US 12,240,104 B2
Wrist cover, robot, and wrist cover set
Ryou Yagihashi, Yamanashi (JP); and Kouhei Hanatani, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Appl. No. 18/551,973
Filed by FANUC CORPORATION, Yamanashi (JP)
PCT Filed May 14, 2021, PCT No. PCT/JP2021/018351
§ 371(c)(1), (2) Date Sep. 22, 2023,
PCT Pub. No. WO2022/239223, PCT Pub. Date Nov. 17, 2022.
Prior Publication US 2024/0173876 A1, May 30, 2024
Int. Cl. B25J 19/00 (2006.01)
CPC B25J 19/0075 (2013.01) 7 Claims
OG exemplary drawing
 
1. A wrist cover that covers a wrist of a robot, the wrist having a base end and a tip end and including a first wrist element, a second wrist element, and a third wrist element coupled in series from the base end to the tip end so as to be rotatable with respect to one another, the wrist cover comprising:
a first rotating seal member that is fixed to the second wrist element, thereby sealing a ring-shaped gap between the second wrist element and the third wrist element while allowing relative rotation between the second wrist element and the third wrist element; and
a flexible cover body that has a first opening arranged in a state in which the first wrist element is passed therethrough, and a second opening arranged in a state in which the third wrist element is passed therethrough,
wherein the cover body and the first rotating seal member are attached with a space between a peripheral edge of the second opening and the first rotating seal member being sealed over an entire periphery thereof,
at a position that includes a first axis, which is a rotation axis of the first wrist element, the first wrist element has a first hollow hole that extends in a direction of the first axis,
at a position that includes a third axis, which is a rotation axis of the third wrist element, the second wrist element has a second hollow hole that extends in a direction of the third axis,
the third wrist element is disposed in the second hollow hole, and, at a position that includes the third axis, the third wrist element has a third hollow hole that extends in the direction of the third axis,
the cover body has a third opening disposed at a position aligned with an opening provided closer to the tip end in the first hollow hole and a fourth opening disposed at a position aligned with an opening provided closer to the base end in the second hollow hole,
a peripheral edge of the third opening and a peripheral edge of the opening provided closer to the tip end in the first hollow hole are attached in a sealed state, and
a peripheral edge of the fourth opening and a peripheral edge of the opening provided closer to the base end in the second hollow hole are attached in a sealed state.