Wrist mechanism for industrial robots and the like

Details Wrist mechanism for industrial robots and the like Wrist mechanism for industrial robots and the like

1983-07-06

1986-11-25

Spar, Robert J.

Material or article handling

Vertically swinging load support

Grab

901 21, 901 25, 901 28, 901 29, 74640, B25J 906

Patent

active

046246215

ABSTRACT:
A flexible wrist mechanism for industrial robots, manipulators and the like, the wrist mechanism having in series two or more wrist articulates each consisting of at least a first wrist element located on a drive side and a second wrist element located on a driven side swingably relative to the first wrist element, characterized in that the wrist mechanism includes a coupling shaft disposed perpendicular to the axes of the first and second wrist elements and connecting the first and second elements pivotally relative to each other; a reducer interposed between the second wrist element and the coupling shaft to restrict the pivoting angle of the second wrist element relative to the first wrist element; and a rotation transfer mechanism rotationally connecting the coupling shafts of adjacent wrist articulates.

REFERENCES:
patent: 3108498 (1963-10-01), James et al.
patent: 4370091 (1983-01-01), Gagliardi
patent: 4392776 (1983-07-01), Shum
patent: 4396344 (1983-08-01), Sugimoto et al.
patent: 4435120 (1984-03-01), Ikeda et al.
patent: 4507046 (1958-03-01), Sugimoto et al.
patent: 4548097 (1985-10-01), Zimmer

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