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公开(公告)号：EP0841128B1
公开(公告)日：2002-07-03
申请号：EP97906868.1
申请日：1997-03-10
IPC分类号： B25J17/02
CPC分类号： B25J17/0258 , B25J9/102 , Y10T74/20305 , Y10T74/20335
摘要： A wrist mechanism for an industrial robot comprising spline teeth (2A) formed in the outer circumference of a distal end of a curved driving shaft (2) provided on the inner side of an arm (1), spline grooves (2B) formed in the inner circumference of a first level gear (21) and in mesh engagement with the spline teeth (2A), spline teeth (3A) formed in the outer circumference of a distal end of a swivelling driving shaft (3), a hollow cylindrical intermediate shaft (30) having spline grooves (3B) formed in the inner circumference of an end thereof and in mesh engagement with the spline teeth (3A) and a second level gear (31) fixed to the outer circumference of the other end thereof, a bearing (301) for supporting an end of the intermediate shaft (30) on the inside of the first level gear (21) and bearings (22, 24) for supporting the other end of the intermediate shaft (30) on a fixed gear box (45).
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公开(公告)号：EP0841128A1
公开(公告)日：1998-05-13
申请号：EP97906868.1
申请日：1997-03-10
IPC分类号： B25J17/02
CPC分类号： B25J17/0258 , B25J9/102 , Y10T74/20305 , Y10T74/20335
摘要： A wrist mechanism of an industrial robot comprises: spline teeth (2A) formed in the outer circumference of the end portion of a bending drive shaft (2) which is provided inside of an arm (1); spline grooves (2B) which are formed in the inner circumference of a first bevel gar (21) and are engaged with the spline teeth (2A); spline teeth (3A) formed in the outer circumference of the end portion of a revolving drive shaft (3); a hollow cylindrical intermediate shaft (30) having one end portion in the inner circumference of which spline grooves (3B), which are engaged with the spline teeth (3A), are formed, and the other end portion to the outer circumference of which a second bevel gear (31) is secured; a bearing (301) through which the one end portion of the intermediate shaft (30) is supported on the first bevel gear (21); and bearings (22 and 24) through which the other end portion of the intermediate shaft (30) is supported on a stationary gear box (45).
摘要翻译： 工业机器人的手腕机构包括：形成在设置在臂（1）内部的弯曲驱动轴（2）的端部的外周的花键齿（2A）; 花键槽（2B），其形成在第一斜面花纹（21）的内圆周中并与花键齿（2A）接合; 形成在旋转驱动轴（3）的端部的外周的花键齿（3A）; 在其内周上形成有花键槽（3B）的与花键齿（3A）接合的一端部的中空圆柱形中间轴（30），并且其外周的另一端部 第二锥齿轮（31）被固定; 轴承（301），中间轴（30）的一个端部支撑在第一锥齿轮（21）上; 和轴承（22和24），中间轴（30）的另一端部支撑在固定齿轮箱（45）上。
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