Electricity: electrical systems and devices – Safety and protection of systems and devices
Patent
1986-12-01
1989-03-28
Pellinen, A. D.
Electricity: electrical systems and devices
Safety and protection of systems and devices
901 13, 414 5, 414744R, 74816, 200 47, B25J 900
Patent
active
048169552
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
The invention relates to a robot joint with an electric drive motor. In a known robot joint of this type (DE-Al 33 10 135) the actuating element for the limit switch which is rigidly connected with the one robot part is in form of a pin which extends into a radial bore of the one robot part and acts on two limit switches by means of drag cams and a rocker arm which is guided in a curved piece which is mounted on the other robot part together with the limit switches. This device which is suitable for pivot ranges of more than 360.degree. is very expensive, if the the pivot range is less than 360.degree., and moreover it is not possible to adjust the pivot range to a given position and size.
SUMMARY OF THE INVENTION
The device in accordance with the invention is simple, compact and reliable and permits to integrate the actuating element or elements in a protected manner in the joint and to provide an easy adjustability therefor.
The invention enables a simple and problemless installation of the actuating elements or elements in the given desired position. With the design of the actuating elements in accordance with claim one embodiment the same can be easily moved outwardly from their installed position, if they have to be removed or if they should be installed in a different position.
The features in accordance with other embodiments are suggested for a radial and axial mounting of the actuating elements in the installed position. With these features it is achieved that the structural parts provided for these functions can be radially attached and can be mounted or released from the one robot part by exclusively applying the tools at the circumference.
The device in accordance with the invention also provides a sensor for scanning a joint-zero position in axial direction of the joint in addition to the limit switch without any additional space requirement.
It is particularly advantageous if the zero position-scanning is performed, because additional parts for this function are eliminated and when using a divided retaining ring each ring half may be provided with plane front faces (rotating part).
Advantageously, the sensor for the zero position-scanning with a limit switch may be disposed in a common housing. Advantageous means for a delay free acting short circuit brake may be associated with the drive motor, which assure a safe and rapid stopping of the drive when leaving the operating range of the movable robot part and during the relay of the limit switch.
BRIEF DESCRIPTION OF THE DRAWINGS
One exemplified embodiment of the invention is illustrated in the drawing and is described in more detail in the subsequent description. The drawings show:
FIG. 1 the robot joint in accordance with the invention in a side view and partially in a section,
FIG. 2 a plan view of individual parts of the robot joint in accordance with FIG. 1; and
FIG. 3 an individual part from FIG. 2 seen in direction of arrow A.
DESCRIPTION OF THE PREFERRED EMBODIMENTS
The robot joint connects a robot part 10 which in the following is called a tripod, but it also could be a premounted robot arm, with a robot arm 12 which is pivotably mounted on tripod 10 around a joint axis 14. The mounting is performed free of play by means of a pretensioned roller bearing 16, preferably a junction roller bearing, whose inner barrel ring 18 is mounted on a steel bushing 20 which is pressed into a bore 22 in tripod 10. The outer barrel ring 24 of the roller bearing 16 sits properly in a recess 26 of the robot arm 12 and is mounted thereon free from play by two diametrically opposite screws 28.
An electromotor 30 is mounted on the tripod coaxially with respect to the joint axis 14, whose downwardly extending power output shaft 32 is connected with the robot arm 12 by means of a reduction gear. The structure of the reduction gear is immaterial in conjunction with this subject matter, so that no illustration and no description of the same is provided. The electromotor 30 drives the robot arm 12 in a rotating manner with
REFERENCES:
patent: 2798908 (1957-07-01), Frank et al.
patent: 3294256 (1966-12-01), Nazali et al.
patent: 3419158 (1968-12-01), Lemelson
patent: 4586868 (1986-05-01), Nakashima et al.
Bruns Joachim
Gosdowski Gerhard
Kettner Andreas
Schwarze Udo
Deboer Todd E.
Pellinen A. D.
Robert & Bosch GmbH
Striker Michael J.
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