Sealed joint for a robot and the like
First Claim
1. A sealed joint as for a robot comprising,first and second closed, laterally adjacent sleeves mounted for a rotation about a common axis, the sleeves separated by a rotary seal having two contacting members, one associated with each sleeve, and means for adjustably positioning the seal between the sleeves,a motor having a rotor and a stator mounted within the first sleeve, the rotor parallel to the axis of the sleeves, the second sleeve having a driven member, the two sleeves having a link member internally joining the rotor and the driven member, whereby the rotor transfers power to the link member so that the first sleeve drives the second sleeve, and means for sealing the two sleeves containing the motor, driven member, and link member assembly, anda fluid coolant tube extending into a sealable port of the first sleeve and communicating thermally with said motor.
1 Assignment
0 Petitions
Accused Products
Abstract
A sealed joint having two adjacent, axially aligned sleeves separated by a rotating seal, one joint being movable with respect to the other. The joints contain a tubular passageway surrounded by a motor and a harmonic drive. A tachometer and a brake help to control the motor and a position encoder measures rotational motion between the sleeves. All components are mounted in sealed relation with respect to the outside of the sleeves. A sealable port communicates with the interior of the tubular passageway for each sleeve so that control cables and fluid conduits may pass into the joint through one port, along the tubular passageway and out of the other port.
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Citations
19 Claims
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1. A sealed joint as for a robot comprising,
first and second closed, laterally adjacent sleeves mounted for a rotation about a common axis, the sleeves separated by a rotary seal having two contacting members, one associated with each sleeve, and means for adjustably positioning the seal between the sleeves, a motor having a rotor and a stator mounted within the first sleeve, the rotor parallel to the axis of the sleeves, the second sleeve having a driven member, the two sleeves having a link member internally joining the rotor and the driven member, whereby the rotor transfers power to the link member so that the first sleeve drives the second sleeve, and means for sealing the two sleeves containing the motor, driven member, and link member assembly, and a fluid coolant tube extending into a sealable port of the first sleeve and communicating thermally with said motor.
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11. A robot joint linking two robot arm members comprising,
first and second closed sleeves mounted for rotation about a common axis, the sleeves separated by a rotating seal having two contacting members, one associated with each sleeve, and means for adjustably positioning the seal between the sleeves, the sleeves internally joined by a gear means for transferring power from the first sleeve to the second sleeve, a motor mounted in said first sleeve and having a rotor and a stator, the rotor parallel to the sleeve axis and connected to the gear means for power transfer thereto, brake means associated with said motor for stopping rotor motion when driving current is not applied to said motor, means for sealing the two sleeves containing the gear means, motor, and brake means, and a fluid coolant tube extending into a sealable port of the first sleeve and communicating thermally with said motor.
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17. A sealed robot joint comprising,
first and second coaxially adjacent closed sleeves mounted for rotation about a common axis, the sleeves separated by a rotary seal having two contacting members, one associated with each sleeve, and means for adjustably positioning the seal between the sleeves, a motor, a harmonic drive speed reducer receiving power from the motor, a tachometer and a brake both associated with the motor, all annularly disposed at least partially within the first sleeve, the motor having an annular rotor coupled to the harmonic drive speed reducer which, in turn, is coupled to the second sleeve, and position encoder means annularly disposed within the second sleeve for measuring the position of the second sleeve relative to the first sleeve, means for sealing the two sleeves containing the motor, harmonic drive, tachometer, and brake, and a fluid coolant tube extending into a sealable port of the first sleeve and communicationg thermally with said motor.
Specification