Robot joint structure
US9278455B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 20, 2012 |
| Grant date | Mar 8, 2016 |
| Priority date | — |
| Expiry date | Jun 5, 2032 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10T74/20335
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A wrist includes a wrist housing including a wrist driving structural portion to which rotation is transmitted from a wrist driving pulley, a cylindrical portion arranged coaxially with a rotational axis of the wrist driving structural portion and penetrated by a first hand driving shaft to which rotation is transmitted from a hand driving pulley, a cable introducing portion forming an annular gap with the cylindrical portion, and a hand-driving-shaft penetrating portion penetrated by a second hand driving shaft rotating a hand interface by rotation of the first hand driving shaft being transmitted thereto, and a cable, which comes out of a second arm from a wrist supporting portion, is drawn into the wrist housing from the annular gap and is routed to a hand interface supporting portion in a slackened state.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.