发明名称 |
WRIST MECHANISM FOR INDUSTRIAL ROBOT. |
摘要 |
<p>A wrist mechanism having a reduced size and improved acceleration/deceleration performance, wherein on the front face part of the wrist section mounted on the end part of a robot arm, provided is a first reduction gear of an alpha -rotating shaft whose axis is aligned with the gamma -shaft axis of the robot arm; on the lateral face part of the wrist section, provided is a second reduction gear of a bending beta -shaft perpendicular to the gamma -shaft axis of the robot arm; on the shaft axis aligned with the gamma -shaft axis, rotatably supported are inside and outside turning shafts; on the respective end parts of which bevel gears are mounted; to the bevel gear of the end part of the outside turning shaft, provided is a device which is engaged with the input bevel gear of the bending beta -shaft and performs the bending rotation of the wrist by the transmission of the rotation of the input bevel gear of the bending beta -shaft; the bevel gear of the end part of the inside turning shaft is engaged with the gear mounted on the beta -rotational shaft supported perpendicularly to the robot arm shaft; a bevel gear mechanism is provided at each of both ends of an inclined rotational shaft whose axis is at an acute angle to the beta -rotational shaft center; and a device is provided which is engaged with the input bevel gear of the reduction gear of an alpha -turning shaft, and performs the turning of the wrist by the transmission of the rotation. <IMAGE></p> |
申请公布号 |
EP0523250(B1) |
申请公布日期 |
1995.07.05 |
申请号 |
EP19920904251 |
申请日期 |
1992.01.29 |
申请人 |
KABUSHIKI KAISHA YASKAWA DENKI |
发明人 |
IWANAGA, TOSHIAKI, YAHATA KOJYO, KK YASKAWA DENKI;HANIYA, KAZUHIRO, YAHATA KOJYO, KK YASKAWA DENKI;TANOUE, TSUYOSHI, YAHATA KOJYO, KK YASKAWA DENKI |
分类号 |
B25J17/02;(IPC1-7):B25J17/02 |
主分类号 |
B25J17/02 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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