5, and a sixth transmission mechanism T6 that transmits drive force from the sixth motor M6 to the second element 6. The sixth transmission mechanism T6: has a first gear 84 that is rotatably supported on the arm 2 and a second gear 85 that is rotatably supported on the first element 5 and engages the first gear 84; and decelerates the rotational speed of the drive force from the first gear 84 onward in the transmission direction of the drive force.
Inventors:
SHIBATA TAKESHI
KUDO HITOSHI
KUDO HITOSHI
Application Number:
PCT/JP2021/017516
Publication Date:
November 18, 2021
Filing Date:
May 07, 2021
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
International Classes:
B25J17/02
Foreign References:
JP2015112707A | 2015-06-22 | |||
JPH06312394A | 1994-11-08 | |||
JPH05116084A | 1993-05-14 | |||
US20110259137A1 | 2011-10-27 |
Attorney, Agent or Firm:
TERAZONO Kenichi et al. (JP)
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