[go: up one dir, main page]

WO2004009302A1 - Poignet de robot pourvu d'un logement pivotant et son procede de production - Google Patents

Poignet de robot pourvu d'un logement pivotant et son procede de production Download PDF

Info

Publication number
WO2004009302A1
WO2004009302A1 PCT/SE2003/001173 SE0301173W WO2004009302A1 WO 2004009302 A1 WO2004009302 A1 WO 2004009302A1 SE 0301173 W SE0301173 W SE 0301173W WO 2004009302 A1 WO2004009302 A1 WO 2004009302A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor
axis
robot
robot wrist
tilt housing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/SE2003/001173
Other languages
English (en)
Inventor
Daniel LUNDBÄCK
Roswitha STRÖM
Ove Kullborg
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB AB
Original Assignee
ABB AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ABB AB filed Critical ABB AB
Priority to EP03741738A priority Critical patent/EP1523398A1/fr
Priority to AU2003281508A priority patent/AU2003281508A1/en
Priority to JP2004522885A priority patent/JP2006500229A/ja
Publication of WO2004009302A1 publication Critical patent/WO2004009302A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints

Definitions

  • the present invention relates to an industrial robot and more particularly to a robot wrist, for a robot arm, which includes a tilt housing that is arranged to rotate about a first axis and which comprises a first motor and a first gear assembly which cause the tilt housing to rotate about said first axis.
  • the present invention concerns the arrangement of the motor and the gear assembly inside the robot wrist and also relates to a method for constructing a robot wrist.
  • Many industrial robots comprise a robot arm that is arranged to rotate about an axis that coincides with the longitudinal centre line of the robot arm.
  • the robot arm supports a robot wrist at its distal end, which includes a tilt housing.
  • the tilt housing rotates about a first axis that is at an angle to the longitudinal centre line of the robot arm.
  • the tilt housing is often equipped with a tool support that is arranged to rotate about a second axis that is at an angle in relation to first axis.
  • a robot tool, or other desired attachment is mounted on the tool support.
  • Control of the rotational movements of the robot arm and tilt housing is achieved by electric motors that are usually mounted inside the robot arm or in the support carriage of the robot wrist. It is known that the control of the rotational movements of the tool support can be achieved by an electric motor that is mounted inside the tilt housing.
  • Transmission means such as gears, drive chains or belts transmit the rotation of the motor and actuate the desired rotation about each axis of rotation.
  • Industrial robots often have to operate in and/or access small or confined spaces. The space available for a robot wrist is therefore only available to a limited extent. For this reason the motor controlling the rotation of the tilt housing is mounted at the rear of the robot arm. Transmission means, such as a belt drive, are then arranged along the robot arm from the motor to the robot wrist. Such an arrangement causes operating play between the various parts as, for example, there usually is creep or slip in a belt drive.
  • US4527945 discloses a robot wrist, for a robot arm, which includes a tilt housing that rotates about an axis that is perpendicular to the longitudinal axis of the robot arm.
  • the robot wrist contains a motor that causes the tilt housing to rotate and a reduction gear assembly that comprises a first reduction stage, consisting of a gear train with parallel axes, followed by a second reduction stage, consisting of a differential reduction unit.
  • the motor's output shaft points outwards from the longitudinal centre axis of the tilt housing in a direction parallel to the axis around which the tilt housing rotates and it bears an output pinion constituting the first element of the first stage of reduction.
  • Said output pinion cooperates with an intermediate pinion, the axis of which is parallel to the motor's output shaft.
  • the intermediate pinion engages a driven pinion the axis of which is also parallel to the motor's output shaft.
  • the driven pinion constitutes the input of the second stage of reduction that is mounted on the axis of rotation of the tilt housing.
  • the pinions of the first stage of reduction transmit motion between three parallel shafts from the motor to the second stage of reduction. Each shaft gives rise to friction losses.
  • the length of the robot wrist needs to be sufficient to house the motor and the first and second reduction stages, which are located side by side.
  • the breadth of the robot wrist has to be sufficient to accommodate the motor with its protruding output shaft.
  • the motor is arranged so that its output shaft points in a direction perpendicular to the axis around which the tilt rotates.
  • a bevel gear is then needed to change the direction of the motor rotation by 90°.
  • This and other objects of the invention are achieved by producing a robot wrist, for a robot arm, which includes a tilt housing that is arranged to rotate about a first axis and which comprises a first motor and a first gear assembly which cause the tilt housing to rotate about said first axis as described in the characterizing portion of claim 1 , namely where the output shaft of the first motor is arranged to be coaxial with said first axis.
  • the output shaft of the first motor is arranged to directly drive the gear wheel constituting the input of the first gear assembly.
  • transmission means such as a bevel gear
  • this drive unit are thereby reduced as a consequence of there being fewer parts to service/repair, which in turn leads to an increase in productivity and a decrease in production costs.
  • the robot wrist further comprises a second motor and a second gear assembly which drive a tool support that is arranged to be rotatable about a second axis, that is at an angle in relation to the first axis.
  • the output shaft of the second motor is arranged to directly drive a gear wheel constituting the input of a second gear assembly.
  • the output shaft of the second motor is arranged to be coaxial with said second axis.
  • the second motor is placed adjacent to the output shaft of the first motor i.e. between the first motor and the first gear assembly.
  • the second motor is placed adjacent to the mantle of the first motor. If this alternative preferred embodiment is chosen the robot wrist's breadth can be decreased although its length becomes slightly greater than if the second motor is placed adjacent to the output shaft of the first motor.
  • the first motor is contained entirely within the tilt housing rather than being mounted on the support carriage of the robot wrist.
  • the first gear assembly is contained entirely within the tilt housing rather than being mounted on the support carriage of the robot wrist.
  • the invention also relates to a method of constructing a robot wrist, for a robot arm, which includes a tilt housing that is arranged to rotate about a first axis and which comprises a first motor and a first gear assembly which cause the tilt housing to rotate about said first axis.
  • the method comprises the steps of mounting a first gear assembly inside the robot wrist so that the output shaft of the gear assembly is coaxial to the first axis and mounting the first motor with its output shaft coaxial with the first axis and connecting the first motor's output shaft with the gear wheel constituting the input of the first gear assembly.
  • the robot wrist as described in any of the preferred embodiments constitutes part of an industrial robot intended for use in any application such as welding, assembly work, spraying, painting, machine tending, lifting, picking, packing, cutting, grinding, polishing or for medical applications.
  • the invention is particularly suitable for applications where a robot arm or robot wrist must be lightweight and able to operate in small or confined spaces.
  • figure 1 exemplifies a conventional six-axis industrial robot
  • figure 2 shows a robot wrist according to one preferred embodiment of the present invention
  • figure 3 depicts a robot wrist according to a second preferred embodiment of the present invention.
  • Figure 1 shows a conventional six-axis industrial robot.
  • the robot has a stand 1 that is rotatably mounted on a base 2, which enables it to rotate about vertical axis A.
  • a lower robot arm 3 is pivotably mounted to allow rotation about axis 4.
  • the lower robot arm 3 supports the robot's upper arm 5.
  • the upper arm is pivotly mounted to allow rotation about axis 6.
  • the upper arm 5 is rotatable about axis B that coincides with the longitudinal axis of the upper arm.
  • the upper arm is joumalled in a bearing housing 5a and a motor 5b, that is located adjacent to the bearing housing, actuates the rotation of the upper arm 5.
  • the upper arm supports a robot wrist 7 at its distal end, which includes a tilt housing 8 that is rotatable around an axis C that is perpendicular to the longitudinal axis B of the upper arm 5.
  • the tilt housing contains a drive unit that drives a tool support 9.
  • the tool support 9 rotates about axis D that is perpendicular to axis C.
  • a robot tool or other desired attachment is mounted on the tool support 9.
  • the industrial robot of the present invention is not restricted to six-axis industrial robots like the one schematically illustrated in figure 1 but is intended for use in any type of industrial robot such as a vertical, horizontal or gantry robot.
  • FIG 2 shows an enlarged view of the robot wrist 7 that has a support carriage comprising two fork elements between which a tilt housing 8 is pivotably mounted.
  • the tilt housing is equipped with a rotatable tool support 9.
  • the robot wrist comprises a first motor 10, such as a compact servomotor and a first gear assembly 11 such as a coaxial differential reduction unit that makes it possible to achieve significant reduction ratios using a very compact, lightweight mechanical unit.
  • the first motor and the first gear assembly cause the tilt housing to rotate about an axis C that is perpendicular to the longitudinal axis of the -robot arm 5.
  • the robot wrist 7 also comprises a second motor 12, whose output shaft 13 drives a second gear assembly 14 that in turn actuates the tool support 9 that is arranged to be rotatable about an axis D that is perpendicular axis
  • Said first motor (10) is placed transversely, so that its output shaft (15) is coaxial with axis C and is arranged to directly drive the gear wheel constituting the input of the first gear assembly 11.
  • the second motor 12 is positioned adjacently to the output shaft 15 of the first motor 10 in order to minimize the length of the tilt housing.
  • the servomotors are provided with devices used to correct the performance of the motors by means of an error-sensing feedback (not shown).
  • Figure 3 depicts a robot wrist where the second motor 12 is positioned adjacent to the mantle of the first motor 10. This arrangement produces a more narrow robot wrist 7 than in the embodiment shown in figure 2 however the length of the tilt housing 8 is thereby slightly increased.
  • the spatial dimensions of the robot wrist can be optimized as desired for a particular application.
  • the first motor 10 is contained entirely within the tilt housing 8 whereas in the previous figure the first motor is mounted on one of the fork elements and extends into the tilt housing.
  • the first gear assembly is mounted on one of the fork elements and extends into the tilt housing.
  • first and second motors can be placed in many more configurations with respect to each other inside the robot wrist and/or the tilt housing in addition to the two arrangements that have been shown by way of example, the configuration that is chosen depending on the requirements of the robot user.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un poignet de robot (7) conçu pour un bras de robot (5) et pourvu d'un logement pivotant (8) configuré pour tourner autour d'un premier axe (C). Ce poignet de robot comprend en outre un premier moteur (10) ainsi qu'un premier ensemble transmission (11) qui animent le logement pivotant (8) d'un mouvement de rotation autour dudit premier axe (C). La présente invention est caractérisée en ce que l'arbre de sortie (15) dudit premier moteur (10) est disposé coaxialement au premier axe (C).
PCT/SE2003/001173 2002-07-18 2003-07-04 Poignet de robot pourvu d'un logement pivotant et son procede de production Ceased WO2004009302A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP03741738A EP1523398A1 (fr) 2002-07-18 2003-07-04 Poignet de robot pourvu d'un logement pivotant et son procede de production
AU2003281508A AU2003281508A1 (en) 2002-07-18 2003-07-04 A robot wrist and a method of constructing the same including a tilt housing
JP2004522885A JP2006500229A (ja) 2002-07-18 2003-07-04 ロボットの手首部並びに傾動ハウジングを備えているこのロボットの手首部を構成する方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0202264A SE0202264D0 (sv) 2002-07-18 2002-07-18 Industrial robot
SE0202264-8 2002-07-18

Publications (1)

Publication Number Publication Date
WO2004009302A1 true WO2004009302A1 (fr) 2004-01-29

Family

ID=20288584

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2003/001173 Ceased WO2004009302A1 (fr) 2002-07-18 2003-07-04 Poignet de robot pourvu d'un logement pivotant et son procede de production

Country Status (5)

Country Link
EP (1) EP1523398A1 (fr)
JP (1) JP2006500229A (fr)
AU (1) AU2003281508A1 (fr)
SE (1) SE0202264D0 (fr)
WO (1) WO2004009302A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012121135A (ja) * 2012-02-02 2012-06-28 Yaskawa Electric Corp 産業用ロボットの手首機構
CN113829335A (zh) * 2021-11-29 2021-12-24 北京精准医械科技有限公司 用于狭小作业空间的机械臂

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4527945A (en) * 1981-09-15 1985-07-09 Regie Nationale Des Usines Renault Swivelling handle with three axes of rotation for an industrial robot
US4589816A (en) * 1983-04-06 1986-05-20 Mantec Gesellschaft fur Automatisierungs-und Handhabungssysteme mbH Robot joint
US4846015A (en) * 1984-10-16 1989-07-11 Mantec Gesellschaft fur Automatisierungs-und Handhabungssysteme mbH Robot joint arrangement
US4900997A (en) * 1987-09-21 1990-02-13 Commissariat A L'energie Atomique Device to guide an object around two axes of rotation
US5201239A (en) * 1990-10-16 1993-04-13 Honda Giken Kogyo Kabushiki Kaisha Industrial robot with wrist actuator mechanism

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4527945A (en) * 1981-09-15 1985-07-09 Regie Nationale Des Usines Renault Swivelling handle with three axes of rotation for an industrial robot
US4589816A (en) * 1983-04-06 1986-05-20 Mantec Gesellschaft fur Automatisierungs-und Handhabungssysteme mbH Robot joint
US4846015A (en) * 1984-10-16 1989-07-11 Mantec Gesellschaft fur Automatisierungs-und Handhabungssysteme mbH Robot joint arrangement
US4900997A (en) * 1987-09-21 1990-02-13 Commissariat A L'energie Atomique Device to guide an object around two axes of rotation
US5201239A (en) * 1990-10-16 1993-04-13 Honda Giken Kogyo Kabushiki Kaisha Industrial robot with wrist actuator mechanism

Also Published As

Publication number Publication date
EP1523398A1 (fr) 2005-04-20
SE0202264D0 (sv) 2002-07-18
AU2003281508A1 (en) 2004-02-09
JP2006500229A (ja) 2006-01-05

Similar Documents

Publication Publication Date Title
US8516920B2 (en) Robot arm assembly
US8960042B2 (en) Robot arm assembly
US20110067514A1 (en) Robot arm assembly and industrial robot using the same
EP3784446B1 (fr) Robot cinématique parallèle
US4047448A (en) Robot head
US8607659B2 (en) Robotic arm assembly
US20110232411A1 (en) Robot arm assembly
JP5327312B2 (ja) ロボットの関節ユニット及びロボット
US20110126661A1 (en) Industrial robot
CA1257887A (fr) Avant-bras de robot industriel
US20110154935A1 (en) Robot arm assembly
EP1880809A1 (fr) Structure à bras d'un robot industriel
US4807486A (en) Three-axes wrist mechanism
US20110154932A1 (en) Robot arm assembly and robot using the same
US20130047769A1 (en) Industrial robot with gear transmission mechanism
US20110106302A1 (en) Robot arm assembly and industrial robot using the same
EP0499591B1 (fr) Robot articulé à deux avant-bras
KR102108674B1 (ko) 회전운동 전달 메카니즘이 구비된 병렬로봇
CN1098138C (zh) 一种机器人化机床
CN113733066B (zh) 一种双臂机器人
WO2004009302A1 (fr) Poignet de robot pourvu d'un logement pivotant et son procede de production
CN216372194U (zh) 一种机器人手臂及机器人
JP2018069354A (ja) リンク式多関節ロボット
US11420324B2 (en) Parallel link robot
JP3051868B2 (ja) ロボットの手首機構

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
WWE Wipo information: entry into national phase

Ref document number: 2003741738

Country of ref document: EP

WWE Wipo information: entry into national phase

Ref document number: 2004522885

Country of ref document: JP

WWP Wipo information: published in national office

Ref document number: 2003741738

Country of ref document: EP