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1. (WO2013157143) ROBOTIC JOINT STRUCTURE

Pub. No.:    WO/2013/157143    International Application No.:    PCT/JP2012/060775
Publication Date: Fri Oct 25 01:59:59 CEST 2013 International Filing Date: Sat Apr 21 01:59:59 CEST 2012
IPC: B25J 17/02
B25J 19/00
Applicants: Mitsubishi Electric Corporation
三菱電機株式会社
MUSHIKAMI, Kimihito
虫上 公人
ITO, Haruo
伊藤 陽夫
SADAO, Keisuke
佐田尾 圭輔
TAKEHARA, Junji
武原 純二
UDA, Hisato
宇田 寿人
Inventors: MUSHIKAMI, Kimihito
虫上 公人
ITO, Haruo
伊藤 陽夫
SADAO, Keisuke
佐田尾 圭輔
TAKEHARA, Junji
武原 純二
UDA, Hisato
宇田 寿人
Title: ROBOTIC JOINT STRUCTURE
Abstract:
The wrist (4) has a wrist housing (42) with: a wrist-driving structure (422) to which rotation from a wrist-driving pulley (37) is transmitted; a cylindrical section (423), which is provided on the same axis as the rotation axis of the wrist-driving structure (422) and through which passes a first hand-driving shaft (44) to which rotation from a hand-driving pulley (35) is transmitted; a cable-introducing section (421), which, with the cylindrical section (423), forms a ring-shaped space therebetween; and a hand-driving axis pass through section (424) through which passes a second hand-driving shaft (47) to which the rotation of the first hand-driving shaft (44) is transmitted and which rotates a hand interface (5). A cable, which is drawn out of a second arm (3) from a wrist-supporting section (31) is drawn inside the wrist housing (42) from the ring-shaped space and is passed to a hand interface-supporting section (41) with some slack.