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

申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO

发明人： HANIYA, Kazuhiro, K.K. Yaskawa Denki ,  MATSUSHITA, Shigeo, K.K. Yaskawa Denki

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。