Material or article handling – Vertically swinging load support – Grab
Patent
1995-03-20
1996-12-03
Merritt, Karen B.
Material or article handling
Vertically swinging load support
Grab
4147445, 901 15, 901 49, B25J 1702
Patent
active
055802095
ABSTRACT:
A wrist mechanism for an articulated robot includes a first wrist link which extends on an extension of the robot arm and which is fixed to the outer peripheral portion of a rotary portion. A second wrist link is fixed to an output shaft of the rotary portion, and a third wrist link is pivotally connected to an end portion of the first wrist link so that the third wrist link can be turned. A fourth wrist link is pivotally connected to end portions of the second and third wrist links and extends parallel to the first wrist link. A work clamping device is fixed to a pivot pin of the third wrist link. A damping device is provided between the wrist and the first wrist link or second wrist link. Thus, there is provided a wrist mechanism having non-reinforced arms and a driving motor of a small load, capable of being operated at a high speed and kept safe even when the work clamping device collides with an obstruction.
REFERENCES:
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patent: 4639184 (1987-01-01), Knasel et al.
patent: 4655674 (1987-04-01), Kohler et al.
patent: 4836742 (1989-06-01), Ishigura et al.
patent: 5037267 (1991-08-01), Warner et al.
patent: 5054332 (1991-10-01), Terauchi et al.
patent: 5222854 (1993-06-01), Blatt et al.
Ogawa Masahiro
Tohnai Shuichi
Kabushiki Kaisha Yaskawa Denki
Merritt Karen B.
Morse Gregory A.
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