Wrist device of industrial robot
US4684313A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Mar 14, 1985 |
| Grant date | Aug 4, 1987 |
| Priority date | — |
| Expiry date | Mar 14, 2005 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10T74/2186
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
This invention relates to an industrial robot in which a concentric triple shaft is constituted by a first drive shaft (28), a cylindrical, second drive shaft (27) which concentrically encloses the first drive shaft (28), and a cylindrical, third drive shaft (26) which concentrically encloses the second drive shaft (27). There are provided a first box member (65) capable of rotating concentrically with the third drive shaft (26), a second box member (66) which is supported rotatably by the first box member (65) on an axis intersecting the axis of rotation of the first box member (65) perpendicularly or obliquely, and an output member (80b, 100, 105) which is supported rotatably by the second box member (66) on an axis intersecting the axis of rotation of the second box member (66) perpendicularly or obliquely and which is rotated by the first drive shaft (28). A harmonic reduction unit (73, 80, 106) is disposed in at least one of the transmission systems of power to the first and second box members and the output member. A bearing box (126, 137) is provided which is disposed around gears (58, 59) of gear groups constituting transmission systems of power to the first and second box …
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.