Improved pneumatic robot wrist.

摘要

In a simplified pneumatic robot wrist apparatus, a tubular wrist assembly including a tubular quill member (22) is slidably positioned relative to a stationary rod (26) and piston (22) arrangement to effect vertical movement of an end effector (E) attached to the quill in response to variations in pneumatic pressure. A bevel gear set (32) coupled to the tubular assembly and responding to a DC servo motor (38) imparts rotational motion to the end effector.