Wrist mechanism of industrial robot
AssigneeHitachi, Ltd.
InventorsMasayuki Oshiro, Fusaaki Kozawa, Akira Uchida
Life of this patent
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Abstract
A wrist mechanism of an industrial robot is provided with a forearm, a wrist base mounted on the forearm so as to be rotatable about a lengthwise rotary axis of the forearm, a wrist body mounted on the wrist base so as to be swingable about a swing axis perpendicularly crossing the rotary axis of the wrist base, and a wrist top mounted on the wrist body so as to be rotatable about an axis perpendicular to the swing axis of the wrist body. The wrist base is characterized in that a motor for rotating the wrist tip and a motor for swinging the wrist body are arranged opposite to each other in a lengthwise direction.
Claims6
A wrist mechanism of an industrial robot comprising a forearm, a wrist base mounted on said forearm so as to be rotatable about a lengthwise axis of said forearm, a wrist body mounted on said wrist base as to be swingable about an axis of a swing shaft which perpendicularly crosses the lengthwise axis of said wrist body and is provided for swinging said wrist body thereabout, and a wrist tip mounted on said wrist body so as to be rotatably about a rotary shaft perpendicular to the swing shaft axis of said wrist body, wherein an output shaft of a rotation motor provided for rotating said wrist tip and an output shaft of a swing motor provided for swinging said wrist body are arranged oppositely to each other in a lengthwise direction thereof.
A wrist mechanism of an industrial robot comprising a forearm, a wrist base mounted on said forearm so as to be rotatable about a lengthwise axis of said forearm, a wrist body mounted on said wrist base so as to be swingable about an axis of a swing shaft which perpendicularly crosses the lengthwise axis of said wrist body and is provided for swinging said wrist body thereabout, and a wrist tip mounted on said wrist body so as to be rotatable about a rotary shaft perpendicular to the swing shaft axis of said wrist body, characterized in that a rotation motor provided for rotating said wrist tip and a swing motor provided for swinging said wrist body are arranged oppositely to each other in a lengthwise direction thereof and disposed within said forearm.
Dependencies are inferred from the claim text.