GELENKSTRUKTUR FÜR INDUSTRIEROBOTER

摘要

A wrist structure is provided with first and second reduction gears (2, 3) which have a second shaft perpendicularly crossing a first shaft extending in the lengthwise direction of an arm (1), and a third shaft perpendicularly crossing the second shaft, and which are supported on both sides of a free end portion of the arm (1), which has a hollow (11), in such a manner that the first and second reduction gears can be rotated around the second shaft; a wrist frame (4) fixed to the output shaft (24) of the first reduction gear (2) and having a hollow (42); a first bevel gear (5) which is supported so that it can be rotated around the third shaft perpendicularly crossing the second shaft provided on the wrist frame (4), and which has a hollow (51); a second bevel gear (7) which is rotatable around a shaft parallel to the second shaft, and which is meshed with the first bevel gear (5); a gear (71) combined unitarily with the second bevel gear (7); a gear (8) mounted fixedly on the output shaft (34) of the second reduction gear (3) and meshed with the gear (71); and a tool fixing member (6) fixed to the first bevel gear (5) and having a hollow (61). Accordingly, cable and hose connecting operations can be carried out easily, and the time required for such operations can be reduced.