Asea Aktiebolag

Asea Ab

Herbert Kaufmann

Jan Larsson

Torbjorn Forss

Hangkan Dahlquist

Ulf Back

Torbj/o/ Rn Forss

Industrial robot

A wrist for an industrial robot with a large orientation capacity comprising first, second , third and fourth turnable wrist parts arranged in series with each other. The first wrist part is rotatable about a first axis. The second wrist part is journalled in the first wrist part and is rotatable about a second axis which intersects the first axis. The third wrist part is journalled in the second wrist part and is rotatable about a third axis which intersects the second axis. A tool attachment is rotatably journalled in the third wrist part about a fourth axis which intersects the third axis.

Robot wrist

The invention relates to an industrial robot of the kind comprising a body and an arm system pivotally journalled thereon. In order to achieve an improved and extended working range in a vertical space underneath or above the robot, the arm system is supported in the body via a substantially fork-shaped bearing bracket. Linear actuators intended for the operation of the arms are pivotally journalled in the bearing bracket so that, when the arm system assumes its neutral position, the actuators will be oriented primarily transversely to the longitudinal axis of a body and substantially parallel with the first arm pivotally journalled in the bearing bracket. Both actuators are disposed between the body and the first arm in all positions of the arm system.

A handling robot for a current-consuming appliance (e.g. a welding head) comprises a pivotal stand with a first arm which is rotatably journalled in the stand and a second arm which is rotatably journalled in the first arm. The second arm has a sleeve which is journalled in the first arm. In said sleeve, a portion with a holder for the appliance is rotatably journalled. From a transformer, the supply current for the appliance is conducted to a rotatable contact device and to two preferably concentric tubular electrical conductors through the rotatable portion. The tubular conductors are utilized as conduits for cooling water.

Welding robot

An electrical contact device for transmitting heavy currents between relatively rotatable parts, for example between a fixed welding transformer and a rotatable unit which supports a spot welding gun. The contact device comprises a spaced-apart pair of annular, axially fixed, contact segments on one unit and, between these, an axially displaceable pair of annular contact disks on another unit. The disks are urged towards each other by springs and are thereby centered by a centering device to provide a well-defined clearance between each contact disk and the confronting contact segment, and the disks are pressed outwardly against the co-acting contact segments, to eliminate said clearances when current is to flow therebetween, by an annular operating device. The contact device has particular utility in robotics and prevents wear at the contacting surfaces on the appearance of relative rotation therebetween.

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Vaster.ang.s, Sweden

Herbert Kaufmann