ROBOTIC ARM ASSEMBLY WITH ANGULAR CONTACT CARTRIDGE BEARINGS
First Claim
Patent Images
1. A robotic arm assembly, comprising:
- a first arm;
a second arm comprising a bore extending along a joint axis from a first opening to a second opening;
a shaft attached to the first arm and extending through the bore;
a first annular angled surface;
a second annular angled surface; and
a bearing assembly coupling the first arm to the second arm wherein the first arm is rotatable relative to the second arm, the bearing assembly comprising;
a first portion positioned coaxially about the shaft between the first arm and the first opening, the first portion comprising a first angular contact cartridge bearing contacting the first annular angled surface;
a bearing cap; and
a second portion positioned coaxially about the shaft between the second opening and the bearing cap, the second portion comprising a second angular contact cartridge bearing contacting the second annular angled surface,wherein the bearing cap is secured to the shaft such that the bearing assembly is compressed along the joint axis.
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Abstract
A robotic arm assembly includes a first arm and second arm coupled by a shaft and bearing assembly, forming a joint at which the first arm rotates about a joint axis. The bearing assembly includes angular contact cartridge bearings contacting corresponding angled surfaces of the assembly, and a bearing cap. The shaft is attached to the first arm, extends through the second arm, and is attached to the bearing cap such that the bearing assembly is axially compressed between the bearing cap and the first arm. The bearing assembly may include components for preloading the bearing assembly and enabling components to self-align during assembly.
31 Citations
20 Claims
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1. A robotic arm assembly, comprising:
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a first arm; a second arm comprising a bore extending along a joint axis from a first opening to a second opening; a shaft attached to the first arm and extending through the bore; a first annular angled surface; a second annular angled surface; and a bearing assembly coupling the first arm to the second arm wherein the first arm is rotatable relative to the second arm, the bearing assembly comprising; a first portion positioned coaxially about the shaft between the first arm and the first opening, the first portion comprising a first angular contact cartridge bearing contacting the first annular angled surface; a bearing cap; and a second portion positioned coaxially about the shaft between the second opening and the bearing cap, the second portion comprising a second angular contact cartridge bearing contacting the second annular angled surface, wherein the bearing cap is secured to the shaft such that the bearing assembly is compressed along the joint axis. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method for assembling a robotic arm assembly, the method comprising:
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installing a first cartridge bearing around a shaft that extends from a first arm along a joint axis; inserting the shaft through a bore of a second arm such that the first cartridge bearing is between the first arm and the second arm; installing a second cartridge bearing around the shaft; installing a bearing cap on the shaft such that the second cartridge bearing is between the second arm and the bearing cap; and bringing an angled contact surface of the first cartridge bearing into contact with a first annular angled surface, and bringing an angled contact surface of the second cartridge bearing into contact with a second annular angled surface, by applying axial compression between the bearing cap and the first arm along the joint axis, wherein the first cartridge bearing and the second cartridge bearing become aligned with the bore and centered about the joint axis. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification