Machine element or mechanism – Gearing – Plural power paths to and/or from gearing
Patent
1984-07-20
1986-06-17
Underwood, Donald W.
Machine element or mechanism
Gearing
Plural power paths to and/or from gearing
74479, 403 23, 414735, 901 15, 901 26, 901 29, 901 49, F16H 3700
Patent
active
045949182
ABSTRACT:
In a wrist mechanism of the type that two sets of differential speed reduction devices are provided within a wrist and arranged symmetrically of and perpendicularly to the axis of an arm and that the adjustment of the angle of the wrist and the rotation of a tool are carried out through the differential speed reduction devices, a novel wrist mechanism is provided for preventing a wrist cover from entering into a dead point condition. The wrist mechanism comprises a guide protrusion and a guide. The guide protrusion is provided on the side of a bracket related by one of wrist covers on a wrist portion side, the side being located outside a speed reduction shaft and on the side of the wrist portion relative to the axis of an input shaft. The guide is provided on the inner face of the wrist cover at a point on a locus of the guide protrusion relative to the wrist cover, the point being defined by that at least the axes of a tool rotation shaft and input shafts coincide with each other.
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.
Kimura Karou
Ogawa Junichiro
Kabushiki Kaisha Yaskawa Denki Seisakusho
Underwood Donald W.
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