WRIST STRUCTURE OF INDUSTRIAL ROBOT

摘要

A wrist structure of an industrial robot including a second wrist power transmission part transmitting power of a second wrist motor to a second wrist element and a third wrist power transmission part transmitting power of a third wrist motor to a third wrist element. The second wrist power transmission part includes a hypoid gear set, a drive shaft, a first reduction gear part reducing a speed of rotation from the second wrist motor and transmitting the reduced rotation to the drive shaft, and a second reduction gear part reducing a speed of rotation from the drive shaft and transmitting the reduced rotation to the second wrist small gear, and the third wrist power transmission part includes a hypoid gear set and a third reduction gear part reducing a speed of rotation from the third wrist motor and transmitting the reduced rotation to the third wrist small gear.

主权项

1. A wrist structure of an industrial robot comprising:
a first wrist element extending in a direction of a first axial line and provided rotatably about the first axial line; a second wrist element supported at a front end part of the first wrist element rotatably about a second axial line; a third wrist element supported at a front end part of the second wrist element rotatably about a third axial line; a second wrist motor provided at the first wrist element and having an output shaft extending parallel to the first axial line; a third wrist motor provided at the first wrist element and having an output shaft extending parallel to the first axial line; a second wrist power transmission part transmitting power of the second wrist motor to the second wrist element; and a third wrist power transmission part transmitting power of the third wrist motor to the third wrist element, wherein the third wrist motor is arranged at a front end side of the first wrist element than the second wrist motor, wherein the second wrist power transmission part includes
a second wrist hypoid gear set having a second wrist small gear provided at the first wrist element rotatably about an axial line parallel to the first axial line and a second wrist large gear provided at the first wrist element rotatably about the second axial line, the second wrist large gear engaging with the second wrist small gear,a drive shaft provided at a side of the third wrist motor, parallel to the first axial line,a first reduction gear part reducing a speed of rotation from the second wrist motor and transmitting the reduced rotation to the drive shaft, anda second reduction gear part reducing a speed of rotation from the drive shaft and transmitting the reduced rotation to the second wrist small gear, and wherein the third wrist power transmission part includes
a third wrist hypoid gear set having a third wrist small gear provided at the first wrist element rotatably about an axial line parallel to the first axial line and a third wrist large gear provided at the first wrist element rotatably about the second axial line, the third wrist large gear engaging with the third wrist small gear, anda third reduction gear part reducing a speed of rotation from the third wrist motor and transmitting the reduced rotation to the third wrist small gear.