192 clutches and power-stop control – Stop mechanism – Limit stop
Patent
1987-04-08
1989-05-09
Bonck, Rodney H.
192 clutches and power-stop control
Stop mechanism
Limit stop
192142R, 192149, 901 13, B25J 1900, B25J 910
Patent
active
048280941
DESCRIPTION:
BRIEF SUMMARY
DESCRIPTION
1. Technical Field
This invention relates to an industrial robot and, more particularly, to an industrial robot motion range limiting apparatus for limiting the angle of rotation of such a robot.
2. Background Art
An industrial robot comprises a pedestal fixed to a floor or movable along a floor, a .theta. axis member rotatably provided on the pedestal, a W axis member swingably attached to the .theta. axis member, a U axis member swingably provided on the end of the W axis member, and a wrist provided on the end of the U axis member.
A swiveling portion of each axis member is provided with an overtravel limit switch and stopper mechanism. When each axis member attempts to rotate beyond a stipulated range of rotation, a projecting member provided on one shaft support portion actuates an overtravel detection limit switch provided on another rotary shaft support portion, whereby a warning is issued to the effect that the rotary shaft has rotated in excess of a predetermined angle of rotation. When the rotary shaft rotates further due to inertia or the like, an interference member provided on a rotary portion abuts against a stopper provided on the other shaft support portion to prevent any further rotation.
In the conventional motion range limiting apparatus described above, the stopper mechanisms are mounted at positions which depend upon the manner in which the robot is used and the rotational angles of the robot. Like the stopper mechanisms, the projecting members for detecting overtravel also are mounted at positions which depend upon the rotational angles of the robot. However, the positions at which these stopper mechanisms and projecting members are mounted do not have marks for indicating the mounting position and considerable labor is required to set the positions.
The present invention has been devised to improve upon the foregoing drawbacks of the prior art and the object thereof is to provide an industrial robot motion range limiting apparatus in which the mounting position of a mechanism, including a stopper mechanism, provided at a rotating shaft support portion of the industrial robot for limiting the range of rotation of the robot can be changed in a simple manner, and in which the mounting position is clearly indicated.
SUMMARY OF THE INVENTION
The present invention provides an apparatus for limiting range of motion of an industrial robot having an axis whose range of motion can be limited. A range limiting member provided with an overtravel detecting dog and a stopper is movably attached to a stationary side of an axis member portion about which swiveling motion is possible. Provided on the movable side of the axis member portion about which swiveling motion is possible is a fixed member having a limit member for detecting overtravel when it contacts the dog and a projection for preventing excessive swiveling about the axis member when it strikes the stopper mechanism. An indicating section for clearly indicating setting positions is provided on a portion at which the range limiting member is attached.
According to the invention, there is provided an industrial robot motion range limiting apparatus in which the projection of the fixed member comprises a shock absorber consisting of rubber.
When the industrial robot attempts to rotate beyond a stipulated range of rotation during operation, the limit member provided on the movable side of the axis member portion contacts the dog on the stationary side to detect overtravel, whereby a warning is issued to the effect that the stipulated range of rotation has been exceeded. When the robot attempts to rotate further due to inertia, the shock absorber strikes the stopper mechanism to prevent excessive swiveling.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is an exploded perspective view illustrating an embodiment of an apparatus for limiting the motion range of an industrial robot according to the present invention;
FIG. 2 is a perspective view illustrating the entirety of an industrial robot provided with the present embodiment;
FI
REFERENCES:
patent: 1170157 (1916-02-01), Huebner
patent: 3717231 (1973-02-01), Kaufeldt
patent: 3885678 (1975-05-01), Borg et al.
patent: 3954188 (1976-05-01), Boyle
patent: 4191301 (1980-03-01), Hickman et al.
patent: 4295555 (1981-10-01), Kamm
Mizuno Hitoshi
Nihei Ryo
Torii Nobutoshi
Bonck Rodney H.
Fanuc Ltd
Lorence Richard M.
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