Wrist mechanism for industrial robot

Details Wrist mechanism for industrial robot Wrist mechanism for industrial robot

1984-07-16

1986-03-11

Underwood, Donald W.

Machine element or mechanism

Gearing

Plural power paths to and/or from gearing

74640, 414735, 901 15, 901 26, 901 29, F16H 3700

Patent

active

045746559

ABSTRACT:
The present invention provides a wrist mechanism with three degrees of freedom for an industrial robot, which is compactly formed and to which a tool is mounted. The first degree of freedom is associated with a first input shaft for rotating a wrist portion at a low speed. The second and third degrees of freedom are associated with rotating the tool or tilting the wrist. In order to attain these motions, second and third input shafts concentrically arranged relative to the first input shaft are used for transmitting motion to, through bevel gears, speed reduction mechanisms each symmetrically disposed at right and left sides, and the outputs therefrom are used to drive the tool and wrist.

REFERENCES:
patent: 4068536 (1978-01-01), Stackhouse
patent: 4365928 (1982-12-01), Baily
patent: 4499790 (1985-02-01), Helms
patent: 4507046 (1985-03-01), Sugimoto et al.

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