本发明的目的是在具有快动、弯曲、旋转三个自由度的工业机械手的手腕装置中使齿轮、轴、轴承等部件整体化或进行合适的配置,从而实现小型和轻量化。 在把作动器的驱动力向手腕传递的双层结构管状轴中,锥齿轮由销固定在轴的顶端,该锥齿轮与通过销和另一锥齿轮成为一体的锥齿轮相啮合,因而与手腕顶端 An object of the present invention is to provide a wrist device of an industrial robot having three degrees of freedom such as fast motion, bending and rotation with an integrated arrangement or a proper arrangement of gears, shafts, bearings, and the like, thereby achieving miniaturization and weight reduction. In a double-layered tubular shaft for transmitting the driving force of the actuator to the wrist, the bevel gear is fixed to the top end of the shaft by a pin which meshes with the bevel gear integrated with the other bevel gear and Wrist tip