JPH01257592A - Wrist mechanism of industrial robot - Google Patents

Wrist mechanism of industrial robot

Info

Publication number
JPH01257592A
JPH01257592A JP8308788A JP8308788A JPH01257592A JP H01257592 A JPH01257592 A JP H01257592A JP 8308788 A JP8308788 A JP 8308788A JP 8308788 A JP8308788 A JP 8308788A JP H01257592 A JPH01257592 A JP H01257592A
Authority
JP
Japan
Prior art keywords
wire hose
working tool
lower arm
wrist
rotation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP8308788A
Inventor
Hitoshi Mizuno
Nobutoshi Torii
Original Assignee
Fanuc Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Ltd filed Critical Fanuc Ltd
Priority to JP8308788A priority Critical patent/JPH01257592A/en
Publication of JPH01257592A publication Critical patent/JPH01257592A/en
Application status is Pending legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025Means for supplying energy to the end effector
    • B25J19/0029Means for supplying energy to the end effector arranged within the different robot elements

Abstract

PURPOSE:To prevent torsion of a wire hose when the operation of a wrist is deflected and to facilitate control for the supply of material from a wire hose to a working tool by inserting a wire hose connected to the working tool in the interior of a hollow lower arm. CONSTITUTION:A wire hose 6 is inserted in a hollow portion occupying the center in a lower arm 3 formed by a hollow cylinder, and a working tool 5 symmetrical about the shaft center line 0-0 is connected to the forward end of the wire hose 6. The wire hose 6 and the working tool 5 are supported by a bearing B2 at the base end of the lower arm 3 and a bearing B1 at a support portion of a fitting flange 50 in such a manner as to freely rotate. Accordingly, even if torsional moment is produced in the wire hose 6 due to wrist operation such as gamma-axis wrist rotation, beta-axis wrist oscillation and so on caused by control rotation of the lower arm 3 and the control rotation of an inner cylinder 7, the wire hose 6 is kept from showing torsional form by slip rotation of the respective bearings B1, B2. Accordingly, the supply of material from the wire hose 6 to the working tool 5 can be easily controlled.
JP8308788A 1988-04-06 1988-04-06 Wrist mechanism of industrial robot Pending JPH01257592A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP8308788A JPH01257592A (en) 1988-04-06 1988-04-06 Wrist mechanism of industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP8308788A JPH01257592A (en) 1988-04-06 1988-04-06 Wrist mechanism of industrial robot

Publications (1)

Publication Number Publication Date
JPH01257592A true JPH01257592A (en) 1989-10-13

Family

ID=13792400

Family Applications (1)

Application Number Title Priority Date Filing Date
JP8308788A Pending JPH01257592A (en) 1988-04-06 1988-04-06 Wrist mechanism of industrial robot

Country Status (1)

Country Link
JP (1) JPH01257592A (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02303778A (en) * 1989-05-18 1990-12-17 Nissan Motor Co Ltd Arm driving mechanism for robot
EP1285733A2 (en) * 2001-08-16 2003-02-26 Dürr Systems GmbH Manipulator provided with a cable arrangement connected to a working tool
EP1829652A1 (en) * 2006-03-01 2007-09-05 Kawasaki Jukogyo Kabushiki Kaisha Industrial robot
JP2008142657A (en) * 2006-12-12 2008-06-26 Iec Co Ltd Sealer discharge apparatus
EP1938930A1 (en) * 2006-12-27 2008-07-02 Abb Ab Industrial robot with tubular member for a cable harness

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02303778A (en) * 1989-05-18 1990-12-17 Nissan Motor Co Ltd Arm driving mechanism for robot
EP1285733A2 (en) * 2001-08-16 2003-02-26 Dürr Systems GmbH Manipulator provided with a cable arrangement connected to a working tool
EP1285733A3 (en) * 2001-08-16 2004-10-13 Dürr Systems GmbH Manipulator provided with a cable arrangement connected to a working tool
EP1829652A1 (en) * 2006-03-01 2007-09-05 Kawasaki Jukogyo Kabushiki Kaisha Industrial robot
US7513174B2 (en) 2006-03-01 2009-04-07 Kawasaki Jukogyo Kabushiki Kaisha Industrial robot
JP2008142657A (en) * 2006-12-12 2008-06-26 Iec Co Ltd Sealer discharge apparatus
EP1938930A1 (en) * 2006-12-27 2008-07-02 Abb Ab Industrial robot with tubular member for a cable harness
US8347753B2 (en) 2006-12-27 2013-01-08 Abb Ab Industrial robot with tubular member for a cable harness

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