Robot wrist
OwnerMark E. Rosheiminventor
Life of this patent
Estimating the term…
Abstract
A drive mechanism (62) for driving a mechanical joint (10) that includes first and second gimbal assemblies (14, 16) rotatably mounted within the interior of a support (18) and includes a decoupling mechanism (70, 72) in slidable engagement with the support (18) for effecting movement of the joint (10) in a compound yaw and pitch motion includes a yaw drive member (66) having a gear surface (82) in engagement with a drive shaft (84) having a beveled gear end portion (80) arranged to engage the gear surface (82). A pitch drive member (68) includes a gear surface (78) in engagement with a bevel gear end portion (76) of a second drive shaft (74). Both yaw and pitch drive members (66, 68) are pivotally connected to the decoupling mechanism (70, 72).
Claims10
A mechanical joint comprising:
- support means having an interior;
- first and second gimbal means rotatably mounted within the interior, each gimbal means having means for transferring motion to the other gimbal means so that yaw and pitch motion is effected;
- decoupling means in slidable engagement with the support means for effecting movement of the joint in a compound yaw and pitch motion;
- yaw drive means having a yaw gear surface and pivotally connected to the decoupling means;
- a yaw drive shaft with a yaw gear end portion arranged to engage the gear surface of the yaw drive means;
- pitch drive means having a pitch gear surface and pivotally connected to the decoupling means;
- a pitch drive shaft with a pitch gear end portion arranged to engage the gear surface of the pitch drive means;
- and
- means for providing rotational motion connected to the first gimbal means.
A mechanical joint comprising:
- support means having an interior;
- a first and a second gimbal assembly rotatably mounted within the interior, each gimbal assembly having means for transferring motion to the other gimbal assembly;
- drive means operatively connected to the first and second gimbal assemblies for effecting selective movement of the first and second gimbal assemblies;
- means for transmitting rotational movement to the joint including a drive shaft attached to the first gimbal assembly;
- and
- means for engaging the drive shaft having a member that is preloaded against and slidably engaging the drive shaft and being pivotally attached to the support means.
A mechanical joint comprising:
- support means having an interior;
- a first and second gimbal assembly rotatably mounted within the interior, each gimbal assembly having means for transferring motion to the other gimbal assembly;
- drive means operatively connected to the first and second gimbal assemblies for effecting selective movement of the first and second gimbal assemblies;
- means for transmitting rotational movement to the joint;
- and
- linkage means for stabilizing the joint having a first end pivotally attached to the support means and a second end pivotally attached to a base from which the drive means extends.
Dependencies are inferred from the claim text.