Mechanical wrist mechanism

Details Mechanical wrist mechanism Mechanical wrist mechanism

1986-11-10

1987-11-24

Spar, Robert J.

Material or article handling

Vertically swinging load support

Grab

74479, 277 53, 901 26, 901 29, B25J 1702

Patent

active

047085800

ABSTRACT:
A three-axis wrist mechanism has three independent rotational axes with two points of mutual intersection which are offset from each other. The offset provides a generous bend radius for the wrist. First and second housing structures contain the first and second axes while the third axis is disposed within a tool support member. The first housing structure is adapted to be mounted to an outer tubular member of the arm of a robot to rotate independently of the rest of the mechanism. Gear trains of the mechanism provide the independent rotation of the second housing structure and the tool support member to permit selective positioning of a tool-mounting surface of the tool support member within a work envelope. The gear trains are arranged so that an unobstructed passage is maintained between an arm-mounting surface of the first housing structure and the tool-mounting surface of the tool support member for accommodating hoses and/or wires which are used to transmit fluid and power to a tool mounted on the surface of the tool support member.

REFERENCES:
patent: 4402234 (1983-09-01), Malarz et al.

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