Handgelenk für Industrieroboter.

摘要

A robot wrist with two articulation axes (6, 8) has a first body (1) which is carried at the distal end of the robot arm, a second body (7) which is supported by the first body (1) for rotation about a first axis (6) which intersects the longitudinal axis (3) of the robot arm at right angles, and a third body (9) which is supported by the second body (7) for rotation about a second axis (8) which intersects the first axis (6) at right angles. The two bodies (7, 9) are rotated by two electric motors (20, 10) which are mounted on the first body (1) and the second body (7) respectively, with the interposition of "Harmonic Drive" reduction units of the type in which the output rotor is supported for rotation by a load-bearing element which forms part of the reduction unit.