Importance

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Abstract

A robot wrist with a plurality of rotatable parts arranged in series with each other arranged to be mounted on a robot arm or automation machine to enable rotary movement of a first wrist part about a first axis and a second wrist part journalled in the first wrist part. Each wrist part may be arranged with one or more gear members to drive a rotary movement and rotate any wrist part relative to another wrist part. At least one gear member of one engaging pair is a concave bevel gear arranged with negative bevel angle to the plane of rotation at the engaging face. In another embodiment the robot wrist has three wrist parts. The robot wrist may also include an inner protection hose.

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First Claim