Title:
STOPPER APPARATUS, ROTARY JOINT AND ROBOT
Document Type and Number:
WIPO Patent Application WO/2017/113051
Kind Code:
A1
Abstract:
A stopper apparatus for robot rotary joint (1), for limiting the rotation angle of a turning shaft (3). The stopper apparatus comprises: a rotary protrusion (4), fixed to the shaft (3) and extended from an outer circumference surface of the shaft (3); an ring-like orbit (2), fixed to a mounting housing (8) of the robot rotary joint (1), inserting the shaft (3) therein; a first slider (6) and a second slider (7), rotatably accommodated in the orbit (2) and able to push each other to rotate; a stop protrusion (5), fixed to the housing (8) of a robot rotary joint (1) and extended in the direction of the center of the shaft (3); wherein, the rotary protrusion (4) is able to directly push the second slider (7) to rotate, while it is not able to directly push the first slider (6) to rotate; the shaft (3), the rotary protrusion (4) and the second slider (7) cannot be obstructed by the stop protrusion (5) when rotate, while the first slider (6) is able to be obstructed by the stop protrusion (5) when rotate, thereby the relative rotation between the shaft (3) and the housing (8) can be stopped. The present invention also provides a rotary joint and a robot. Compared with the existing prior arts, the proposed solution enables a rotation range larger than ±360 degrees.
Inventors:
SHA JIAJIE (CN)
CAO XIAODONG (CN)
CAO KAIYUAN (CN)
HA YUN (CN)
ZHU ZHU (CN)
CAO XIAODONG (CN)
CAO KAIYUAN (CN)
HA YUN (CN)
ZHU ZHU (CN)
Application Number:
PCT/CN2015/099178
Publication Date:
July 06, 2017
Filing Date:
December 28, 2015
Export Citation:
Assignee:
ABB SCHWEIZ AG (CH)
SHA JIAJIE (CN)
CAO XIAODONG (CN)
CAO KAIYUAN (CN)
HA YUN (CN)
ZHU ZHU (CN)
SHA JIAJIE (CN)
CAO XIAODONG (CN)
CAO KAIYUAN (CN)
HA YUN (CN)
ZHU ZHU (CN)
International Classes:
B25J19/06; G05G5/04
Foreign References:
| US2780941A | 1957-02-12 | |||
| US4751986A | 1988-06-21 | |||
| JPH05177579A | 1993-07-20 | |||
| JPH11333777A | 1999-12-07 | |||
| JPH0768485A | 1995-03-14 | |||
| JPH0366585A | 1991-03-22 | |||
| CN103068534A | 2013-04-24 | |||
| CN102029617A | 2011-04-27 | |||
| DE29616401U1 | 1997-10-16 |
Other References:
See also references of EP 3397433A4
Attorney, Agent or Firm:
BOSS & YOUNG PATENT AND TRADEMARK LAW OFFICE (CN)
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