Assembled wrist for industrial robot

Details Assembled wrist for industrial robot Assembled wrist for industrial robot

B - Operations, Transporting

25

J

B25J 17/02 (2006.01) B25J 19/00 (2006.01)

Patent

CA 2188303

A assembled wrist for use on an industrial robot having a final-axis arm (2), comprising; first, second, and third driver tubes (7)(8)(9) coaxially arranged in this order from outside and disposed in a final-axis arm (2) of the robot; a first wrist portion (3) connected to said first driver tube (7) and rotated about a first axis (6) by a mechanical component so as to form a first space around said first axis; a second wrist portion (4) of which one end is connected to said second driver tube (8) with gears (12,15) equipped inside of said first wrist portion (3) and which is rotated about a second axis (30) by a mechanical component so as to form a second space around said second axis (30) which intersects said first axis (6); a tool support portion (5) of which one end is connected to said third driver tube (9) with gears (12,20) equipped inside of said first and second wrist portions (3) (4) and other end is connected to a working tool, and which is rotated about a third axis (35) by a mechanical component so as to form a third space around said third axis (35) which intersects said second axis (30); passage (45) formed by said above first, second and third spaces arranged in series, which extends from said third driver tube (9) in the final-axis arm (2) to one end surface of said tool support portion (5) ; and a protective member (50) of which both ends are fixed and sealed to said third driver tube (9) and said tool support portion (5) respectively so that said protective member (50) may be disposed in said passage (45), and which has flexible components (62) at least near said fixed and sealed ends of which said flexible component (62) deforms according to the rotations of said third driver tube (9) and said tool support portion (5). - 2 8 -

Cette invention se rapporte à un dispositif de poignet pour robots industriels, qui comprend des premier, deuxième et troisième tubes de commande (7, 8, 9) disposés de façon concentrique dans cet ordre en partant de l'extérieur, à l'intérieur d'un bras d'arbre final (2) d'un robot industriel. Un passage (45) est formé en continu par les vides d'une première partie de poignet (3), d'une seconde partie de poignet (4) et d'une partie de support d'outil (5). Ce passage s'étend du troisième tube de commande (9) jusqu'à une surface terminale de la partie de support d'outil (5) et il débouche au niveau de cette surface terminale. Ce dispositif de poignet comprend en outre un élément protecteur (5), dont les deux extrémités (50A, 50B) sont fixées hermétiquement au troisième tube de commande (9) et à la partie de support d'outil (5) respectivement, de façon à se situer entre le troisième tube de commande (9) et la partie de support d'outil (5) dans ledit passage (45), et cet élément protecteur possède une fonction de flexion (62) autour de ses parties fixes, pour qu'il puisse se déformer en suivant la rotation du troisième tube de commande (9) et de la partie de support d'outil (5).

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