Tool adapter for a robot wrist and robot wrist with tool adapter attached

摘要

Tool adapter (26), which is designed to attach a tool (28) to a robot wrist (20), the robot wrist (20) having two or more degrees of freedom and a first rotation element (22), which is rotatable around a first axis (J5) and a second rotating element (24), which is one to the first axis (J5)orthogonal second axis (J6) is rotatable, with the tool adapter (26) comprising:a flat plate-like first section (32) equipped with a first mounting part (30) and trained to be mounted on the first mounting part (30) on the second pivot element (24);a flat plate-like second section (36) extending from the first section (32), the second section (36) being fitted with a second part (34) and trained to be fitted to the second part (34) of the tool (28);a pair of side walls (44) provided along a pair of side edges of the first and second sections (32,36);andan upper wall (46),which runs in such a way that it bridges between the pair of side walls (44) and is constituted by the first and second sections (32, 36) in a substantially parallel relationship to it, the upper wall (46) comprising a section so cut with the second part (34)the second flat panel section (36) is designed to extend part of the tool (28) through the cut-off section if the tool (28) is fitted to the second flat panel section (34) of the second flat panel section (36);where the first part (30) and the second part (34) are each arranged in positions where one direction of a reaction force (F) is applied during an activity carried out using the tool (28) on an object from the object through the tool (28) to the second part (36)is exercised so defined that it cuts both the first axis (J5) and the second axis (J6).