Robot wrist and robot

Abstract

The utility model discloses a robot wrist and a robot. The robot wrist comprises a forearm body, a wrist body and an autorotation driving mechanism. The rotation driving mechanism is used for driving the actuator to rotate around a J6 axis relative to the wrist body; and the rotation driving mechanism and the wrist body as a whole rotate around a J5 axis relative to the forearm body so as to drive the actuator to rotate around the J5 axis. The wrist body comprises a mounting cavity extending along the J6 axis, and the mounting cavity comprises a mounting cavity side wall perpendicular to the J6 axis. The autorotation driving mechanism comprises an autorotation motor and an autorotation speed reducer used for being connected with an actuator. The autorotation speed reducer is mounted on the outer side of the side wall of the mounting cavity. The rotation motor is directly installed on the inner side of the side wall of the installation cavity under the positioning effect of the positioning mechanism and located in the installation cavity. The motor shaft of the autorotation motor is connected with the autorotation speed reducer through the through hole in the side wall of the mounting cavity, so that the autorotation motor is high in mounting precision and simple to mount through combination of a positioning function and direct mounting.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a robot wrist and a robot. BACKGROUND

[0002] The robot comprises a robot wrist. The robot wrist comprises an arm body, a self-rotation driving mechanism and a wrist body. The self-rotation driving mechanism is connected with an executor and is used for driving the executor to rotate around a J6 axis relative to the arm body. The self-rotation driving mechanism is connected with the wrist body and rotates around a J5 axis together with the wrist body as a whole. The self-rotation driving mechanism comprises a self-rotation reducer and a self-rotation motor. In order to realize the rotation around the J5 axis, the self-rotation motor, the self-rotation reducer and the wrist body need to be installed as a whole. Therefore, how to realize the accurate and simple installation of the self-rotation motor becomes a kind of demand. CONTENT OF THE UTILITY MODEL

[0003] The present application aims to disclose a robot wrist and a robot.

[0004] In a first aspect, the present application discloses a robot wrist. The robot wrist comprises an arm body, a wrist body and a self-rotation driving mechanism. The self-rotation driving mechanism is used for driving an executor to rotate around a J6 axis relative to the wrist body. The self-rotation driving mechanism and the wrist body as a whole rotate around a J5 axis relative to the arm body, so as to drive the executor to rotate around the J5 axis. The wrist body comprises a mounting cavity extending along the J6 axis, and the mounting cavity comprises a mounting cavity side wall perpendicular to the J6 axis. The self-rotation driving mechanism comprises a self-rotation motor and a self-rotation reducer used for being connected with the executor. The self-rotation reducer is mounted on the outside of the mounting cavity side wall. The self-rotation motor is directly mounted on the inside of the mounting cavity side wall under the positioning action of a positioning mechanism and is located in the mounting cavity. A motor shaft of the self-rotation motor is connected with the self-rotation reducer through a through hole of the mounting cavity side wall.

[0005] In some embodiments, the self-rotation reducer is a flat harmonic reducer.

[0006] In some embodiments, the arm body comprises a first mounting arm and a second mounting arm arranged opposite along the axial direction of the J5 axis, and the wrist body is mounted between the first mounting arm and the second mounting arm. At least the first mounting arm is provided with a reinforcing rib among the first mounting arm and the second mounting arm. The reinforcing rib is opposite to the wrist body and extends along the circumferential direction of the corresponding mounting arm at the edge of the corresponding mounting arm.

[0007] In some embodiments, the self-rotation reducer is directly mounted on the outside of the mounting cavity side wall.

[0008] In some embodiments, the motor shaft of the rotation motor is directly connected to the rotation reducer.

[0009] In some embodiments, the positioning mechanism comprises a positioning platform arranged on the rotation motor, and a positioning hole arranged on the side wall of the mounting cavity; the positioning platform is inserted into the positioning hole to achieve positioning.

[0010] In some embodiments, the positioning platform is a protruding platform protruding towards the rotation reducer and in a cylindrical shape; the positioning hole is the through hole; the axis of each of the positioning platform and the positioning hole coincides with the J6 axis.

[0011] In some embodiments, the mounting cavity comprises a mounting cavity opening through which the rotation motor is arranged to pass; the rotation driving mechanism comprises a wrist cover plate and a sealing ring. The wrist cover plate comprises a cover plate plane perpendicular to the J6 axis; the mounting cavity opening comprises an opening end surface perpendicular to the J6 axis and in a plane; the opposite sides of the sealing ring are respectively sealed with the cover plate plane and the opening end surface.

[0012] In some embodiments, the robot wrist comprises a pitch driving mechanism, the pitch driving mechanism comprising a pitch motor mounted on the forearm body, a pitch reducer, and a transmission assembly connecting the pitch motor and the pitch reducer. The pitch reducer is a flat harmonic reducer, the rigid wheel of the pitch reducer is fixed to the forearm body, and the flexible wheel of the pitch reducer serves as an output end and is connected to the wrist body.

[0013] In some embodiments, the pitch motor is mounted on the forearm body through a connecting piece, and the connecting piece is movable relative to the forearm body. The transmission assembly comprises a synchronous belt; the robot wrist comprises a tensioning screw; the connecting piece is pushed away from the pitch reducer by rotating the tensioning screw to tension the synchronous belt.

[0014] In some embodiments, the forearm body comprises a first mounting arm and a second mounting arm arranged opposite along the J5 axis; the wrist body comprises a first connecting end and a second connecting end arranged opposite along the J5 axis. The first connecting end is connected through the flexible wheel of the pitch reducer. The robot wrist comprises an oil seal located between the second connecting end and the second mounting arm, so that the oil seal and the pitch reducer support the wrist body and the pitch driving mechanism.

[0015] In a second aspect, the present application discloses a robot. The robot comprises any one of the robot wrists described above.

[0016] For the above-mentioned robot wrist and robot, by positioning the rotation motor in the positioning mechanism, the rotation motor is directly installed on the forearm body (i.e. the positioning function is combined with direct installation), so that the installation precision is high and the installation is simple, for example, the positioning function of the positioning mechanism and the direct installation of the rotation motor on the inner side of the side wall of the installation cavity without the need for adapter flanges and the alignment between the adapter flanges and the related components of the rotation motor, etc. make the installation precision higher and the installation simpler. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a perspective view of a robot wrist of the present application;

[0018] Figure 2 is a sectional view of a robot wrist of the present application;

[0019] Figure 3 is Figure 2 is an enlarged view of part A in

[0020] Figure 4 is Figure 2 is an enlarged view of part B in

[0021] Figure 5 is a top view of a robot wrist of the present application;

[0022] Figure 6 is a schematic view of a wrist body of the present application;

[0023] Figure 7 is a schematic view of a rotation motor of the present application;

[0024] Figure 8 is a schematic view of a forearm body of the present application. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments (or "embodiments") of the present application will be described clearly and completely in conjunction with the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated.

[0026] If the application embodiments involve the terms of direction indication or position relationship (for example, up, down, left, right, front, back, inner, outer, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative position relationship, motion condition, etc. between components in a certain specific posture (as shown in the drawings); if the specific posture changes, the direction indication or position relationship will also change accordingly. In addition, the terms "first", "second", etc. in the application embodiments are only used for convenience of description, and cannot be understood as indicating or implying relative importance.

[0027] Referring to Figure 2 and Figure 3 in combination Figure 1 , the application discloses a robot wrist. The robot wrist comprises a forearm body 1, a wrist body 2 and a self-rotation driving mechanism 3. The self-rotation driving mechanism 3 is used to drive an effector (not shown in the figure) to self-rotate relative to the wrist body 2 around the J6 axis. How the self-rotation driving mechanism 3 is connected with the effector is not limited. The self-rotation driving mechanism 3, the wrist body 2 and the effector as a whole rotate relative to the forearm body 1 around the J5 axis, thereby driving the effector to rotate around the J5 axis.

[0028] The wrist body 2 comprises a mounting cavity 21 extending along the J6 axis, and the mounting cavity 21 comprises a mounting cavity side wall 211 perpendicular to the J6 axis. Here, perpendicular means that the whole of the mounting cavity side wall 211 is perpendicular to the J6 axis, and some parts of the mounting cavity side wall 211 can not be perpendicular to the J6 axis.

[0029] Referring to Figure 2 and Figure 3 , the self-rotation driving mechanism 3 comprises a self-rotation motor 31 and a self-rotation reducer 32 used to connect with the effector. The self-rotation reducer 32 is mounted on the outside of the mounting cavity side wall 211. The self-rotation motor 31 is directly connected to the inside of the mounting cavity side wall 211 under the positioning action of a positioning mechanism 33, and the self-rotation motor 31 is located in the mounting cavity 21. How to be directly linked is not limited, for example, referring to Figure 6 , the mounting cavity side wall 211 is provided with a mounting hole 2110 (such as a threaded hole), the self-rotation motor 31 is provided with a threaded hole, and a connecting bolt 310 is locked to the mounting hole 2110 to mount the self-rotation motor 31 to the inside of the mounting cavity side wall 211. Referring to Figure 6 , the mounting cavity side wall 211 is provided with a through hole 212. The through hole 212 penetrates the mounting cavity side wall 211 along the J6 axis. Referring to Figure 2 and Figure 3The motor shaft of the rotation motor 31 is connected to the rotation reducer 32 through the through hole 212. Here, the inner side and the outer side are referenced to the outside and the inside of the robot wrist, and the outer side is referred to as the outer side (for example, the actuator can be considered to be on the outside of the mounting cavity side wall 211), and the inner side is referred to as the inner side.

[0030] As described above, by directly mounting the rotation motor 31 to the small arm body 1 (i.e., the positioning effect is combined with direct mounting) when the rotation motor 31 is positioned by the positioning mechanism 33, the mounting precision is high and the mounting is simple, for example, the positioning effect of the positioning mechanism and the direct mounting do not require a transition flange, and do not require alignment between the transition flange and related components such as the rotation motor, etc., and also make the mounting precision higher and the mounting simpler.

[0031] Referring to Figure 2 , the rotation reducer 32 is a flat harmonic reducer.

[0032] As described above, the flat harmonic reducer is narrow along the width of the J6 shaft, so the distance between the TCP point and the J5 shaft (the distance is indicated by d in Figure 2 ) is reduced, and the load capacity of the robot arm is increased.

[0033] Referring to Figure 8 in combination with Figure 3 and Figure 2 , in some embodiments, the small arm body 1 includes a first mounting arm 111 and a second mounting arm 112 arranged opposite along the axial direction of the J5 shaft. Referring to Figure 5 and Figure 8 in combination with Figure 1 , in the embodiments of the present application, the first mounting arm 111 is provided with a reinforcing rib 12. The reinforcing rib 12 is opposite to the wrist body 2, and it can be understood that the reinforcing rib 12 is located on the outer surface of the small arm body 1; the wrist body 2 is located inside the small arm body 1. The reinforcing rib 12 extends along the edge of the first mounting arm 111 in the circumferential direction of the first mounting arm 111. As shown in Figure 6 , the reinforcing rib 12 extends in a U shape, but is not limited thereto. In the embodiments of the present application, only the first mounting arm 111 is provided with the reinforcing rib 12. In some cases, the first mounting arm 111 and the second mounting arm 112 can also be provided with the reinforcing rib 12, and when the second mounting arm 112 is provided with the reinforcing rib 12, the reinforcing rib 12 extends along the edge of the second mounting arm 112 in the circumferential direction of the second mounting arm 112.

[0034] As described above, by providing the reinforcing rib 12, the rigidity of the small arm body 1 is improved, which is more conducive to bearing the wrist body 2 and the like.

[0035] Referring to Figure 2 and Figure 1 and in combination Figure 3 , the rotation reducer 32 is directly mounted on the outside of the mounting cavity side wall 211. The direct mounting is, for example, that the rotation reducer 32 and the mounting cavity side wall 211 are respectively provided with screw holes, and the rotation reducer mounting screw 391 passes through the screw holes to mount the rotation reducer 32 on the mounting cavity side wall 211.

[0036] As set forth above, since the rotation reducer 32 is directly mounted on the outside of the mounting cavity side wall 211, the mounting of the rotation reducer 32 is simple and has high precision. For example, the direct mounting of the rotation reducer 32 on the outside of the mounting cavity side wall 211 does not require a transfer flange, so that the mounting is simple and has high precision.

[0037] Referring to Figure 3 and in combination Figure 2 , in some embodiments, the motor shaft of the rotation motor 31 is directly connected with the rotation reducer 32.

[0038] As set forth above, since the motor shaft of the rotation motor 31 is directly connected with the rotation reducer 32, on the one hand, the mounting of the rotation reducer 32 does not have a gear adjustment link, so that the mounting is simple, efficient and has low noise in high-speed movement. On the other hand, compared with the previous bevel gear, at least two levels of transmission are saved, so that the transmission efficiency is high.

[0039] Referring to Figure 7 , in some embodiments, the positioning mechanism 33 includes a positioning table 311 provided on the rotation motor 31 and a positioning hole provided on the mounting cavity side wall 211. In the present embodiment, the positioning hole is the through hole 212. Based on the positioning effect of the positioning table 311 and the positioning hole, it can be understood by those skilled in the art that the positioning table 311 and the positioning hole are not limited to the structure as shown in the figure, for example, the positioning table 311 can be a protruding part distributed along the rotation motor 31, and the protruding parts are two and are distributed symmetrically in the radial direction. Regardless of which setting, referring to Figure 3 and in combination Figure 6 and Figure 7 , the positioning table 311 is inserted into the positioning hole to achieve positioning.

[0040] As set forth above, through the positioning of the positioning table 311 and the positioning hole, the rotation motor 31 can be more accurately and simply mounted on the wrist body 2.

[0041] In some embodiments, referring to Figure 7 , the positioning table 311 is a cylindrical boss protruding towards the rotation reducer 32. Referring to Figure 6The positioning hole is the through hole 212, which is also cylindrical. Axes of the positioning table 311 and the positioning hole (i.e. the through hole 212) are coincident with the J6 axis.

[0042] As set forth above, the positioning table 311 is a cylindrical boss, the positioning hole is also cylindrical, and axes of the positioning table 311 and the positioning hole are coincident with the J6 axis. Thus, when the positioning table 311 is inserted into the positioning hole, the positioning is more accurate, and the installation of the rotation motor 31 is more accurate and simple. Meanwhile, the above design can make the structures of the rotation motor 31 and the wrist body 2 simple. For example, for the rotation motor 31, only the boss needs to be set; for the wrist body 2, only the through hole needs to be set.

[0043] Referring to Figure 3 and Figure 2 , the mounting cavity 21 includes a mounting cavity opening 213 through which the rotation motor 31 passes. The rotation driving mechanism 3 includes a wrist cover plate 34 and a sealing ring 35. Referring to Figure 3 , the wrist cover plate 34 includes a cover plate plane 341 perpendicular to the J6 axis. The mounting cavity opening 213 includes an opening end surface 2131 perpendicular to the J6 axis and flat. Opposite sides of the sealing ring 35 are respectively sealed with the cover plate plane 341 and the opening end surface 2131.

[0044] As set forth above, because opposite sides of the sealing ring 35 are respectively sealed with the cover plate plane 341 and the opening end surface 2131, a flat sealing mode is adopted, which is simple to process and convenient to assemble and reliable in sealing. The machine tool cutting fluid and the like can be effectively prevented from entering the wrist interior to damage the motor and the like, and the protection level is high.

[0045] Referring to Figure 3 and Figure 2 , the robot wrist includes a pitch driving mechanism, the pitch driving mechanism includes a pitch motor 41 mounted on the forearm body 1, a pitch reducer 42, and a transmission assembly 43 connecting the pitch motor 41 and the pitch reducer 42. Referring to Figure 5 and combining Figure 3 and Figure 2, the transmission assembly 43 comprises a first synchronous wheel 431, a second synchronous wheel 432 and a synchronous belt 433 connecting the first synchronous wheel 431 and the second synchronous wheel 432. Of course, the composition of the transmission assembly 43 is not limited to this. The pitch motor 41 rotates, and drives the pitch reducer 42 through the transmission assembly 43, and in turn, the pitch reducer 42 drives the wrist body 2 and the self-rotating driving mechanism 3 and the implement to rotate around the J5 axis. In particular to the above-mentioned transmission assembly 43, the pitch motor 41 rotates, drives the first synchronous wheel 431 to rotate, and the first synchronous wheel 431 drives the second synchronous wheel 432 to rotate through the synchronous belt 433. The second synchronous wheel 432 drives the wave generator of the pitch reducer 42 to rotate, and finally drives the wrist body 2 and the self-rotating driving mechanism 3 and the implement to rotate around the J5 axis.

[0046] In the embodiment of the application, the pitch reducer 42 is a flat harmonic reducer, and the rigid wheel of the pitch reducer 42 is fixed with the forearm body 1. Referring to Figure 3 and Figure 5 , such as, is installed on the forearm body 1 through the pitch reducer mounting screw 392. The flexspline of the pitch reducer 42 is connected with the wrist body 2 as an output end.

[0047] As set forth above, since the pitch reducer 42 is a flat harmonic reducer, the installation mode is that the rigid wheel is fixed and the flexspline is output, only the pitch reducer 42 is fixed on the forearm body 1, and the gap between the pitch reducer 42 and the forearm body 1 is sealed by the first sealing member (such as an oil seal) 9, thus, it is convenient to install and seal, and further, the pitch reducer 42 is a flat harmonic reducer, the width in the axial direction of the J5 axis is small, thereby, the width of the forearm body 1 is reduced, and it is convenient for the wrist to work in a narrow space such as a machine tool.

[0048] Referring to Figure 3 and Figure 5 and combining Figure 2 , the pitch motor 41 is installed on the forearm body 1 through the connecting member 44 (such as an adapter flange), and the connecting member 44 is movable relative to the forearm body 1. The movable structure is not limited, for example, referring to Figure 5 , the connecting member 44 is movable through the waist-shaped hole 441 located at the four vertices of the square and the adjusting bolt 442.

[0049] The transmission assembly 43 comprises a synchronous belt 433; the robot wrist comprises a tensioning screw 45; by rotating the tensioning screw 45, the connecting member 44 is pushed away from the pitch reducer 42 (such as Figure 5 and Figure 3The tensioning screw 45 is rotated to drive the connecting member 44 to move in the direction shown by the arrow B, so as to tension the timing belt 433. How the tensioning screw 45 can be rotated is not limited, for example, a tool 46 is fixed on the arm body 1, and the tensioning screw 45 is threadedly connected with the tool 46, so that the timing belt 433 can be tensioned by rotating the tensioning screw 45. Of course, in some cases, the tool 46 can not be included, and corresponding structures can be provided on the arm body 1 and threadedly connected with the tensioning screw 45, as long as the structures for providing the threaded connection are provided.

[0050] As described above, the connecting member 44 is driven to move in the direction away from the pitch reducer 42 by rotating the tensioning screw 45, so as to tension the timing belt 433, thereby facilitating the adjustment of the timing belt 433.

[0051] Referring to Figure 1 and Figure 2 , the arm body 1 includes a first mounting arm 111 and a second mounting arm 112 which are arranged in the axial direction of the J5 axis. Referring to Figure 6 , the wrist body 2 includes a first connecting end 22 and a second connecting end 23 which are arranged in the axial direction of the J5 axis.

[0052] Referring to Figure 2 and Figure 3 in combination with Figure 1 , the first connecting end 22 is connected with the flexspline of the pitch reducer 42. Referring to Figure 4 in combination with Figure 2 , the robot wrist includes an oil seal 5 which is located between the second connecting end 23 and the second mounting arm 112, so that the oil seal 5 and the pitch reducer 42 support the wrist body 2 and the pitch driving mechanism 3.

[0053] As described above, the pitch reducer 42 can be considered as a support structure, and the oil seal 5 is located between the second connecting end 23 and the second mounting arm 112 without installing a support bearing, so that the wrist body 2 and the revolution driving mechanism 3 are single-sidedly supported as a whole, and the installation of the wrist body 2 and the revolution driving mechanism 3 is simple and convenient, for example, at least the relevant steps of installing a support bearing between the second connecting end 23 and the second mounting arm 112 are not needed.

[0054] In a second aspect, the application discloses a robot. The robot includes any one of the robot wrists described above. How the robot wrist is installed on the relevant components of the robot to constitute the robot is not limited.

[0055] It should be noted that the technical solutions or technical features described in the above embodiments can be combined or supplemented with each other without conflict. The scope of protection of the present application is not limited to the precise structure described in the above embodiments and shown in the accompanying drawings; any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the scope of protection of the present application.

Claims

1. A robot wrist, characterized in that The robot wrist comprises a forearm body, a wrist body and a self-rotation driving mechanism; The self-rotation driving mechanism is used for driving the executor to self-rotate around the J6 axis relative to the wrist body; the self-rotation driving mechanism and the wrist body as a whole rotate around the J5 axis relative to the forearm body to drive the executor to rotate around the J5 axis; The wrist body comprises a mounting cavity extending along the J6 axis, and the mounting cavity comprises a mounting cavity side wall perpendicular to the J6 axis; The self-rotation driving mechanism comprises a self-rotation motor and a self-rotation reducer used for connecting with the executor; the self-rotation reducer is mounted on the outside of the mounting cavity side wall; the self-rotation motor is directly mounted on the inside of the mounting cavity side wall under the positioning of a positioning mechanism and is located in the mounting cavity; a motor shaft of the self-rotation motor is connected with the self-rotation reducer through a through hole of the mounting cavity side wall.

2. The robot wrist of claim 1, wherein, The self-rotation reducer is a flat harmonic reducer; And / or, the forearm body comprises a first mounting arm and a second mounting arm oppositely arranged along the axial direction of the J5 axis, and the wrist body is mounted between the first mounting arm and the second mounting arm; at least the first mounting arm is provided with a reinforcing rib among the first mounting arm and the second mounting arm; the reinforcing rib is opposite to the wrist body and extends along the circumferential direction of the corresponding mounting arm at the edge of the corresponding mounting arm.

3. The robotic wrist of claim 1, wherein, The self-rotation reducer is directly mounted on the outside of the mounting cavity side wall; And / or, the motor shaft of the self-rotation motor is directly connected with the self-rotation reducer.

4. The robotic wrist of claim 1, wherein, The positioning mechanism comprises a positioning table arranged on the self-rotation motor and a positioning hole arranged on the mounting cavity side wall; the positioning table is inserted into the positioning hole to realize positioning.

5. The robot wrist of claim 4, wherein, The positioning table is a convex table protruding towards the self-rotation reducer and in a cylindrical shape; the positioning hole is the through hole; the axis of the positioning table and the positioning hole respectively coincides with the J6 axis.

6. The robotic wrist of claim 1, wherein, The mounting cavity comprises a mounting cavity opening for the self-rotation motor to pass through; the self-rotation driving mechanism comprises a wrist cover plate and a sealing ring; The wrist cover plate comprises a cover plate plane perpendicular to the J6 axis; the mounting cavity opening comprises an opening end face perpendicular to the J6 axis and in a plane; the opposite sides of the sealing ring are respectively sealed with the cover plate plane and the opening end face.

7. The robotic wrist of claim 1, wherein, The robot wrist comprises a pitch driving mechanism, and the pitch driving mechanism comprises a pitch motor mounted on the forearm body, a pitch reducer and a transmission assembly connecting the pitch motor and the pitch reducer; The pitch reducer is a flat harmonic reducer, a rigid wheel of the pitch reducer is fixed with the forearm body, and a flexible wheel of the pitch reducer is connected with the wrist body as an output end.

8. The robot wrist of claim 7, wherein, The pitch motor is mounted on the forearm body through a connecting piece, and the connecting piece is movable relative to the forearm body; The transmission assembly comprises a synchronous belt; the robot wrist comprises a tensioning screw; the connecting piece is pushed to move away from the pitch reducer to tension the synchronous belt by rotating the tensioning screw.

9. The robotic wrist of claim 7, wherein, The small arm body comprises a first mounting arm and a second mounting arm which are arranged axially opposite along the J5 axis; the wrist body comprises a first connecting end and a second connecting end which are arranged axially opposite along the J5 axis; The first connecting end is connected through the flexspline of the pitch reducer; The robot wrist comprises an oil seal which is located between the second connecting end and the second mounting arm, so that the oil seal and the pitch reducer support the wrist body and the pitch driving mechanism.

10. A robot, characterized in that The robot comprises the robot wrist according to any one of claims 1 to 9.

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