Patent EP0074882B1 successfully refreshed from Google Patents.
EP0074882B1
Expired / Lapsed
EP
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Directional wrist with three rotational axes for an industrial robot
Assignee: Renault SA
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Filing: 1982-09-02
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Granted: 1987-05-06
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Expires: 2002-09-02
Abstract
No abstract record available.
Inventors
- 👤 Jean-Robert Passemard
- 👤 Gaston Keledjian
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-31 09:40
CPC Classifications
B; B25; B25J; B25J17/00; B25J17/02; B25J17/0241; B25J17/025; B25J9/00; B25J9/10; B25J9/102; B25J9/1025
Claims Analysis
Total Claims: 7
Claim 1
Independent Claim
207 words
An orientable wrist joint having three axes of rotation (1, 2, 3), which is mounted at the end of an industrial robot arm, comprising an element (24) for fixing to the end of the arm, accomodating a first electric motor (7) associated with an encoding means (8) and driving pinions (11), the axis of said motor being parallel to and non-coincident with a first axis of rotation (1), an intermediate element (34) which is driven in rotation about said first axis of rotation by said first motor and the associated pinions and which accommodates a second electric motor (7) associated with an encoding means (8) and driving pinions (14), the axis of said motor being parallel to and non-coincident with a second axis of rotation (2) ; an end element (47) provided with a tool carrier (53) and driven in rotation about said second axis of rotation by said second motor and the associated pinions and accommodating a thrid electric motor (16) for driving said tool carrier in rotation about the third axis of rotation (3), characterised in that each set of pinions (11, 14, 18) is coupled to a reducing means (12, 15, 19) mounted on the corresponding axis of rotation 1 or 2 or 3).
Claim 2
Dependent Claim
207 words
An orientable wrist joint having three axes of rotation (1, 2, 3), which is mounted at the end of an industrial robot arm, comprising an element (24) for fixing to the end of the arm, accomodating a first electric motor (7) associated with an encoding means (8) and driving pinions (11), the axis of said motor being parallel to and non-coincident with a first axis of rotation (1), an intermediate element (34) which is driven in rotation about said first axis of rotation by said first motor and the associated pinions and which accommodates a second electric motor (7) associated with an encoding means (8) and driving pinions (14), the axis of said motor being parallel to and non-coincident with a second axis of rotation (2) ; an end element (47) provided with a tool carrier (53) and driven in rotation about said second axis of rotation by said second motor and the associated pinions and accommodating a thrid electric motor (16) for driving said tool carrier in rotation about the third axis of rotation (3), characterised in that each set of pinions (11, 14, 18) is coupled to a reducing means (12, 15, 19) mounted on the corresponding axis of rotation 1 or 2 or 3).
Claim 3
Dependent Claim
52 words
A wrist joint according to claim 1 characterised in that the third motor (16) is disposed transversely in alignment with the reducing means (15) coupled to the second motor (7) and drives the reducing means (19) disposed on the third axis of rotation (3) by way of a set of pinions (18).
Claim 4
Dependent Claim
38 words
An orientable wrist joint according to either one of the preceding claims characterised in that three initialisation detectors (20, 21, 22) are so mounted as to co-operate with the output member of each reducing means (12, 15, 19).
Claim 5
Dependent Claim
26 words
An orientable wrist joint according to any one of the preceding claims characterised in that each set of pinions (11, 14, 18) constitutes a reduction stage.
Claim 6
Dependent Claim
93 words
An orientable wrist joint according to claim 4 characterised in that each of the reducing means (12, 15, 19) which is mounted on the axis of . rotation is of the type comprising at least one elliptical rolling bearing formed by an elliptical inner race, a ball cage and a flexible outer race, a tooth arrangement being provided on said flexible outer race, and a first rigid inner toothed ring having a tooth arrangement of the same characteristics as the tooth arrangement of the flexible outer race but a larger number of teeth.
Claim 7
Dependent Claim
51 words
An orientable wrist joint according to claim 5 characterised in that each of the second reduction stages (12, 15, 19) further comprises a second rigid internally toothed ring having a tooth arrangement of the same characteristics as the tooth arrangement of the flexible outer race and the same number of teeth.
References Cited (Backward Citations)
No citation records indexed.
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