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End-Of-Arm Safety Link for End-Of-Arm Tooling on Robots

IP.com Disclosure Number: IPCOM000038684D
Original Publication Date: 1987-Feb-01
Included in the Prior Art Database: 2005-Jan-31
Document File: 2 page(s) / 44K

Publishing Venue

IBM

Related People

Hampton, BG: AUTHOR

Abstract

The figure shows the mechanical link between the end-of-arm and end- of-arm tooling employed by robots. The link has a detented joint which actuates a switch when forced out of the detent position. One end of the link at surface "A" is mounted to the wrist axis of the robot, and the other end (surface "B") permits the mounting of a gripper or other end-of-arm tooling. In some applications it may be more desirable to place the safety link in between axis, such as between pitch and roll. Inside the link are four bearing balls 10 that are nested in deep recesses in a cylindrical retainer 11. The retainer is free to move up against spring pressure, but is keyed to prevent rotation. The spring pressure is provided by spherical spring washers 13. The bearing balls roll about a sphere 15 which is fixed to surface "B.

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End-Of-Arm Safety Link for End-Of-Arm Tooling on Robots

The figure shows the mechanical link between the end-of-arm and end- of-arm tooling employed by robots. The link has a detented joint which actuates a switch when forced out of the detent position. One end of the link at surface "A" is mounted to the wrist axis of the robot, and the other end (surface "B") permits the mounting of a gripper or other end-of-arm tooling. In some applications it may be more desirable to place the safety link in between axis, such as between pitch and roll. Inside the link are four bearing balls 10 that are nested in deep recesses in a cylindrical retainer 11. The retainer is free to move up against spring pressure, but is keyed to prevent rotation. The spring pressure is provided by spherical spring washers 13. The bearing balls roll about a sphere 15 which is fixed to surface "B." The sphere has four shallow recesses 16 with the same pattern as the four bearing balls in the retainer. As the sphere 15 rotates, the bearing balls 10 roll out of the shallow recesses 16, causing the retainer 11 to move against the spring pressure. The retainer has a wedge-shaped notch 17 that moves a pin 18 to actuate a switch 19. To describe the operation of the link, assume that a gripper is attached at surface "B." A crash occurs when the gripper collides with a part feeder. The sphere rotates out of the detent position or is forced up and the four bearing balls transfer the motion to the retaine...