| 摘要 |
A multi-axis robot wrist assembly having three hydraulically operated rotary actuators which are mechanically connected in series such that the output of each actuator drivingly positions the body of the succeeding actuator located outboard thereof. The hydraulic connection to any wrist actuator, except the innermost actuator, includes a series-connection of (a) internal passage(s) through actuator(s) which are located inboard of the actuator in question and (b) external line(s) between the actuator in question and actuator(s) located inboard thereof. By connecting all but the innermost wrist actuator through hydraulic paths which are at least partially internal to actuators positioned inwardly thereof, the overall envelop of the wrist assembly is reduced. Also included for the purpose of minimizing the wrist envelop is an electrical cable arrangement for connecting the electrical outputs of position transducers associated with each wrist actuator to an electrical plug or other suitable connection located on the robot arm which mounts the wrist assembly. The electrical cable, includes semicircular folded sections between each pair of adjacent actuators and partially encircling the rotatable output member interconnecting them, to permit adjacent actuators to rotate with respect to each other without damaging the electrical cable spanning them, which remains neatly folded between the actuators. The mechanical interconnection between the rotary output member of one actuator and the body of the succeeding actuator is detachable, facilitating actuator replacement in the field without replacing the entire wrist assembly.
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