Articulated robot wrist

Abstract

Disclosed herein are embodiments of anAn articulated robot wrist. One embodiment comprises aincludes a first body, a second body and a third body. The first body comprisingincludes first and second ends, the first end being for mounting on a robot component which is rotatable around a first axis; a. The second body comprisingincludes first and second ends, the first end being rotatably mounted on saidthe second end of saidthe first body around a second axis inclinedangled with respect to saidthe first axis; and a. The third body comprisingincludes a first and a second end, the first end being rotatably mounted on saidthe second end of saidthe second body around a third axis inclinedangled with respect to saidthe second axis. The first and third axes form an angle substantially of 90° with respect to said the second axis, and wherein in. In at least one position of said the robot wrist said the first and third axes are substantially aligned with each other.

What is claimed is: 
     
       1. An articulated robot wrist comprising:
 a first body comprising a first end and a second end, said first end of said first body being intended configured to be mounted on a robot component that is rotatable around a first axis; 
 a second body comprising a first end and a second end, said first end of said second body being rotatably mounted on said second end of said first body, around a second axis inclined angled with respect to said first axis; 
 a third body comprising a first end and a second end, said first end of said third body being rotatably mounted on said second end of said second body, around a third axis inclined angled with respect to said second axis, 
 wherein said first and third axes are both substantially orthogonal to said second axis, and wherein in at least one position of said robot wrist said first and third axes are substantially aligned with each other, 
 wherein said first body comprises a substantially elbow-shaped portion having a base with a first opening facing towards said second and third bodies, and arranged substantially aligned with said first axis in the a mounted condition of said robot wrist, 
 wherein said elbow-shaped portion carries an offset portion arranged substantially side by side, and spaced apart, with respect to the an axis of said first opening, with said second end of said first body being provided on said offset portion, 
 wherein said second body comprises a cantilever portion, corresponding to said second end of said second body, which has a second opening substantially aligned with said third axis, and wherein, in the mounted condition of said robot wrist, said first and second openings are traversed by cables and/or or tubes or both for the supply and/or or control or both of a device associated connected to said third body of the robot wrist, said robot wrist further comprising means for driving rotation of said second and third bodies around said second and third axes, respectively, 
 wherein said means for driving rotation of said second and third bodies comprise:
 a first motor and a second motor carried by said offset portion of said first body; 
 first gear transmission means for transmitting rotation of the an output shaft of said first motor to said second body; and 
 second gear transmission means for transmitting rotation of the an output shaft of said second motor to said third body, wherein at an end of the robot wrist opposite to said elbow-shaped portion, said offset portion of said first body has a fork-shaped portion corresponding to said second end of said first body, which is arranged side by side and spaced apart with respect to the axis of said first opening, and on which said second body is rotatably mounted around said second axis. 
 
 
     
     
       2. The articulated robot wrist according to  claim 1 , wherein said first transmission means comprises a first shaft which is rotatably mounted within a first arm of said fork fork-shaped portion around said second axis of rotation, said first shaft being connected in rotation to said first motor and adapted to drive rotation of said second body,
 and wherein said second transmission means comprises a second shaft which is rotatably mounted within a second arm of said fork fork-shaped portion and aligned with said first shaft, said second shaft being connected in rotation to said second motor and adapted to drive rotation of said third body. 
 
     
     
       3. The articulated robot wrist according  claim 1 , wherein said first and second motors are substantially aligned with each other within said offset portion. 
     
     
       4. The articulated robot wrist according to  claim 2 , wherein said first shaft is connected in rotation to said first motor by means of a belt transmission. 
     
     
       5. The articulated robot wrist according to  claim 2 , wherein said second shaft is connected in rotation to said second motor by means of a belt transmission. 
     
     
       6. The articulated robot wrist according to  claim 2 , wherein within said cantilever portion said second body comprises a shaft rotatably mounted around an axis parallel to said third axis, and connected in rotation to said second shaft by gear means forming part of said second transmission means,
 said shaft of said cantilever portion carrying, at a first end, a gear wheel engaged by said gear means and, at a second end opposite to said first end, a gear wheel engaging a gear wheel rigidly connected to said third body. 
 
     
     
       7. The articulated robot wrist according to  claim 2 , wherein said second body comprises a base casing corresponding to said first end of said second body, which is received in the an interspace between said first and second arms of said fork fork-shaped portion and is rotatably supported by said arms, said base casing being adapted to receive said first and second shafts, respectively through a first and a second opening at opposite sides of said casing, said first shaft driving rotation of said base casing, and wherein said base casing contains gear means adapted to transmit the rotation of said second shaft to transmission elements of said second transmission means, which are contained within said cantilever portion of said second body. 
     
     
       8. The articulated robot wrist according to  claim 7 , wherein between said base casing and said first shaft there is interposed a reducer means supported by said first arm and adapted to connect in rotation said first shaft with said casing. 
     
     
       9. The articulated robot wrist according to  claim 7 , wherein said gear means comprises:
 a shaft rotatably mounted within said base casing, around an axis parallel and at a distance with respect to said third axis, said shaft of said gear means carrying, at a first end, a bevel gear wheel engaging a gear wheel carried by said second shaft; and 
 a reducer means having an input and an output and coupled, at its input, to a second end of said shaft of said gear means, and coupled, at its output, to a gear wheel for transmission of rotation to said transmission elements of said second transmission means, which are contained within said cantilever portion of said second body. 
 
     
     
       10. The articulated robot wrist according to  claim 3 , wherein a bevel gear wheel is secured to the output shaft of said first motor and engages a bevel gear wheel carried by a third shaft, which is rotatably mounted within said offset portion around an axis parallel and at a distance with respect to said second axis, said third shaft having, at one end thereof opposite to said gear wheel, a pulley, which is connected in rotation by means of a transmission belt to a pulley carried by said first shaft, and wherein a bevel gear wheel is secured to the output shaft of said second motor and engages a bevel gear wheel carried by a fourth shaft, which is mounted within said offset portion, on a side opposite with respect to said third shaft, and is rotatable around an axis parallel and at a distance with respect to said second axis, said fourth shaft having, at one end thereof opposite to said bevel gear wheel, a pulley which is connected in rotation by means of a transmission belt to a pulley carried by said second shaft.