The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 03, 1996
Filed:
Mar. 20, 1995
Masahiro Ogawa, Kitakyushu, JP;
Shuichi Tohnai, Kitakyushu, JP;
Kabushiki Kaisha Yaskawa Denki, Fukuoka, JP;
Abstract
A wrist mechanism for an articulated robot includes a first wrist link which extends on an extension of the robot arm and which is fixed to the outer peripheral portion of a rotary portion. A second wrist link is fixed to an output shaft of the rotary portion, and a third wrist link is pivotally connected to an end portion of the first wrist link so that the third wrist link can be turned. A fourth wrist link is pivotally connected to end portions of the second and third wrist links and extends parallel to the first wrist link. A work clamping device is fixed to a pivot pin of the third wrist link. A damping device is provided between the wrist and the first wrist link or second wrist link. Thus, there is provided a wrist mechanism having non-reinforced arms and a driving motor of a small load, capable of being operated at a high speed and kept safe even when the work clamping device collides with an obstruction.