Patent US2299084A successfully refreshed from Google Patents.
Patent EP0072624A2 successfully refreshed from Google Patents.
EP0072624A2
Expired / Lapsed
EP
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Mechanical wrist mechanisms
Assignee: Motors Liquidation Co
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Filing: 1982-07-14
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Granted: —
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Expires: 2002-07-14
Abstract
Abstract A three-axis wrist mechanism has three independent rotational axes 14,68,82 with a point 72 of mutual intersection. A relatively stationary base member housing 12 contains one 14 of the axes; another axis 82 is disposed in a tool support member 100; and an intermediate axis 68 is disposed in an intermediate housing member 40. A plurality of gear trains provide for independent rotation of components about the three axes to permit selective positioning of a tool mounting surface 106 within a substantially hemispherical envelope. The gear trains are arranged so that an unobstructed gear passage is maintained between the stationary base member and the tool support member for accommodating hoses and/or wires used to transmit fluid and power to a tool mounted on the mounting surface of the tool support member.
Inventors
- 👤 Antoni Joseph Malarz
- 👤 Gerald Charles Rieck
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-26 20:47
CPC Classifications
B; B25; B25J; B25J19/00; B25J19/0025; B25J19/0029; B25J17/00; B25J17/02; B25J17/0283; B25J17/0291; Y; Y10; Y10T; Y10T74/00; Y10T74/19; Y10T74/19642; Y10T74/1966; Y10T74/19665; Y10T74/20; Y10T74/20207
Claims Analysis
Total Claims: 4
Claim 1
Independent Claim
251 words
A mechanical wrist mechanism for positioning a work tool support member, having gear units (26, 46 and 38, 54, 56, 94, 96, 98) for effecting pivoting of the work tool support member (100) about independent rotational axes (14,82) having a point (72) of mutual intersection on a relatively stationary base member (12), characterized in that the relatively stationary base member (12) houses three independent rotational axes (14, 68, 82) having a point of mutual intersection (72), with two of the said axes (14, 68) being angularly fixed relative to each other and one of these axes (14) being fixed relative to the said base member and the third of the said axes (82) being movable angularly relative to both of the said two axes and angularly alignable with the other axis (68) while maintaining the point of mutual intersection, a pair of housing means (40,78) are rotatably supported on respective ones of the said two axes, gear means (20,38,54,56,94,96,98) provide for rotation of the said toclsupport member (100), and gear means (22,26,46) provide for rotation of one (40) of the said housing means, about their respective axes for selectively establishing the positioning of the said tool support member within a substantially hemispherical envelope, and a continuously unobstructed passage is provided between the base member and a tool mounting surface (106) on the said support member, including cavitites'in the said base member, in the said housing means and in the said tool support member, for the enclosed containment of work tool-related structures.
Claim 2
Dependent Claim
251 words
A mechanical wrist mechanism for positioning a work tool support member, having gear units (26, 46 and 38, 54, 56, 94, 96, 98) for effecting pivoting of the work tool support member (100) about independent rotational axes (14,82) having a point (72) of mutual intersection on a relatively stationary base member (12), characterized in that the relatively stationary base member (12) houses three independent rotational axes (14, 68, 82) having a point of mutual intersection (72), with two of the said axes (14, 68) being angularly fixed relative to each other and one of these axes (14) being fixed relative to the said base member and the third of the said axes (82) being movable angularly relative to both of the said two axes and angularly alignable with the other axis (68) while maintaining the point of mutual intersection, a pair of housing means (40,78) are rotatably supported on respective ones of the said two axes, gear means (20,38,54,56,94,96,98) provide for rotation of the said toclsupport member (100), and gear means (22,26,46) provide for rotation of one (40) of the said housing means, about their respective axes for selectively establishing the positioning of the said tool support member within a substantially hemispherical envelope, and a continuously unobstructed passage is provided between the base member and a tool mounting surface (106) on the said support member, including cavitites'in the said base member, in the said housing means and in the said tool support member, for the enclosed containment of work tool-related structures.
Claim 3
Dependent Claim
51 words
A mechanical wrist mechanism according to claim 1, characterized in that the hemispherical envelope has one extreme determined by the difference of the measure of the angles between the said one axis (14) and the third axis (82) and another extreme determined by the sum of the measure of these angles.
Claim 4
Dependent Claim
65 words
A mechanical wrist mechanism according to claim 1 or 2, characterized in that each of the gear means (26 etc. 38 etc. 32 etc.) has input drive means (22,20, 18) extending parallel to and radially displaced from the axis (14) of the stationary base member (12), and a gear member (46,54,58) in each gear means has its rotary axis coincident with the said axis (14).
References Cited (Backward Citations)
No citation records indexed.
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