Armstrong, Nikaido, Marmelstein & Kubovcik
Wrist driving mechanism for industrial robot
 A wrist driving mechanism for an industrial robot has a first base wrist unit (13) supported on the free end of a robot arm (11) and capable of rotating about a first axis (.gamma.). The first base wrist unit (13) is mounted with a second base wrist unit (14) capable of rotating about a second axis (.beta.). The second base wrist unit (14) is mounted with a fore wrist unit (15) capable of rotating about a third axis (.alpha.). The robot arm (11) is provided along the longitudinal direction thereof with a first power transmitting unit (16) for transmitting a rotative power to the first base wrist unit (13). A second power transmitting unit (19) for transmitting a rotative power to the second base wrist unit (14) is formed along the robot arm (11) and the first base wrist unit (13). A motor (25) for driving the fore wrist unit (15) for rotation is mounted on the first base wrist unit (13). The driving shaft of the motor (25) is coupled with a first transmission shaft (26) extended along the second axis (.beta.). The first transmission shaft (26) is connected through a gear train (27) to the second transmission shaft (28) extended along the third axis (.alpha.) and the second transmission shaft (28) is connected to the fore wrist unit (15). The second transmission shaft (28) is associated with a reduction gear mechanism (31). 
Fanuc Ltd.
B Y B
B25J Y10T B25J
inventional additional inventional
Kenichi Hitoshi Seiichiro Ryo
Toyoda Mizuno Nakashima Nihei