Wrist mechanism of articulated robot

摘要

A wrist mechanism for an articulated robot includes a first wrist link which extends on an extension of the robot arm and which is fixed to the outer peripheral portion of a rotary portion. A second wrist link is fixed to an output shaft of the rotary portion, and a third wrist link is pivotally connected to an end portion of the first wrist link so that the third wrist link can be turned. A fourth wrist link is pivotally connected to end portions of the second and third wrist links and extends parallel to the first wrist link. A work clamping device is fixed to a pivot pin of the third wrist link. A damping device is provided between the wrist and the first wrist link or second wrist link. Thus, there is provided a wrist mechanism having non-reinforced arms and a driving motor of a small load, capable of being operated at a high speed and kept safe even when the work clamping device collides with an obstruction.