Wrist structure of industrial articulated robots

摘要

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wrist structure of an industrial articulated robot, which can simplify a connection structure to improve power transmission efficiency and realize a compact robot.;To this end, according to the present invention, a first list (29) in which a first axis (3) is integrally formed is coupled to a robot arm (1), and a second axis (7) The second list 30 is coupled to the shaft 32 to the outside of the first list 29 and the speed reducer 33 is fixed to the shaft, 7 and the bevel gear 10 fixed to the end of the timing belt 7 are engaged with the pulley 34 and the fixed bevel gear 35 so that the power of the second shaft is transmitted between the pulley 34 and the speed reducer 33, The double list pulley 37 is connected to the other side of the second list 30 and the timing belt 36 is connected between the double pulley and the pulleys 40, 41, and 44, respectively, so that the power of the third shaft 8 is transmitted through the double pulley 37 to rotate the third list 31.