| 摘要 |
<p>A wrist driving structure for an industrial robot having: a first wrist element (10,10A,10B) supported in cantilever fashion rotatably about a first axis (a); a second wrist element (11) pivotally supported in cantilever fashion at a distal end side of the first wrist element with a proximal end as a supporting point about a second axis (b) intersecting the first axis; a third wrist element (12) supported in cantilever fashion at a distal end side of the second wrist element rotatably about a third axis (c) intersecting the second axis; two driving motors (13,14) provided in the first wrist element for driving the second wrist element and the third wrist element, respectively; and two gear sets (15,20) for reducing a rotational speed of the two driving motors in predetermined reduction ratios. Each of the gear sets has a driving gear (16,21) driven by one of the two driving motors and a driven ring gear (17,22) which meshes with the driving gear. Two driven ring gears of the two gear sets are disposed coaxially with the second axis. Two driving gears of the two gear sets are positioned parallel to each other at both sides of the second axis.</p> |
