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US 4,274,802 AGranted
Automated device
AssigneeFujitsu Fanuc Limited
InventorsHajimu Inaba, Shigemi Inagaki
Life of this patent
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Abstract
An automated device comprising an arm, a supporting case mounted on the end of the arm, a rotary actuator mounted on the end of the supporting case and a wrist with a hand rotatably held by the rotary actuator, wherein the rotary actuator has a replaceable stopper on the shaft thereof, and the supporting case has a pair of static members for setting the rotational range of the stopper. In the device, the rotary actuator stops rotating at two positions, i.e., the hand stops rotating at two positions.
Claims7
An automated device comprising:
- an arm;
- a supporting case mounted on the end of said arm;
- a rotary actuator mounted on the end of said supporting case;
- a wrist rotatably held by said rotary actuator;
- a hand fixed to said wrist;
- a replaceable stopper means operatively coupled to said rotary actuator and disposed within said supporting case, wherein said stopper means rotates with said rotary actuator and said static means are positioned for contacting said stopper means at predetermined positions during the rotation thereof thereby preventing further rotation thereof;
- and a cushion means positioned within said supporting case for contacting said stopper means prior to the contact of said stopper means and said static means, wherein said cushion means thereby slows down the velocity of rotation of said rotary actuator and said static means stops the rotation of said rotary actuator at said predetermined positions independent of the rotational force applied thereto, and wherein said stopper means has four surfaces, one of said surfaces abutting against one side of said cushion means when a second one of said surfaces abuts against one of said static means, a third one of said surfaces abutting against the other side of said cushion means when a fourth one of said surfaces abuts against the other of said static means;
- whereby said rotary actuator can stop rotating at two predetermined positions.
5 more elements
Dependencies are inferred from the claim text.