The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Apr. 18, 2006
Filed:
Mar. 31, 2003
Masaaki Uematsu, Kohu, JP;
Kuniyasu Matsumoto, Yamanashi, JP;
Hiroshi Nakagawa, Yamanashi, JP;
Masahiro Morioka, Yamanashi, JP;
Masaaki Uematsu, Kohu, JP;
Kuniyasu Matsumoto, Yamanashi, JP;
Hiroshi Nakagawa, Yamanashi, JP;
Masahiro Morioka, Yamanashi, JP;
Fanuc LTD, Yamanashi, JP;
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, Mand M, respectively. The first drive shaft is a hollow shaft for transmitting a rotational driving force from the motor Mto a first wrist element supported rotatably around the first axis B. The second and third drive shafts are arranged eccentrically with the first axis Bin an inner space of the first drive shaft. The second drive shaft transmits a rotational driving force from the motor Mto a second wrist element supported rotatably around the second axis B, and the third drive shaft transmits a rotational force from the motor Mto a third wrist element supported rotatably around the third axis B. 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.