Patent ID: 8210069

Claim:
A wrist structure of a robot arm, comprising: a forearm body, having two opposite wrist-connecting parts, wherein the two opposite wrist-connecting parts comprises a first counter bore and a second counter bore, respectively; a wrist body, mounted between the wrist-connecting parts of the forearm body, wherein the wrist body has a first round end surface and a second round end surface corresponding to the counter bores; and a first rotating assembly, mounted in the forearm body and connected to the wrist body, so that the wrist body rotates with respect to the forearm body in a first rotation axis direction, wherein the first rotating assembly comprises: a fixing base, movably mounted in the forearm body; a first motor, mounted in the fixing base and providing a rotating power; a first speed reducer, mounted in the first counter bore and directly connected to the first round end surface of the wrist body; a transmission mechanism, connected to the first motor and the first speed reducer, and driving the first speed reducer to rotate, so as to further drive the wrist body to rotate in the first rotation axis direction; a bearing mechanism, mounted in the second counter bore and connected to the second round end surface of the wrist body; and an adjusting base having an adjusting bolt, wherein the adjusting bolt is screwed into the fixing base to adjust a distance between the fixing base and the first speed reducer.