Pneumatic wrist joint of handling device

摘要

The pneumatic wrist joint consists of a lower platform (1), an upper platform (4), a first central platform (2) and a second central platform (3). Four air bellows (14), (15), (16), (17) are placed between the first central platform (2) and the second central platform (3) to control the inclination of the second central platform (3) and the upper central platform (4). A central joint (18) is located centrally between the first central platform (2) and the second central platform (3), which limits the extent of tilting of the second central platform (3) to the first central platform (2). Four stepping motors (5), (6), (7), (8) are positioned between the second central platform (3) and the upper platform (4) to adjust the exact angle of inclination of the upper platform (4) to the second central platform (3). The stepping motors (5), (6), (7), (8) are connected to the upper platform (4) by the lateral axial joints (19), (20), (22), (23), whose mutual coupling hold the shaft couplings (9), (10), (11), (12). Tilting of the upper platform (4) to the second central platform (3) is enabled by the central axial joint (22) via a central shaft coupling (13).