Claims
- 1. A swivel-jointed robot arm adapted to be driven in controlled flexing and rotational movements by a robot drive means including a rotatable shaft projecting forwardly along a robot drive axis, comprising a plurality of interconnected rigid links wherein successive links are linked together in the fashion of chain links and are mutually pivotally connected by universal joints disposed between the interlinking ends of the links, wherein two adjacent links are joined to the same intermediate link and have respective link ends in abutting relationship, and wherein the rearwardmost link end is joined to the forwardly projecting rotatable shaft, and wherein the forwardmost link end is joined to a tool-coupling shaft, the respective links further comprising the intermediate link having a rearwardly facing link end having an opening with a spherical bearing affixed therein and a ball rotatable in said bearing, said ball having a hole therethrough sized to slidably accept said drive means forwardly projecting rotatable shaft to permit unrestrained movement of said link end along said robot drive axis and also having a forwardly facing link end having an opening with a spherical bearing affixed therein and a ball rotatable in said bearing, said ball having a hole therethrough; the rewardmost of the two adjacent links having a forrwardly facing link end having an opening with a spherical bearing affixed therein and a ball rotatable in said bearing, said ball having a hole therethrough; the forwardmost of the two adjacent links having a rearward facing link end having a pin affixed thereto, said pin slidably engaging the hole in the ball in the forwardly facing link end of said rewardmost adjacent link; and a further front link joined to the too-coupling shaft, said further front link having a rearward facing link end having a pin affixed thereto, said pin slidably engaging the hole in the ball in the forwardly facing link end of said intermediate link.
Priority Claims (1)
Number |
Date |
Country |
Kind |
823260 |
Sep 1982 |
NOX |
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Parent Case Info
This is a continuation of abandoned U.S. application Ser. No. 532,449, filed Sept. 15, 1983.
US Referenced Citations (3)
Foreign Referenced Citations (1)
Number |
Date |
Country |
2378612 |
Sep 1978 |
FRX |
Continuations (1)
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Number |
Date |
Country |
Parent |
532449 |
Sep 1983 |
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