Title:
WRIST DEVICE FOR INDUSTRIAL ROBOTS
Document Type and Number:
WIPO Patent Application WO/1996/026045
Kind Code:
A1
Abstract:
A wrist device for industrial robots, comprising first, second and third drive pipes (7, 8, 9) concentrically disposed in this order from outside within a final shaft arm (2) of an industrial robot, a passage (45) continuously formed by the hollows of a first wrist part (3), a second wrist part (4) and a tool support part (5), the passage extending from the third drive pipe (9) to an end surface of the tool support part (5) and being open at the end surface, and a protective member (50) whose both ends (50A, 50B) are sealingly fixed to the third drive pipe (9) and the tool support part (5) respectively so as to be provided between the third drive pipe (9) and the tool support part (5) in the passage (45), and which has a flexing function (62) around the fixed portions thereof, to permit its shape to be deformed following the rotation of the third drive pipe (9) and the tool support part (5).
Inventors:
OBATA MITSUYOSHI (JP)
TSUKAHARA YOSHIKUNI (JP)
NAKAMURA SATORU (JP)
NAGATANI TOSHIHIRO (JP)
TSUKAHARA YOSHIKUNI (JP)
NAKAMURA SATORU (JP)
NAGATANI TOSHIHIRO (JP)
Application Number:
PCT/JP1996/000370
Publication Date:
August 29, 1996
Filing Date:
February 19, 1996
Export Citation:
Assignee:
KOBE STEEL LTD (JP)
OBATA MITSUYOSHI (JP)
TSUKAHARA YOSHIKUNI (JP)
NAKAMURA SATORU (JP)
NAGATANI TOSHIHIRO (JP)
OBATA MITSUYOSHI (JP)
TSUKAHARA YOSHIKUNI (JP)
NAKAMURA SATORU (JP)
NAGATANI TOSHIHIRO (JP)
International Classes:
B25J17/02; B25J19/00; (IPC1-7): B25J17/02
Foreign References:
| JPS61168487A | 1986-07-30 | |||
| JPS6246591U | 1987-03-20 |
Other References:
See also references of EP 0756918A4
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