EP0106561A1
Expired / Lapsed
EP
⏱️ 0.0 years remaining
Robotic wrist
Assignee: Westinghouse Electric Corp
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Filing: 1983-09-21
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Granted: —
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Expires: 2003-09-21
Abstract
Abstract A robotic manipulator wrist has one part 10 rotatable relative to the other part 12 of the wrist; gear train means 16. 18, 20, operates to rotate the end effector shaft 14 when a brake (clutch) 36 is applied to prevent relative movement between the two parts 10 and 12, and to rotate one part 10 relative to the other part 12 when a second brake (clutch) 38 is applied to prevent relative movement between the end effector gear 18 and the intermediate gear 16.
Inventors
- 👤 George William Norris
- 👤 Richard Marion Kobuck
- 👤 William Joseph Varley
- 👤 Arthur Franklin Jacobs
- 👤 Herbert Edward Ferree
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-24 02:49
CPC Classifications
B; B25; B25J; B25J17/00; B25J17/02; B25J17/0283; Y; Y10; Y10T; Y10T74/00; Y10T74/19; Y10T74/19023; Y10T74/19074; Y10T74/19642; Y10T74/1966; Y10T74/19665
Claims Analysis
Total Claims: 7
Claim 1
Independent Claim
257 words
A robotic manipulator wrist apparatus of the type in which one part of the wrist carries an end effector-shaft rotatable about an end effector axis, and wherein said one part of said wrist is rotatable relative to the other part of said wrist about a second axis, characterized by: first effector-gear means in said wrist and disposed with its axis of rotation coincident with said another axis, said first gear means being mounted in rotatable relation to said one part of said wrist; second intermediate gear means affixed for rotation with said end effector and to rotate together in relation with said first gear means; third driver gear means in meshing relation with said first gear means and driven from a remote source; and engageable and disengageable clutch means having a first state preventing relative movement between said second gear means and said first gear means while permitting relative rotation between said one part and said other part of said wrist, whereby rotation of said third gear means effects rotation of said one part relative to said other part of said wrist without rotation of said end effector about its axis, said clutch means having a second state preventing relative rotation between said one part and said other part of said wrist while permitting relative movement between said second gear means and said first gear means whereby rotation of said third gear means effects rotation of said end effector about its axis without relative movement of said one part relative to said other part of said wrist.
Claim 2
Dependent Claim
257 words
A robotic manipulator wrist apparatus of the type in which one part of the wrist carries an end effector-shaft rotatable about an end effector axis, and wherein said one part of said wrist is rotatable relative to the other part of said wrist about a second axis, characterized by: first effector-gear means in said wrist and disposed with its axis of rotation coincident with said another axis, said first gear means being mounted in rotatable relation to said one part of said wrist; second intermediate gear means affixed for rotation with said end effector and to rotate together in relation with said first gear means; third driver gear means in meshing relation with said first gear means and driven from a remote source; and engageable and disengageable clutch means having a first state preventing relative movement between said second gear means and said first gear means while permitting relative rotation between said one part and said other part of said wrist, whereby rotation of said third gear means effects rotation of said one part relative to said other part of said wrist without rotation of said end effector about its axis, said clutch means having a second state preventing relative rotation between said one part and said other part of said wrist while permitting relative movement between said second gear means and said first gear means whereby rotation of said third gear means effects rotation of said end effector about its axis without relative movement of said one part relative to said other part of said wrist.
Claim 3
Dependent Claim
18 words
Apparatus according to claim 1, including: means for rotating said wrist as a whole about a third axis.
Claim 4
Dependent Claim
19 words
Apparatus according to claim 1, wherein: said another axis is at a right angle to said end effector axis.
Claim 5
Dependent Claim
39 words
Apparatus according to claim 1, including: ' first shaft means extending along said end effector axis in said one part and having said end effector gear means affixed thereto; and wherein said shaft means has resolver means attached thereto.
Claim 6
Dependent Claim
72 words
Apparatus according to claim 4, including: second shaft means transversely disposed to said first shaft means and having its axis coincident with the axis of said intermediate gear means; said second shaft means having one end portion fixed to said one part of said wrist, and its opposite end portion journaled in rotatable relation to said other part of said wrist; and wherein said second shaft means has resolver means attached thereto.
Claim 7
Dependent Claim
57 words
Apparatus according to claim 5, wherein: said brake means includes one brake fixed to said first part of said wrist and selectively engageable with said first shaft to prevent its relative rotation, and a second brake fixed to said other part of said wrist and selectively engageable with said second shaft means to prevent its relative rotation.
References Cited (Backward Citations)
US3971266A
Cited
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