Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1999-01-12
2000-10-03
Herrmann, Allan D.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
7449003, 901 23, 901 26, 901 50, B25J 1800
Patent
active
06125715&
DESCRIPTION:
BRIEF SUMMARY
FIELD OF THE INVENTION AND PRIOR ART
The present invention is related to a device in a robot arm of the kind comprising an assembly rotatable in relation to a part of the arm about an axis extending at an angle to a longitudinal axis of the arm part, the assembly comprising a drive unit and a member driven by the drive unit, at least one cable comprising one or more lines for communication of energy for driving and/or control purposes extending between the arm part and the drive unit, the assembly comprising an axle pin rotatably supported relative to the arm part, the cable extending, between the arm part and the drive unit, in a space provided in the assembly, the space comprising a first part space provided in the axle pin, the cable being coiled in screw-line-shape in the first part space.
Such a device is described in our Swedish patent No 9000697-4. In this prior device, the cable extends out of said space through an opening formed in a wall of the space and from this opening exteriorly of the assembly to a lead-through, in which the cable is introduced into the drive unit. Thus, the cable will be exposed outwardly between the opening and the lead-through, which means a less satisfactory protection for the cable. The exposed extent of the cable exteriorly of the assembly means, furthermore, that it would be more difficult to efficiently seal the interior of the drive unit relative to the surroundings. This involves difficulties in achieving such a high class of tightness, which would be desirable in this connection.
OBJECT OF THE INVENTION
The object of the invention is to devise constructive ways to provide possibilities for achieving, while maintaining a design as uncomplicated as possible, an improved design as far as cable protection and cabling tightness are concerned.
SUMMARY OF THE INVENTION
The object of the invention is achieved by designing the device so that the space in the assembly comprises a second part space, in which the cable extends from the first part space to the drive unit, and that the two part spaces are separated from each other in a sealed manner by means of a separation element, the separation element and a wall delimiting the space being adapted to sealingly adjoin to each other and the separation element and the cable being adapted to sealingly adjoin to each other whereas the cable penetrates the separation element.
Thus, the cable will run well protected within the space formed by the two part spaces whereas the separation element efficiently provides for the required tight separation of the part spaces from each other. Expressed in other words, the cable will, accordingly, be adequately separated from the surroundings in the second part space, which means that contamination cannot enter the interior of the drive unit via the second part spacer in which the cable extends in a well protected manner.
According to a preferred embodiment, the separation element has one more first annular sealing members adapted for sealing against the inside of the first part space.
According to a particularly preferred embodiment of the invention the separation element has the character of a cup-shaped body, in the wall of which a passage for the cable is provided.
Further features and developments of the invention are dealt with in the appended claims and the following description.
BRIEF DESCRIPTION OF THE DRAWINGS
With reference to the enclosed drawings, a more specific description of an embodiment example of the invention follows hereinafter.
In the drawings:
FIG. 1 is a diagrammatical view of a robot arm designed in accordance with the invention,
FIG. 2 is a view of a portion of the arm according to FIG. 1 in a somewhat larger scale and in a partly cut condition,
FIG. 3 is an enlarged view of a detail of FIG. 2 in a cut state,
FIG. 4 is an enlarged detail also appearing in FIG. 3,
FIG. 5 is a view illustrating components separated from the robot arm and shown in an even larger scale, and
FIG. 6 is a view from above of the components appearing in FIG. 5.
DETAILED DESCRIPTION
REFERENCES:
patent: 4427170 (1984-01-01), Truninger
patent: 4499341 (1985-02-01), Boyd
patent: 4712972 (1987-12-01), Nakashima et al.
patent: 4793203 (1988-12-01), Staggl et al.
patent: 4864888 (1989-09-01), Iwata
patent: 5375480 (1994-12-01), Nihei et al.
patent: 5816107 (1998-10-01), Takahashi et al.
patent: 5848556 (1998-12-01), Ryu et al.
English translation of Abstract and of Claim 1 of German published application 3410637.
Lundstrom Christer
Nissfolk Rafael
ABB AB
Herrmann Allan D.
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