Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1992-09-25
1994-04-26
Herrmann, Allan D.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
74479BW, 901 26, 901 29, B25J 1702, B25J 1800
Patent
active
053056531
ABSTRACT:
A robot wrist mechanism such as those used for painting, sealing and welding operations is disclosed. The robot wrist mechanism comprises an arm rotated by a drive source; a first wrist member rotatably supported on the end of the arm so as to be rotatable about a first rotation axis; a second wrist member supported at another end of the first wrist member so as to be freely rotatable about a second rotation axis. The second axis and the arm axis are arranged to lie in the same plane. A mounting shaft is provided on the second wrist member with an axis of the mounting shaft lying in a plane including the first axis and orthogonal to the second axis. The second wrist member is arranged to protrude upwards with respect to a plane including the first axis and the axis of the mounting shaft. With the robot wrist mechanism of the present invention, the drive mechanism transmitting the drive force of the drive shaft to the mounting shaft protrudes upwards of a line through the mounting shaft and arm. As a result, the operability of a robot having this arm during direct teaching is greatly improved.
REFERENCES:
patent: 4353677 (1982-10-01), Susnjara et al.
patent: 4576545 (1986-03-01), Maeda
patent: 4662815 (1987-05-01), Zimmer
patent: 4807486 (1989-02-01), Akeel et al.
patent: 4984959 (1991-01-01), Kato
Igarashi Masahiro
Ohtani Yukio
Suzuki Hiroshi
Uehara Satoshi
Herrmann Allan D.
Tokico Ltd.
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