Robot element with projections for a drag stop device and for an axis range limitation, as well as a robot arm with such a robot element

Abstract

Robot element (5a), comprising: - a body wall (33) with a recess (27) provided in the surface of the body wall (33), which is designed to receive a drag stop body (11a) of a drag stop device (10) adjustable in the recess (27) for limiting a fixedly predetermined maximum rotation angle of a robot axis of a robot arm (2) comprising the robot element (5a) to a rotation angle greater than 360 degrees, - a first counter-stop surface (23.1) limiting the recess (27) in one direction of movement of the drag stop body (11a) for a first stop surface (21.1) of the drag stop body (11a) and a second counter-stop surface (23.2) limiting the recess (27) in the opposite direction of movement of the drag stop body (11a) for a second stop surface (21.1) opposite the first stop surface (21.1).2) of the drag stop body (11a),- and comprising a first stop wall (13.1) for an axis range limiting body (30) of a stop device for limiting an individually predefinable maximum rotation angle of the robot axis to a rotation angle of less than 360 degrees, wherein the first stop wall (13.1) is designed to stop the axis range limiting body (30) in a direction of movement of the axis range limiting body (30),- and comprising a second stop wall (13.2) different from the first stop wall (13.1) for an axis range limiting body (30) of the stop device for limiting an individually predefinable maximum rotation angle of the robot axis to a rotation angle of less than 360 degrees, wherein the second stop wall (13.2) is designed to strike the axis range limiting body (30) in a direction of movement opposite to that of the axis range limiting body (30), characterized by: - ​​a first projection (31) extending from the surface of the body wall (33), which has a first front face, which forms the first stop wall (13.1) for the axis range limiting body (30) and which has a first back face facing away from the first front face, which forms a first wall extension of the first counter-stop surface (23.1) for the trailing stop body (11a), and - a second projection (32) extending from the surface of the body wall (33), which has a second front face, which forms the second stop wall (13.1) for the axis range limiting body (30) and which has a second back face facing away from the second front face, which forms a second wall extension of the second counter-stop surface (23.1).1) for the drag stop body (11a).