ROBOT JOINT STRUCTURE

摘要

A wrist includes a wrist housing including a wrist driving structural portion to which rotation is transmitted from a wrist driving pulley, a cylindrical portion arranged coaxially with a rotational axis of the wrist driving structural portion and penetrated by a first hand driving shaft to which rotation is transmitted from a hand driving pulley, a cable introducing portion forming an annular gap with the cylindrical portion, and a hand-driving-shaft penetrating portion penetrated by a second hand driving shaft rotating a hand interface by rotation of the first hand driving shaft being transmitted thereto, and a cable, which comes out of a second arm from a wrist supporting portion, is drawn into the wrist housing from the annular gap and is routed to a hand interface supporting portion in a slackened state.

主权项

1. A robot joint structure that includes an arm, in which a pair of wrist supporting portions is formed at an end side, and a wrist, in which a hand interface is arranged at an end side and which is sandwiched and pivotally supported by the pair of wrist supporting portions, and in which a string-like member connected to the hand interface is arranged to extend through an inside of the wrist, wherein
the arm includes
a wrist driving motor and a hand driving motor that are arranged on a base side with respect to the wrist supporting portions,a wrist driving pulley that is arranged in one of the pair of wrist supporting portions and to which rotation of the wrist driving motor is transmitted, anda hand driving pulley that is arranged in another of the pair of wrist supporting portions such that it is coaxial with the wrist driving pulley and to which rotation of the hand driving motor is transmitted, and the wrist includes a wrist housing that includes a wrist driving structural portion to which rotation is transmitted from the wrist driving pulley, a cylindrical portion that is arranged coaxially with a rotational axis of the wrist driving structural portion and is penetrated by a first hand driving shaft to which rotation is transmitted from the hand driving pulley, a cable introducing portion that forms an annular gap with the cylindrical portion, and a hand-driving-shaft penetrating portion that is penetrated by a second hand driving shaft that is orthogonal to the first hand driving shaft and rotates the hand interface by rotation of the first hand driving shaft being transmitted thereto, and the string-like member, which comes out of the arm from the another of the pair of wrist supporting portions, is drawn into the wrist housing from the annular gap and is routed to a hand interface supporting portion in a slackened state in the wrist housing.