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Industrial robot

  • US 4,723,713 A
  • Filed: 06/30/1986
  • Issued: 02/09/1988
  • Est. Priority Date: 07/03/1985
  • Status: Expired due to Term
First Claim
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1. An industrial robot comprising a hollow robot arm and a robot wrist mechanism mounted on said robot arm, said robot wrist mechanism including:

  • a first tubular wrist part which defines a first central axis therethrough and which has a first end and a second end, said first end being mounted on said robot arm so as to be rotatable about said first central axis and said second end having an oblique orientation relative to said first central axis, said first central axis defining a first rotation axis of said robot wrist mechanism,a second tubular wrist part which defines a second central axis therethrough and which has a first end and a second end, each of said first and second ends having an oblique orientation relative to said second central axis,first journal means for mounting the first end of said second tubular wrist part to the second end of said first tubular wrist part and to enable said second tubular wrist part to rotate relative to said first tubular wrist part about a second rotation axis which intersects said first central axis,a third tubular wrist part which defines a third central axis therethrough and which has a first end and a second end, said first end having an oblique orientation relative to said third central axis,second journal means for mounting the first end of said third tubular wrist part to the second end of said second tubular wrist part and to enable said third tubular wrist part to rotate relative to said second tubular wrist part about a third rotation axis which intersects said third central axis,a tool attachment means,a third journal means for mounting said tool attachment means on the second end of said third tubular wrist part and to enable said tool attachment means to rotate relative to said third tubular wrist part about said third central axis,a tubing capable of containing a fluid under high pressure extending within said robot arm and said robot wrist mechanism and comprising a first tubing section in said first wrist part, a second tubing section in said second wrist part, a third tubing section in said third wrist part, a first connection member rotatably connecting said first and second tubing sections so that said second tubing section can rotate about said second rotation axis, and a second connection member rotatably connecting said second and third tubing sections so that said third tubing section can rotate about said third rotation axis,said tubing at said first connection member being coaxial with said second rotation axis, and said second connection member being coaxial with said third rotation axis.

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