Wrist driving mechanism for industrial robot

摘要

PCT No. PCT/JP84/00595 Sec. 371 Date Aug. 13, 1985 Sec. 102(e) Date Aug. 13, 1985 PCT Filed Dec. 14, 1984 PCT Pub. No. WO85/02576 PCT Pub. Date Jun. 20, 1985.A wrist driving mechanism for an industrial robot has a first base wrist unit (13) supported on the free end of a robot arm (11) and capable of rotating about a first axis ( gamma ). The first base wrist unit (13) is mounted with a second base wrist unit (14) capable of rotating about a second axis ( beta ). The second base wrist unit (14) is mounted with a fore wrist unit (15) capable of rotating about a third axis ( alpha ). The robot arm (11) is provided along the longitudinal direction thereof with a first power transmitting unit (16) for transmitting a rotative power to the first base wrist unit (13). A second power transmitting unit (19) for transmitting a rotative power to the second base wrist unit (14) is formed along the robot arm (11) and the first base wrist unit (13). A motor (25) for driving the fore wrist unit (15) for rotation is mounted on the first base wrist unit (13). The driving shaft of the motor (25) is coupled with a first transmission shaft (26) extended along the second axis ( beta ). The first transmission shaft (26) is connected through a gear train (27) to the second transmission shaft (28) extended along the third axis ( alpha ) and the second transmission shaft (28) is connected to the fore wrist unit (15). The second transmission shaft (28) is associated with a reduction gear mechanism (31).