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US20030192391A1 Expired / Lapsed US ⏱️ 0.0 years remaining

Wrist driving mechanism for robot

Assignee: Fanuc Corp
•
Filing: 2003-03-31
•
Granted: —
•
Expires: 2023-03-31
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Abstract

Abstract A wrist driving mechanism capable of arranging a large amount of cables and pipes in a robot arm. A robot wrist mechanism having three degrees of freedom is driven by first, second and third drive shafts for transmitting driving forces of first, second and third motors M 4 , M 5 and M 6 , respectively. The first drive shaft is a hollow shaft for transmitting a rotational driving force from the motor M 4 to a first wrist element supported rotatably around the first axis B 1 . The second and third drive shafts are arranged eccentrically with the first axis B 1 in an inner space of the first drive shaft. The second drive shaft transmits a rotational driving force from the motor M 5 to a second wrist element supported rotatably around the second axis B 2 , and the third drive shaft transmits a rotational force from the motor M 6 to a third wrist element supported rotatably around the third axis B 3 . A first gear and a third gear as planet gears and a second gear and a fourth gear as sun gears are provided for avoiding complication of structure due to the eccentric arrangement of the second and third drive shafts.

Inventors

  • 👤 Masaaki Uematsu
  • 👤 Kuniyasu Matsumoto
  • 👤 Hiroshi Nakagawa
  • 👤 Masahiro Morioka

Bibliographic Details

Application Number —
Jurisdiction US
Data Source google_patents
Last Synchronized 2026-10-23 04:57
CPC Classifications
B; B25; B25J; B25J17/00; B25J17/02; B25J17/0283; Y; Y10; Y10S; Y10S414/00; Y10S414/131; Y10T; Y10T74/00; Y10T74/20; Y10T74/20207; Y10T74/20305; Y10T74/20329; Y10T74/20335

Claims Analysis

Total Claims: 4
Claim 1
Independent Claim 201 words
1 . A robot wrist driving mechanism for driving a wrist mechanism provided at a distal end of an robot arm and having three degrees of freedom around first, second and third axes, comprising: first, second and third motors arranged at a proximal portion of the robot arm; a mounting base; a first wrist element supported rotatably on said mounting base around the first axis; a hollow first drive shaft for transmitting a rotational driving force of said first motor to said first wrist element relatively to said mounting base; a second wrist element supported rotatably on said first wrist element around the second axis; a second drive shaft arranged in an inner space of said first drive shaft to be eccentrically with the first axis, for transmitting a rotational driving force of said second motor to said second wrist element relatively to said first wrist element; a third wrist element supported rotatably on said second wrist element around the third axis; and a third drive shaft arranged inside said first drive shaft to be eccentrically with the first axis, for transmitting a rotational driving force of said third motor to said third wrist element relatively to said second wrist element.
Claim 2
Dependent Claim 201 words
1 . A robot wrist driving mechanism for driving a wrist mechanism provided at a distal end of an robot arm and having three degrees of freedom around first, second and third axes, comprising: first, second and third motors arranged at a proximal portion of the robot arm; a mounting base; a first wrist element supported rotatably on said mounting base around the first axis; a hollow first drive shaft for transmitting a rotational driving force of said first motor to said first wrist element relatively to said mounting base; a second wrist element supported rotatably on said first wrist element around the second axis; a second drive shaft arranged in an inner space of said first drive shaft to be eccentrically with the first axis, for transmitting a rotational driving force of said second motor to said second wrist element relatively to said first wrist element; a third wrist element supported rotatably on said second wrist element around the third axis; and a third drive shaft arranged inside said first drive shaft to be eccentrically with the first axis, for transmitting a rotational driving force of said third motor to said third wrist element relatively to said second wrist element.
Claim 3
Dependent Claim 113 words
2 . A robot wrist driving mechanism according to claim 1 , further comprising; a first gear fixed at a proximal end of said second drive shaft; a second gear supported on said mounting base rotatably around the first axis and engaged in mesh with said first gear; a third gear fixed at a proximal end of said third drive shaft; and a fourth gear supported on said mounting base rotatably around the first axis and engaged in mesh with said third gear, wherein said second drive shaft and said third drive shaft are supported on said first drive shaft revolvable around the first axis with the rotation of the first wrist element.
Claim 4
Dependent Claim 46 words
3 . A robot wrist driving mechanism according to claim 1 , wherein a region for arranging cables and/or pipes for a tool to be attached to said third wrist element is formed around the first axis in the inner space of said first drive shaft.

References Cited (Backward Citations)

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