Industrial robot wrist mechanism
US4626165A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Jun 19, 1984 |
| Grant date | Dec 2, 1986 |
| Priority date | — |
| Expiry date | Jun 19, 2004 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J17/0258
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A wrist mechanism interposed between the robot arm (20) of an industrial robot and a robot hand, comprising: an outer wrist (34) joined to the free end of the robot arm (20); an inner wrist (36) pivotally supported by bearings (100, 102) within the outer wrist (34) and adapted to be pivoted by a driving force transmitted thereto through the robot arm (20); a robot hand holding part (38) supported by bearings (104, 106) within the inner wrist (36) and adapted to be turned by a rotative force transmitted thereto from the outside of the inner wrist (36) coaxially with the driving force; a bevel gear mechanism set having bevel gears (96a, 96b) and disposed within the inner wrist (36) to transmit the rotative force to the robot hand holding part (38); and a reduction gear (94) provided within the inner wrist (36) to transmit the rotative force at a reduced revolving rate to the driving bevel gear (96a) of the bevel gear mechanism.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.