CN201325058Y - Industrial robot unit - Google Patents
Industrial robot unit Download PDFInfo
- Publication number
- CN201325058Y CN201325058Y CNU2008201769143U CN200820176914U CN201325058Y CN 201325058 Y CN201325058 Y CN 201325058Y CN U2008201769143 U CNU2008201769143 U CN U2008201769143U CN 200820176914 U CN200820176914 U CN 200820176914U CN 201325058 Y CN201325058 Y CN 201325058Y
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- Prior art keywords
- axial
- arm
- robot cell
- sealing ring
- industrial robot
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- Expired - Lifetime
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- 238000007789 sealing Methods 0.000 claims abstract description 52
- 239000011796 hollow space material Substances 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 2
- 229920000459 Nitrile rubber Polymers 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 239000000356 contaminant Substances 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000013536 elastomeric material Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
一种工业机器人单元(1)，其包括至少一个多节机器人臂(3)，该多节机器人臂(3)包括第一臂节(5)。第一臂节(5)包括第一轴面(30)，转动轴(22)，该转动轴包括转动轴线(20)并连接到第一臂节(5)上，所述轴(22)包括面向第一轴面(30)的第二轴面(32)，用于将至少一根电缆(9)引导到所述轴(22)中的引导部件，形成在第二轴面(32)和引导部件之间的间隙(28)，设置在第一轴面(30)和第二轴面(32)之间的间隙(28)处的弹性轴向密封圈(15)，该弹性轴向密封圈被构造为通过弹性唇片(17)向第一轴面(30)或第二轴面(32)的任何一个弹性地施加压力，从而使轴向密封圈(15)保护间隙(26)不与周围环境相互作用。
An industrial robot cell (1) comprising at least one multi-section robot arm (3) comprising a first arm section (5). The first arm section (5) includes a first shaft surface (30), a rotation shaft (22), which includes a rotation axis (20) and is connected to the first arm section (5), and the shaft (22) includes A second axial surface (32) facing the first axial surface (30), guide means for guiding at least one cable (9) into said shaft (22), formed between the second axial surface (32) and The gap (28) between the guide parts, the elastic axial sealing ring (15) arranged at the gap (28) between the first axial surface (30) and the second axial surface (32), the elastic axial sealing The ring is configured to elastically apply pressure to any one of the first axial surface (30) or the second axial surface (32) through the elastic lip (17), so that the axial sealing ring (15) protects the gap (26) from Interact with your surroundings.
Description
Technical field
The utility model relates to a kind of industrial robot unit, this industrial robot comprises at least one more piece robots arm, described at least one more piece robots arm comprises the first arm joint, wherein, described the first arm joint comprises first axial plane, rotatable shaft, this rotatable shaft comprises pivot center and is connected to described the first arm joint, wherein, described robot cell's a part is constructed to rotate around described axle, and wherein, described axle comprises second axial plane towards described first axial plane, be used for the guide member of at least one cable guide, and be formed on gap between described second axial plane and the described guide member to described axle.
Background technology
The industrial robot unit is designed to along the courses of action execution work.This robot cell comprises at least one the more piece robots arm who is constructed to move.More piece robots arm comprises at least two arm joints, the first arm joint and second arm joint.
Described robots arm comprises such as electro-motor, wave producer, sensor etc. can be made described robots arm motion and control the assembly of this motion.Described robot cell is connected on the robot controller of this robot cell's work of control.The inside of setting up between robot cell's assembly in robot controller and the robot cell by one or more cable connects.
Described cable be suitable for being enclosed in the first arm joint and by catheter guidance in described robots arm's axle.Described cable is directed into adjacent robots arm from described axle.By described cable is enclosed among the described robots arm, thereby described cable is protected and has stoped described cable and around the interaction between described robot cell's the environment.
In some applications, for example need very clean environment in the clean room applications.Interactional degree between robot cell inside and the surrounding environment provides by entering degree of protection (IP grade).Described IP grade defines robot cell's sealing level.In order to obtain high IP grade, must suitably seal the robot cell.
In the prior art, described duct portion is inserted in the described axle.Yet, be difficult to the tie point between described the first arm joint of sealing and the described axle.The sealing of this tie point need be used radial seal.A problem of this sealing is very high to the requirement of the connection tolerance of described arm joint to described axle.For example, the deviation of the longitudinal axis of the described arm joint of this tolerance and the angle between the described pivot center is very high.Have at described the first arm joint under the situation of two or more axles with pivot center, the dimensional tolerance of the distance between the described axle is very big.Therefore, because high tolerance, the cost of making described robot cell is also very high.
The utility model content
The purpose of this utility model provides a kind of improved robot cell.
This purpose is realized by following robot cell.
This robot cell comprises: at least one more piece robots arm, this at least one more piece robots arm comprise the first arm joint, and wherein said the first arm joint comprises first axial plane; Turning cylinder, this turning cylinder comprise pivot center and are connected on the described the first arm joint that wherein said robot cell's a part is constructed to rotate around described axle, and wherein said axle comprises second axial plane towards described first axial plane; Guide member, this guide member are used at least one cable guide to described axle; Gap, this gap are formed between described second axial plane and the described guide member.
This robot cell is characterised in that the gap location between described first axial plane and second axial plane is provided with the elasticity axial sealing ring, thereby and the sealing circle be constructed on any one of described first axial plane or second axial plane, flexibly exert pressure and make described axial sealing ring protect described gap not interact with surrounding environment by elastic lip.
Described elastic seal ring is configured to contact with second axial plane with described first axial plane.This elastic seal ring is connected on described first axial plane and second axial plane one.Described elastic lip is exerted pressure to another of described first axial plane and second axial plane, this another and described axial sealing ring relative motion.Thus, thus described axial sealing ring seals described gap has stoped described more piece robots arm inner and around the interaction between described robot cell's the surrounding environment.
Described gap is formed between second axial plane and the described guide member.Thereby described guide member for example can be the hole in the described the first arm joint makes described gap between described first and second axial planes.
Compare with the surface requirements of radial direction seal ring, described axial sealing ring has the benefit lower to apparent surface's requirement.In addition, compare with radial direction seal ring, lower to the tolerance of size that is used for described axial sealing ring is coupled to described gap.Thus, reduced described robot cell's manufacturing cost.
According to a kind of embodiment of the present utility model, described guide member comprises the conduit that is connected to described first axial plane, and wherein, described conduit and described axle are coaxial substantially.Described gap is formed on described second axial plane and conduit points between the end of described axle.
According to a kind of embodiment of the present utility model, described the first arm joint extends along the longitudinal axis that is basically perpendicular to described turning cylinder.
According to a kind of embodiment of the present utility model, described first axial plane comprises first plane that is basically parallel to described longitudinal axis.
According to a kind of embodiment of the present utility model, described second axial plane comprises second plane that is basically parallel to described first plane.
According to a kind of embodiment of the present utility model, described axial sealing ring comprises circumferential body, this circumferential body has the axial surface on any one that is suitable for being connected to described first axial plane and second axial plane, wherein, described elastic lip is axial arranged and be configured to contact with another of described first axial plane or second axial plane with respect to the main body of axial sealing ring.
For example, described axial sealing ring links to each other with first axial plane of described the first arm joint.Described first axial plane is suitable for connecting and fixing described axial sealing ring.Described elastic lip is to exerting pressure with second axial plane of the described first axial plane relative motion.Thereby described second axial plane is suitable for contacting with described elastic lip and suitably seals described gap.For example, the surface of described second axial plane comprises second sealing ring that is connected with described axle.Thus, described apparent surface's surface is suitable for contacting so that suitably seal described gap with described elastic lip.
According to a kind of embodiment of the present utility model, described the first arm joint comprise be suitable for receiving at least one cable and along described the first arm joint with the inner hollow space of this cable guide in the described conduit.
According to a kind of embodiment of the present utility model, described more piece robots arm comprises second arm joint, and wherein, described axle separates described the first arm joint and described second arm joint, and wherein, described second arm joint comprises the parts that are used to make described rotation.
According to a kind of embodiment of the present utility model, described the first arm joint and described second arm joint comprise the first substantially parallel turning cylinder and second turning cylinder, wherein, seal by described axial sealing ring in the gap at every axle place.
According to a kind of embodiment of the present utility model, in described more piece robots arm's bottom the 3rd turning cylinder is set, wherein, seal by described axial sealing ring in the gap at described the 3rd turning cylinder place.
According to a kind of embodiment of the present utility model, described axial sealing ring is the V-type circle.
Description of drawings
Explain the utility model more nearly below by the description to different embodiments of the present utility model in conjunction with the accompanying drawings.
Fig. 1 a shows an example of the present utility model, and it comprises the sectional view of more piece robots arm's the first arm joint;
Fig. 1 b shows the front view of described the first arm joint along section A-A;
Fig. 1 c shows the front view of described axle along section A-A;
Fig. 2 shows the robot cell with more piece robots arm;
Fig. 3 a shows an example of the sectional view of the more piece robots arm among Fig. 2;
Fig. 3 b shows an example of the present utility model, and it comprises the sectional view on the top of the more piece robots arm among Fig. 3 a;
Fig. 4 shows an example of axial sealing ring.
The specific embodiment
Fig. 1 a shows the sectional view of more piece robots arm 3 the first arm joint 5.The first arm joint 5 is suitable for pilot cable 9 in the first arm joint 5.The first arm joint 5 comprises longitudinal axes L 1.The first arm joint 5 first axial planes 30 that comprise towards turning cylinder 22, turning cylinder 22 comprises pivot center 20.Described longitudinal axes L 1 is basically perpendicular to described pivot center 20.
Thereby conduit 26 is connected to described first axial plane 30 and makes conduit 26 and the 22 coaxial settings of described axle.Conduit 26 is outstanding towards the space 23 in the described axle 22.Space 24 is suitable for receiving and described cable 9 is directed to adjacent robots arm.Extend along pivot center 20 substantially in space 23.Conduit 26 is directed to cable 9 in the space 23 of axle 22.Axle 22 second axial planes 32 that comprise towards described first axial plane 30.This second axial plane 32 is suitable for and 30 relative motions of described first axial plane.
Between the end of described second axial plane 32 and described conduit 26 gapped 28.This gap 28 is by elasticity axial sealing ring 15 sealings of coverage gap 28, do not interact with surrounding environment thereby the inside of the first arm joint 5 is protected.Described axial sealing ring 15 is arranged to make described sealing ring 15 to be connected with described first axial plane 30 and the elastic lip 17 of described axial sealing ring 15 is flexibly exerted pressure to described second axial plane 32.
Fig. 1 b shows the first arm joint 5 front views along section A-A with conduit 26 and axial sealing ring 15.Described first axial plane 30 extends along first plane P 1 that is basically parallel to described longitudinal axes L 1.
Fig. 1 c shows described axle 22 front views along section A-A.Described second axial plane 32 extends along second plane P 2.Thereby described first plane 30 and second plane, 32 substantially parallel described first axial plane 30 and second axial planes 32 of making face with each other.
Fig. 2 shows an example of the present utility model, comprises the robot cell 1 with more piece robots arm 3.Described robot cell 1 comprises more piece robots arm 3 and is connected to two adjacent machines people arms of described more piece robots arm 3.Described more piece robots arm 3 comprises two arm joints, the first arm joint 5 and second arm joint 7.
Fig. 3 a shows the sectional view of the more piece robots arm 3 among Fig. 1.Thereby described the first arm joint 5 and second arm joint 7 is arranged in a certain way be substantially parallel to each other and is made them separated from one another.Described the first arm joint 5 and second arm joint 7 separate by an opening.The first arm joint 5 and second arm joint 7 comprises the first pivot center 20a and the second pivot center 20b.Be provided with the 3rd pivot center 20c in described more piece robots arm's 3 bottom.Each pivot center has independent axle 22.Cable 9 is directed in each axle by conduit 26.Axle 22 be used to pivot described adjacent machines people's arm or the robot parts of pivot center 20a.The axle 22 described more piece robots arms 3 that are used to pivot of the second pivot center 20b.Each of described pivot center (20a, 20b, 20c) comprises the axial sealing ring that seals each gap 28.Axial sealing ring on described second pivot center and the 3rd pivot center (20b, 20c) is not shown in Fig. 3 a.
Described the first arm joint 5 comprises the supporting member 13 that is configured to provide for described more piece robots arm 3 structural stability.Thereby described second arm joint 7 comprises and is suitable for receiving cable 9 and saves the inner hollow space 11 that 7 pilot cables 9 are capped cable 9 along described second arm.Thus, cable 9 is protected and do not interact with surrounding environment around described robot cell 1.Described cable is directed in the axle 22 by described conduit 26.
Described second arm joint 7 can provide structural stability for described more piece robots arm 3 by described supporting member 13.Therefore, by this supporting member 13, described robots arm resists various load situation and permanent deformation or inefficacy does not take place.Described supporting member 13 is selected according to robot cell's target load situation.Described supporting member 13 is configured to bear described load in the process of robot cell's 1 execution work.In addition, described second arm joint 7 has the parts that are used to make axle 22 rotations.
Fig. 3 b shows the sectional view on the top of the more piece robots arm 3 among Fig. 3 a.Described axial sealing ring 15 is arranged between first axial plane 30 on the described the first arm joint 5 and second axial plane 32 on the described axle 22 so that seal clearance 28.Cable 9 passes the axle 22 of the described first pivot center 20a and is directed on the adjacent machines people's arm that links to each other with described more piece robots arm 3.Described axle 22 housing parts 24 that are connected to the rotation of axle 22 of the described first pivot center 20a.
Described second arm joint 7 has the parts that are used to make axle 22 rotations.Every axle 22 has one or more bearings.The electro-motor of first pivot center be positioned at the described first pivot center 20a the axle 22 below.For example be passed to the axle 22 of first pivot center by synchronous band from the energy of described motor.The speed of transmission case regulating shaft 22 and moment of torsion.
Fig. 4 shows an example of axial sealing ring 15.Described axial sealing ring 15 can be so-called V-type circle.Axial sealing ring 15 comprises the circumferential body 19 with circumferential surface 18a and axial surface 18b.Axial surface 18b is suitable for being connected on described first axial plane 30 and second axial plane 32 one.Described elastic lip 17 axially is provided with respect to the main body 19 of described axial sealing ring 15.Thereby elastic lip 17 is constructed to contact with another of described first axial plane 30 and second axial plane 32 and makes elastic lip seal clearance 28.Described axial sealing ring 15 comprises such as acrylonitrile-butadiene rubber, fluorubber elastomeric material.The first pivot center 20a, the second pivot center 20b that axial sealing ring 15 is configured to more piece robots arm 3, the 3rd pivot center 20c place seal clearance 28.Thus, robot cell 1 inside is protected and does not interact with surrounding environment.
By axial sealing ring 15, improved robot cell 1 IP grade.This sealing is necessary for the robot cell who is adapted to operate in the clean, wherein, requires to give birth to low-level environmental contaminants such as particulate, particulate and chemical vapors such as dust, gas.By usefulness axial sealing ring 15 seal clearances 28, thereby the IP grade that has improved robot cell 1 makes this robot cell be fit to require the very application of the environment of cleaning, for example clean room applications more.Therefore, guiding and described axial sealing ring 15 by described robot cell's 1 inner cable 9 have improved robot cell 1 clean room grade.
A benefit of use axial sealing ring 15 is the requirement to design tolerance, and this tolerance is used for departing from from the vertical angle between the first arm joint and the pivot center, and has improved the dimensional tolerance of described pivot center.Therefore axial sealing ring 15 helps the lower robot cell of manufacturing cost 1 manufacturing.
Claims (12)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201769143U CN201325058Y (en) | 2008-11-20 | 2008-11-20 | Industrial robot unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201769143U CN201325058Y (en) | 2008-11-20 | 2008-11-20 | Industrial robot unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201325058Y true CN201325058Y (en) | 2009-10-14 |
Family
ID=41177034
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008201769143U Expired - Lifetime CN201325058Y (en) | 2008-11-20 | 2008-11-20 | Industrial robot unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201325058Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014008662A1 (en) * | 2012-07-13 | 2014-01-16 | Abb Technology Ltd | Routing structures for robot |
| CN111526974A (en) * | 2018-01-11 | 2020-08-11 | Abb瑞士股份有限公司 | Sealing device, industrial robot and method |
| WO2025145391A1 (en) * | 2024-01-04 | 2025-07-10 | Abb Schweiz Ag | Sealing device for a joint of an industrial robot |
-
2008
- 2008-11-20 CN CNU2008201769143U patent/CN201325058Y/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014008662A1 (en) * | 2012-07-13 | 2014-01-16 | Abb Technology Ltd | Routing structures for robot |
| CN111526974A (en) * | 2018-01-11 | 2020-08-11 | Abb瑞士股份有限公司 | Sealing device, industrial robot and method |
| CN111526974B (en) * | 2018-01-11 | 2023-05-30 | Abb瑞士股份有限公司 | Sealing device, industrial robot and method |
| WO2025145391A1 (en) * | 2024-01-04 | 2025-07-10 | Abb Schweiz Ag | Sealing device for a joint of an industrial robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: ABB T + D TECHNOLOGY LTD. Free format text: FORMER OWNER: ABB TECHNOLOGIES CORP. Effective date: 20120523 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20120523 Address after: Zurich Patentee after: ABB T & D Technology Ltd. Address before: Sweden Westrm J Patentee before: ABB Technology AB |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20180528 Address after: Baden, Switzerland Patentee after: ABB TECHNOLOGY LTD. Address before: Zurich Patentee before: ABB T & D Technology Ltd. |
|
| TR01 | Transfer of patent right | ||
| CX01 | Expiry of patent term |
Granted publication date: 20091014 |
|
| CX01 | Expiry of patent term |