Patent ID: 9102065
Filing Date: 2015-08-11
Classification: B25J,Y10S,Y10T

Abstract:
1. An industrial robot comprising: a robot arm having a linkage and an arm extension mounted so as to be pivotable at said linkage; said arm extension comprising an arm enclosure mounted so as to be pivotable at the linkage; said arm extension comprising a primary hand enclosure mounted by a first actuator that has a first drive shaft at the arm enclosure, so as to rotate around an arm axle extending in a longitudinal dimension of the arm extension; a quill drive mechanism that connects the arm enclosure with the primary hand enclosure so as to be rotatable, said quill drive mechanism comprising a hollow shaft through which at least one supply line of the primary hand enclosure, selected from the group consisting of electric lines, pneumatic lines and hydraulic lines, is routed, and extending at least essentially along the arm axle into the primary hand enclosure; said arm extension comprising a first hand element that is adjustable around a first hand axle relative to the primary hand enclosure by a second actuator that has a second drive shaft, and a second hand element that is adjustable around a second-hand axle relative to the first hand element by a third actuator that has a third drive shaft; and the first actuator and the second actuator and the third actuator being arranged in the primary hand enclosure with their respective drive shafts extending essentially parallel to and at a radial distance from the arm axle, and externally enclosing the at least one supply line in the primary hand enclosure.