Patent US4748867A successfully refreshed from Google Patents.
US4748867A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Wrist assembly for industrial robots
Assignee: THERWOOD Corp BUFFALOVILLE RD DALE IN A CORP OF
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Filing: 1986-04-18
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Granted: 1988-06-07
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Expires: 2006-04-18
Abstract
Abstract A wrist assembly for an industrial robot comprising a base member mountable on an arm member of the robot, a carrier member mounted on the base member for pivotal movement about a first axis, a support member mounted on the carrier member for pivotal movement about a second axis intersecting the first axis whereby the support member is adapted to move universally relative to the base member, a first control rod having a base section operatively connectable to the robot for having motion along the length thereof imparted thereto and a linking section universally connected to the base section and connected to the support member, a second control rod having a base section operatively connectable to the robot for having motion along the length thereof imparted thereto and a linking section universally connected to the base section and connected to the support member, a third control rod having a base section operatively connectable to the robot for having rotational motion about its longitudinal centerline imparted thereto and a tool mounting section universally connected to the base member and mounted on the support member, and the pivotal center of the universal connection between the base and mounting sections of the third control rod coinciding with the intersection of the first and second axes.
Inventors
- 👤 Kenneth J. Susnjara
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 08:36
CPC Classifications
B; B25; B25J; B25J17/00; B25J17/02; B25J17/0258; B25J17/0266; B25J9/00; B25J9/003; B25J9/0072; Y; Y10; Y10T; Y10T74/00; Y10T74/20; Y10T74/20207; Y10T74/20305; Y10T74/20329; Y10T74/20335
Claims Analysis
Total Claims: 16
Claim 1
Independent Claim
213 words
A wrist assembly for an industrial robot comprising a base member mountable on an arm member of said robot, a carrier member mounted on said base member for pivotal movement about a first axis, a support member mounted on said carrier member for pivotal movement about a second axis intersecting said first axis whereby said support member is adapted to move universally relative to said base member, a first control rod having a base section operatively connectable to said robot for having motion along the length thereof imparted thereto and a linking section universally connected to said base section and connected to said support member, a second control rod having a base section operatively connectable to said robot for having motion along the length thereof imparted thereto and a linking section universally connected to said base section and connected to said support member, a third control rod having a base section operatively connectable to said robot for having rotational motion about its longitudinal centerline imparted thereto and a tool mounting section universally connected to said base section and mounted on said support member, and the pivotal center of the universal connection of the base and tool mounting sections of said third control rod coinciding with the intersection of said first and second axes.
Claim 2
Dependent Claim
213 words
A wrist assembly for an industrial robot comprising a base member mountable on an arm member of said robot, a carrier member mounted on said base member for pivotal movement about a first axis, a support member mounted on said carrier member for pivotal movement about a second axis intersecting said first axis whereby said support member is adapted to move universally relative to said base member, a first control rod having a base section operatively connectable to said robot for having motion along the length thereof imparted thereto and a linking section universally connected to said base section and connected to said support member, a second control rod having a base section operatively connectable to said robot for having motion along the length thereof imparted thereto and a linking section universally connected to said base section and connected to said support member, a third control rod having a base section operatively connectable to said robot for having rotational motion about its longitudinal centerline imparted thereto and a tool mounting section universally connected to said base section and mounted on said support member, and the pivotal center of the universal connection of the base and tool mounting sections of said third control rod coinciding with the intersection of said first and second axes.
Claim 3
Dependent Claim
15 words
A wrist assembly according to claim 1 wherein said first and second axes are perpendicular.
Claim 4
Dependent Claim
24 words
A wrist assembly according to claim 1 wherein said first and second control rods are disposed on opposite sides of one of said axes.
Claim 5
Dependent Claim
25 words
A wrist assembly according to claim 1 wherein said first and second control rods are disposed on the same side of one of said axes.
Claim 6
Dependent Claim
32 words
A wrist assembly according to claim 1 wherein said first and second control rods are disposed on opposite sides of said first axis and on the same side of said second axis.
Claim 7
Dependent Claim
33 words
A wrist assembly according to claim 1 wherein each of said linking sections of said first and second control rods is adapted to rotate about its longitudinal centerline relative to said support member.
Claim 8
Dependent Claim
23 words
A wrist assembly according to claim 1 wherein said tool mounting section of said third control rod is journalled in said support member.
Claim 9
Dependent Claim
23 words
A wrist assembly according to claim 1 wherein said mounting section of said third control rod includes means for mounting a working tool.
Claim 10
Dependent Claim
20 words
A wrist assembly according to claim 1 wherein said third control rod projects through an opening in said carrier member.
Claim 11
Dependent Claim
218 words
A wrist assembly for an industrial robot comprising a base member mountable on an arm member of said robot, a carrier mounted on said base member for pivotal movement about a first axis, a support member mounted on said carrier for pivotal movement about a second axis intersecting said first axis whereby said support member is adapted to move universally relative to said base member, a first control rod having a base section operatively connectable to said robot for having motion along the length thereof imparted thereto and a linking section universally connected to said base section and connected to said support member, a second control rod member having a base section operatively connectable to said robot for having motion along the length thereof imparted thereto and a linking section universally connected to said base section and connected to said support member, a third control rod having a base section operatively connectable to said robot for having rectilinear motion imparted thereto and operative to translate said rectilinear motion into rotational motion and a tool mounting section universally connected to said base section and mounted on said support member, and the pivotal center of the universal section of the base and tool mounting sections of said third control rod coinciding with the intersection of said first and second axes.
Claim 12
Dependent Claim
218 words
A wrist assembly for an industrial robot comprising a base member mountable on an arm member of said robot, a carrier mounted on said base member for pivotal movement about a first axis, a support member mounted on said carrier for pivotal movement about a second axis intersecting said first axis whereby said support member is adapted to move universally relative to said base member, a first control rod having a base section operatively connectable to said robot for having motion along the length thereof imparted thereto and a linking section universally connected to said base section and connected to said support member, a second control rod member having a base section operatively connectable to said robot for having motion along the length thereof imparted thereto and a linking section universally connected to said base section and connected to said support member, a third control rod having a base section operatively connectable to said robot for having rectilinear motion imparted thereto and operative to translate said rectilinear motion into rotational motion and a tool mounting section universally connected to said base section and mounted on said support member, and the pivotal center of the universal section of the base and tool mounting sections of said third control rod coinciding with the intersection of said first and second axes.
Claim 13
Dependent Claim
24 words
A wrist assembly according to claim 10 wherein said first and second control rods are disposed on opposite sides of one of said axes.
Claim 14
Dependent Claim
25 words
A wrist assembly according to claim 10 wherein said first and second control rods are disposed on the same side of one of said axes.
Claim 15
Dependent Claim
32 words
A wrist assembly according to claim 10 wherein said first and second control rods are disposed on opposite sides of said first axis and on the same side of said second axis.
Claim 16
Dependent Claim
34 words
A wrist assembly according to claim 10 wherein each of said linking sections of said first and second control rod members is adapted to rotate about its longitudinal centerline relative to said support member.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1991-06-07 | 1991-12-07 | 1992-06-07 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1995-06-07 | 1995-12-07 | 1996-06-07 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1999-06-07 | 1999-12-07 | 2000-06-07 | $7700.00 | Window Closed / Lapsed |