| 摘要 |
PROBLEM TO BE SOLVED: To provide a wrist device of a robot for industrial purpose which has a cylindrical space sufficient in passing wires and pipes to a tool at a tip of a wrist, and is free from any unstable positioning of a robot caused by the backlash of a gear and the wear of teeth parts, and small in the rotation of a second wrist and/or a third wrist caused by the rotation of a first axis or a second axis, i.e., the associated rotation. SOLUTION: This device comprises first, second and third hollow axis 2, 3, 9, a first wrist 1 connected to the first axis 2, a first hollow reduction gear 7 which is supported by the first wrist 1 with its input shaft 23 connected to the second axis 3 via first gears 4, 5, a second wriest 8 supported by an output shaft of the first hollow reduction gear 7, a second hollow reduction gear 15 supported by the second wrist 8 with its input shaft connected to the third axis 9 connected to the third axis 9 via second gears 10, 11, 13, 14, and a tool flange 25 supported by the output shaft of the hollow reduction gear 15. Each hollow axis and the first and second hollow reduction gears have a cylindrical space 27 enough to pass wires and cables on their inner circumference. |
