公开(公告)号：US20220347868A1

公开(公告)日：2022-11-03

申请号：US17753720

申请日：2019-10-03

Applicant: ABB Schweiz AG

Inventor： Stefan Danielsson ,  Adam Bovin ,  Daniel Lundbäck ,  Tommy Thors ,  Jakob Weström

IPC: B25J17/02 ,  B25J9/10 ,  B25J19/00

Abstract: A wrist device for an industrial robot, the wrist device including a wrist housing; a first member; a second member; a first pinion rotatable about a first pinion axis; a first crown wheel for driving the first member, the first crown wheel meshing with the first pinion; a second pinion rotatable about a second pinion axis; a second crown wheel for driving the second member, the second crown wheel meshing with the second pinion; and an integral pinion housing fixedly attached to the wrist housing, the pinion housing supporting the first pinion for rotation about the first pinion axis and supporting the second pinion for rotation about the second pinion axis. An industrial robot including a wrist device, and a method of assembling a wrist device for an industrial robot, are also provided.