End-Of-Arm Safety Link for End-Of-Arm Tooling on Robots
Original Publication Date: 1987-Feb-01
Included in the Prior Art Database: 2005-Jan-31
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.