Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1996-10-21
1998-10-06
Marmor, Charles A.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
901 29, 138121, B25J 1702, B25J 1900
Patent
active
058161082
DESCRIPTION:
BRIEF SUMMARY
DESCRIPTION
1. Technical Field
The present invention relates to a assembled wrist for use on an industrial robot and, more particularly, to a assembled wrist which is provided with a cylindrical passage to protect hoses, cables, and so on housed in the passage from harmful and harsh external environment.
2. Background Art
A conventional assembled wrist for use on an industrial robot is described in Japanese Patent Publication No. 46720/1992. This kind of assembled wrist comprises three independent axes of rotation meeting each other at two points spaced from each other, a first housing, a second housing and a tool support member. These first housing, second housing and tool support member are rotated by mechanical components such as toothed wheels or bearings about the three independent axes of rotation. The first housing, the second housing and the tool support member are arranged in series. These members are made hollow such that a cylindrical passage extends through these members. Hoses, cables, conduits, etc. for supplying air and electric power to a working tool are passed through this cylindrical passage. The working tool mounts to a mounting surface of the tool support member.
The working tool mounting the tool support member is brought to a desired working posture by rotating the first housing, the second housing and the tool support member about the three independent axes of rotation independently.
In the prior art assembled wrist for use on an industrial robot, the first housing, the second housing, and the tool support member are rotated independently by a mechanical component such as a toothed wheel or bearing. Small openings exist naturally between the toothed wheel and bearing. Therefore, lubricant is supplied to smoothen the rotation of the toothed wheel or bearing and also dust comes from the machine or outside into the cylindrical passage through these small openings. As a result, the lubricant and dust adversely affect the hoses, cables, and conduits.
Walls of the cylindrical passage is constituted of walls of the first and second housings arranged in series. The walls of the first and second housings rotate relatively each other according to changing respect to the posture of the wrist. On boundary of the walls of the first and second housings, a shearing force caused from the relative rotation operates on the hoses, cables, etc, and then the hoses, cables, etc are locally twisted. As a result, they will be impaired.
The present invention has been made to solve this problem. It is an object of the present invention to provide a assembled wrist which is for use on an industrial robot and which can guard hoses, cables, conduits, etc. passed through a cylindrical passage formed in the assembled wrist from harmful and harsh external environment.
DISCLOSURE OF THE INVENTION
The above object is achieved by the present invention of a assembled wrist for use on an industrial robot comprising; outside and disposed in a final-axis arm of the robot; a first axis by a mechanical component so as to form a first space around the first axis; tube with gears equipped inside of the first wrist portion and which is rotated about a second axis by a mechanical component so as to form a second space around the second axis which intersects the first axis; tube with gears equipped inside of the first and second wrist portions and other end is connected to a working tool, and which is rotated about a third axis by a mechanical component so as to form a third space around the third axis which intersects the second axis; series, which extends from the third driver tube in the final-axis arm to one end surface of the tool support portion; and driver tube and the tool support portion respectively so that the protective member may be disposed in the passage, and which has flexible components at least near the fixed and sealed ends of which the flexible component deforms according to the rotations of the third driver tube and the tool support portion.
The protective member is made of an elastically deformable mat
REFERENCES:
patent: 4688983 (1987-08-01), Lindbom
patent: 4703668 (1987-11-01), Peter
patent: 4708580 (1987-11-01), Akeel
patent: 4819970 (1989-04-01), Umehara
patent: 4864888 (1989-09-01), Iwata
patent: 5549016 (1996-08-01), Nakako et al.
Nagatani Toshihiro
Nakamura Satoru
Obata Mitsuyoshi
Tsukahara Yoshikuni
Fenstermacher David M.
Kabushiki Kaisha Kobe Seiko Sho
Marmor Charles A.
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