Patent ID: 9321179
Filing Date: 2016-04-26
CPC Classification: B25J,F16H,Y10S,Y10T

Claim Text:
1. A wrist structure of an industrial robot comprising: a first wrist element extending in a direction of a first axial line and provided rotatably about the first axial line; a second wrist element supported at a front end part of the first wrist element rotatably about a second axial line; a third wrist element supported at a front end part of the second wrist element rotatably about a third axial line; a second wrist motor provided at the first wrist element and having an output shaft extending parallel to the first axial line; a third wrist motor provided at the first wrist element and having an output shaft extending parallel to the first axial line; a second wrist power transmission part transmitting power of the second wrist motor to the second wrist element; and a third wrist power transmission part transmitting power of the third wrist motor to the third wrist element, wherein the third wrist motor is arranged to be closer to a front end side of the first wrist element than the second wrist motor, wherein the second wrist power transmission part includes