Patent ID: 6014909
Filing Date: 2000-01-18
Classification: B25J,Y10T

Abstract:
Wrist for an industrial robot comprising:a first wrist element, carried by a robot arm rotatable around a first axis with respect to a structure supporting said robot arm,a second wrist element, rotatably supported by said first wrist element around a second axis which crosses the first axis at an angle relative thereto,a third wrist element rotatably supported by said second wrist element around a third axis which is inclined with respect to the second axis and is coplanar with said first and second axes, said third wrist element including a tool coupling flange, andelectric and fluid supply lines extending through said robot arm and said wrist elements,wherein said arm is hollow and said second and third wrist elements are connected in rotation with two tubular shafts arranged concentrically inside said robot arm,the ends of said arm and said tubular shafts opposite to the robot wrist being connected to respective motors for driving rotation of said arm and said second and third wrist elements,said wrist elements and said concentrical tubular shafts leaving a space inside thereof free for passage of said electric and fluid supply lines for the tool which is to be coupled to the robot wrist,wherein said third wrist element has a standardized front flange for coupling the tool and comprises a peripheral wall provided with a plurality of radial outlets connected to said supply lines.