Patent ID: 9370866
Filing Date: 2016-06-21
CPC Classification: B25J,Y10S,Y10T

Claim Text:
1. A wrist unit of an industrial robot, comprising: a first wrist element supported rotatably about a first axial line at a first joint of a front end side of a robot arm; a second wrist element supported rotatably about a second axial line at a second joint of a front end side of the first wrist element, the second axial line not being on an extension of the first axial line and not being parallel to the first axial line; a third wrist element supported rotatably about a third axial line at a third joint of a front end side of the second wrist element, the third axial line not being on an extension of the second axial line and not being parallel to the second axial line; a second wrist drive motor provided at the first wrist element or the robot arm to drive the second wrist element; a third wrist drive motor provided at the first wrist element or the robot arm to drive the third wrist element; and an eccentric rocking reduction gear provided at the second joint so that a rotation center axial line matches with the second axial line to decelerate and transmit a rotation from the second wrist drive motor to the second wrist element, wherein the eccentric rocking reduction gear comprises: