| 摘要 |
A assembled wrist for use on an industrial robot having a final-axis arm (2), comprising; first, second, and third driver tubes (7)(8)(9) coaxially arranged in this order from outside and disposed in a final-axis arm (2) of the robot; a first wrist portion (3) connected to said first driver tube (7) and rotated about a first axis (6) by a mechanical component so as to form a first space around said first axis; a second wrist portion (4) of which one end is connected to said second driver tube (8) with gears (12,15) equipped inside of said first wrist portion (3) and which is rotated about a second axis (30) by a mechanical component so as to form a second space around said second axis (30) which intersects said first axis (6); a tool support portion (5) of which one end is connected to said third driver tube (9) with gears (12,20) equipped inside of said first and second wrist portions (3) (4) and other end is connected to a working tool, and which is rotated about a third axis (35) by a mechanical component so as to form a third space around said third axis (35) which intersects said second axis (30); passage (45) formed by said above first, second and third spaces arranged in series, which extends from said third driver tube (9) in the final-axis arm (2) to one end surface of said tool support portion (5) ; and a protective member (50) of which both ends are fixed and sealed to said third driver tube (9) and said tool support portion (5) respectively so that said protective member (50) may be disposed in said passage (45), and which has flexible components (62) at least near said fixed and sealed ends of which said flexible component (62) deforms according to the rotations of said third driver tube (9) and said tool support portion (5). - 2 8 |
