Patent ID: 6696810
Filing Date: 2004-02-24
Classification: B25J,Y10T

Abstract:
A robot wrist structure for use in a robot in which the forearm of the robot is rotatable around a first axis, which is a lengthwise axis of said forearm relative to a fitting base for the forearm, comprising:a first wrist element fixed to the tip of said forearm; a second wrist element provided rotatably around a second axis crossing said first axis at a prescribed angle to said first wrist element; and a third wrist element provided rotatably around a third axis crossing said second axis at a prescribed angle to said second wrist element and having a hollow path, wherein a first transmission element, which is one element of a drive power transmission mechanism for transmitting power to drive said second wrist element relative to said first wrist element and provided rotatably around said second axis, and a second transmission element, which is one element of a drive power transmission mechanism for transmitting power to drive said third wrist element relative to said second wrist element and provided rotatably around said second axis, are positioned offset by a prescribed distance in the same direction relative to said third axis along said second axis; and a central axis of rotation of the drive power transmission mechanism for directly transmitting drive power to said first transmission element is arranged in parallel to said second axis, and a space for wiring member and piping member is provided near a point of intersection between said second axis and said third axis.