Comau, Inc.

Mauro Amparore

Giorgio Pernechele

Giuseppe Paparella

Igor Tealdi

Mario Orsi

Disclosed herein are embodiments of anAnarticulated robot wrist. One embodiment comprises aincludes a first body, a second body and a third body. Thefirst bodycomprisingincludesfirst and second ends, the first end being for mounting on a robot component which is rotatable around a first axis; a. Thesecond bodycomprisingincludesfirst and second ends, the first end being rotatably mounted onsaidthesecond end ofsaidthefirst body around a second axisinclinedangledwith respect tosaidthefirst axis; and a. Thethird bodycomprisingincludesa first and a second end, the first end being rotatably mounted onsaidthesecond end ofsaidthesecond body around a third axisinclinedangledwith respect tosaidthesecond axis. The first and third axes form an angle substantially of 90&#xb0; with respect tosaidthesecond axis, and wherein in. Inat least one position ofsaidtherobot wristsaidthefirst and third axes are substantially aligned with each other.

Articulated robot wrist

An articulated robot wrist includes a first body comprising a first and a second end, said first end being intended to be mounted on a robot component that is rotatable around a first axis; a second body comprising a first and a second end, said first end being rotatably mounted on said second end of said first body, around a second axis inclined with respect to said first axis; and a third body comprising a first and a second end, said first end being rotatably mounted on said second end of said second body, around a third axis inclined with respect to said second axis. The first and third axes are both substantially orthogonal to said second axis, and wherein in at least one position of said robot wrist said first and third axes result substantially aligned with one another.

Disclosed herein are embodiments of an articulated robot wrist which can comprise a first body comprising a first and a second end, said first end being intended to be mounted on a robot component that is rotatable around a first axis; a second body comprising a first and a second end, said first end being rotatably mounted on said second end of said first body, around a second axis inclined with respect to said first axis; and a third body comprising a first and a second end, said first end being rotatably mounted on said second end of said second body, around a third axis inclined with respect to said second axis, wherein said first and third axes are both substantially orthogonal to said second axis, and wherein in at least one position of said robot wrist said first and third axes are substantially aligned with each other.

Disclosed herein are embodiments of an articulated robot wrist. One embodiment comprises a first body comprising first and second ends, the first end being for mounting on a robot component which is rotatable around a first axis; a second body comprising first and second ends, the first end being rotatably mounted on said second end of said first body around a second axis inclined with respect to said first axis; and a third body comprising a first and a second end, the first end being rotatably mounted on said second end of said second body around a third axis inclined with respect to said second axis. The first and third axes form an angle substantially of 90&#xb0; with respect to said second axis, and wherein in at least one position of said robot wrist said first and third axes are substantially aligned with each other.

An articulated robot includes a wrist carrying a flange for attachment of an apparatus to be carried by the robot. The wrist comprises a first support mounted on a robot component that is rotatable about a first axis, a second support rotatably mounted on the first support about a second axis inclined with respect to the first axis, and a third support rotatably mounted on the second support about a third axis, inclined with respect to the second axis. A first motor carried by the first support drives the rotation of the second support, and a second motor carried by the second support drives the rotation of the third support, which ends with the flange for attachment of the apparatus to be carried by the robot.

A robot wrist with two articulation axes has a first body which is carried at the distal end of the robot arm, a second body which is supported by the first body for rotation about a first axis which intersects the longitudinal axis of the robot arm at right angles, and a third body which is supported by the second body for rotation about a second axis which intersects the first axis at right angles. The second and third bodies are rotated by two electric motors which are mounted on the first body and the second body respectively, with the interposition of 'Harmonic Drive' reduction units of the type in which the output rotor is supported for rotation by a load-bearing element which forms part of the reduction unit.

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Grugliasco, Italy

Mauro Amparore