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WO2009080373A1 - Robot industriel avec accouplement de sécurité magnétique - Google Patents

Robot industriel avec accouplement de sécurité magnétique Download PDF

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Publication number
WO2009080373A1
WO2009080373A1 PCT/EP2008/054671 EP2008054671W WO2009080373A1 WO 2009080373 A1 WO2009080373 A1 WO 2009080373A1 EP 2008054671 W EP2008054671 W EP 2008054671W WO 2009080373 A1 WO2009080373 A1 WO 2009080373A1
Authority
WO
WIPO (PCT)
Prior art keywords
industrial robot
coupling
robot according
arm section
magnet
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/EP2008/054671
Other languages
English (en)
Inventor
Ivan Lundberg
Daniel Sirkett
Arne TRANGÄRD
Thomas Fuhlbrigge
Camilla Kullborg
Hans Andersson
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 Research Ltd Switzerland
Original Assignee
ABB Research Ltd Switzerland
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 Research Ltd Switzerland filed Critical ABB Research Ltd Switzerland
Publication of WO2009080373A1 publication Critical patent/WO2009080373A1/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
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B25J19/063—Safety devices working only upon contact with an outside object
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K49/00—Dynamo-electric clutches; Dynamo-electric brakes
    • H02K49/10—Dynamo-electric clutches; Dynamo-electric brakes of the permanent-magnet type
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K49/00—Dynamo-electric clutches; Dynamo-electric brakes
    • H02K49/10—Dynamo-electric clutches; Dynamo-electric brakes of the permanent-magnet type
    • H02K49/104—Magnetic couplings consisting of only two coaxial rotary elements, i.e. the driving element and the driven element
    • H02K49/108—Magnetic couplings consisting of only two coaxial rotary elements, i.e. the driving element and the driven element with an axial air gap

Definitions

  • the present invention relates to an industrial robot with at least one arm section mechanically connected to a robot body and a safety coupling between at least the distal part of the arm section and the robot body.
  • a tool may be attached to a robot arm by means of a magnetic coupling. Examples thereof can be found in US 5 954446, US 6 847 188 and DE 1 993 8114.
  • these couplings do not contribute to safety against injures resulting from a collision with the robot arm, or damages to the robot arm since they are only for attaching the tool to the arm.
  • a further drawback with mechanical safety couplings based on springs is that it requires many components and is complex to assemble.
  • the object of the present invention is to improve the safety coupling connecting an arm section or a part thereof to the robot base.
  • terms like “axial” and “perpendicular” refer to the longitudinal axis of the arm section in question.
  • distal is meant the direction in the robot towards the tool end of the arm and with “proximal” is meant the opposite direction, i.e. towards the robot body.
  • distal and proximal refer to the location in relation to the robot body. "Proximal” thus means closer to the robot base and “distal” means closer to the tool.
  • an industrial robot of the kind initially specified includes the specific feature that the safety coupling is a magnetic coupling.
  • Providing a magnetic safety coupling either between the arm section and the rotor body or integrated in the arm section results in a reliable safety on a high level with an uncomplicated device.
  • the magnetic coupling will have very few components in comparison with a spring coupling. Thereby its assembly as well as its maintenance will be easy. The accuracy over time can be maintained and the risk for failure due to wear and the like is at minimum.
  • the magnetic coupling is arranged between a distal part of the arm section and a proximal part pf the arm section.
  • the coupling can protect against both perpendicular and axial collisions.
  • the distal and proximal parts are aligned with each other, the coupling includes a first end face on the distal part and a second end face on the proximal part, the first and second end faces being in parallel and abutting each other.
  • At least one magnet is mounted on at least one of the end faces and the opposing end face has at least one portion made of a material that is attracted to a magnet, each magnet being aligned with such a portion.
  • the design thereby will be very simple and straight-forward and, and the behaviour of the coupling in case of collision can be easy to foresee and calculate.
  • the said portion is a magnet.
  • At least one of said magnets or at least one of said portions is axially adjustable.
  • the axial attraction force can easily be adapted to what is required.
  • the risk for having a too high attraction force, which might be hazardous or having a too low attraction force, which might cause trouble is thereby reduced.
  • At least one of the magnets is axially adjustable.
  • the distance between the magnets or between the magnet and the magnetic material can be varied in order to adjust the breakaway threshold of the coupling.
  • the magnet has an annular shape.
  • the coupling further includes mechanical retainer means.
  • This embodiment has the advantage that the distal end of the arm section is prevented from falling down upon disconnecting. Particularly advantageous is to use a spring as retainer means. Thereby the disconnected part will automatically return to its connected position following disconnection.
  • the two end faces have mechanical guide means arranged to cooperate with each other.
  • Such guide means ensure in a simple fashion that the two halves of the arm section are held in alignment with each other.
  • the guide means also facilitates restoring to correct position after breakage.
  • the guide means includes at least one axial projection on one of the end faces and a matching depression on the other end face for each projection.
  • each projection advantageously is spherical in shape. Thereby the coupling can disconnect under a torsional overload condition.
  • the number of projections is two (three) or more.
  • At least one of the end faces is provided with a proximity sensor arranged to sense the distance to the other end face.
  • the end surfaces form an acute angle with the longitudinal axis of the arm section.
  • the angle is in the range of 30° to 60°, most preferably in the range of 40° to 50°.
  • the magnetic coupling is arranged between an arm section and the rotor body.
  • This embodiment will result in complete disconnection of the arm section in the event of a collision, which for some applications might be desirable due to safety considerations.
  • the magnetic coupling is arranged to transmit torque from a joint motor to a joint.
  • each magnet is a neodymium magnet.
  • a neodymium magnet is many times stronger than other magnets. The magnets therefore can be made smaller which saves costs and weight.
  • Fig. 1 is a perspective view of a robot arm according to the invention.
  • Fig. 2 is a perspective view of the robot arm in fig. 1 illustrating a first collision type.
  • Fig. 3 is a perspective view of the robot arm in fig. 1 illustrating a second collision type.
  • Fig. 4 is a perspective view of an arm section of the robot in fig. 1.
  • Fig. 5 is a side view of the arm section in fig. 4.
  • Fig. 6 is a side view of an arm section according to another alternative.
  • Fig. 7 is an enlargement of detail of fig. 4.
  • Fig. 8 is a view corresponding to that of fig. 7 illustrating another example.
  • Fig. 9 is an axial section through the detail of fig. 8.
  • Fig. 10 is a perspective view of parts of a still further example of the invention.
  • Fig. 11 is a perspective view of a still further example of the invention.
  • Figs 12-15 are a kinematic coupling.
  • a robot arm 1 is connected to a robot body 2 through a first joint 3.
  • the robot arm 1 in this example consists of a proximal arm section 1a and a distal arm section 1 b connected to each other via a second joint 4.
  • the distal end of the distal arm section is arranged for attachment of a tool.
  • Each arm section 1a, 1b is provided with a breakable safety coupling 5 through which each arm section is separated into a proximal part 101a, 101b and a distal part 102a, 102b.
  • a collision occurs against the arm e.g. at the distal end thereof, the force from the collision will break one of the couplings, provided that the collision force exceeds a predetermined threshold. If the collision force is mainly perpendicular to the longitudal axis of the distal arm section 1b as illustrated in fig. 2 the safety coupling 5 on the distal arm section 1b will break and separate the proximal part 101 b and the distal part 102b of this arm section 1 b from each other.
  • the safety coupling 5 on the proximal arm section 1a will be accordingly activated.
  • Each of the safety couplings 5 is magnetic i.e. the parts of the arm section are hold together by magnetic force.
  • the distal arm section 1 b is illustrated in a state when the safety coupling 5 disconnects the proximal 101b and distal 102b parts of the arm section 1 b.
  • the two parts 101b, 102b however are held together by a spring 9 acting as a retainer.
  • the safety coupling 5 is further illustrated in a side view in fig. 5.
  • the coupling plane of the safety coupling 5 in fig. 5 is perpendicular to the longitudinal axis of the arm section 1b.
  • the coupling plane can be angled as illustrated in fig. 6.
  • the safety coupling will be activated in respond to both axial and perpendicular collision forces.
  • fig. 7 the coupling of fig. 4 is illustrated in an enlarged scale.
  • the pairs of magnets have opposite magnetic polarity such that the pairs of magnets provide the coupling force.
  • the two parts of the arm section are held in coaxial alignment by two locating pegs 8 on the end face 6 of the distal arm part 102b.These pegs 8 mate with recesses (non-visible) on the opposite end face.
  • a central coil spring 9 provides an additional coupling force between the two parts of the arm section.
  • the purpose of the spring 9 is to provide a restoring force such that the two arm parts automatically snap back into alignment following disconnection of the magnets.
  • An inductive proximity sensor 10 is mounted on the end face 10. In the event of collision, the sensor 10 registers disconnection of the coupling and sends a signal to the control system of the robot, which then disconnects power to the drive motors.
  • the magnet force is established by one single tubular-shaped magnet 11 located in the centre of the end surface 6. The magnet 11 cooperates with a matching tubular magnet (not visible) on the opposed end surface.
  • a spring 9 is provided as a retainer and is located within the tubular-shaped magnets 11.
  • the guidance for axial alignment in this example is accomplished by two balls 12 mounted on the end face 6. Corresponding spherical depressions are provided on the opposite end face. A proximity sensor 10 is provided also in this example.
  • both the cooperating magnets 11 , 11 b can be seen.
  • the magnet in the right coupling half is mounted within a tubular housing 13, the distal surface being threaded.
  • the housing 13 is screwed into a hole 14 in the end face 6 of the arm part 102b.
  • the axial position of the magnet 11 thereby can be adjusted and thereby the distance between the two magnets 11 , 11 b when connected. By this arrangement the attraction force between the magnets can be adjusted and therewith the breakaway threshold of the coupling.
  • a lock nut is arranged to fix the axial position of the magnet 11.
  • the other magnet 11b is non-adjustably fixed into the other part of the coupling. It is to be understood that the magnets 7 in the example illustrated in fig. 7 of course also can be mounted axially adjustable.
  • the magnets also fulfil the function as guiding means.
  • three pairs of magnets cooperate.
  • On the end face 6 three socket shaped magnets 16 are mounted.
  • On the other end face three ball shaped magnets 17 are mounted which match the socket shaped magnets 16.
  • the ball and socket arrangement provides the guiding function in addition to the magnetic attraction.
  • Figure 11 illustrates an example where the safety coupling is arranged between a joint motor 18 and a joint 19 of an arm section 20.
  • the safety coupling in this example is similar to the one illustrated in fig. 7 having magnets 7 and sensor 10 on the end surface 6 and a retainer spring 9.
  • the guide means in this example however is similar to that of fig. 8 i.e. is formed by balls 12.
  • the safety coupling in fig. 11 is capable of reacting upon collision forces on the arm section 20 in the longitudinal direction of the arm section 20, perpendicular thereto and in the rotational direction.

Landscapes

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

Abstract

La présente invention porte sur un robot industriel ayant au moins une section bras mécaniquement reliée à un corps de robot. Un accouplement de sécurité (5) est prévu entre au moins la partie distale (102b) de la section bras et le corps de robot. Selon l'invention, l'accouplement de sécurité (5) est un accouplement magnétique.
PCT/EP2008/054671 2007-12-20 2008-04-17 Robot industriel avec accouplement de sécurité magnétique Ceased WO2009080373A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US830407P 2007-12-20 2007-12-20
US61/008,304 2007-12-20

Publications (1)

Publication Number Publication Date
WO2009080373A1 true WO2009080373A1 (fr) 2009-07-02

Family

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PCT/EP2008/054671 Ceased WO2009080373A1 (fr) 2007-12-20 2008-04-17 Robot industriel avec accouplement de sécurité magnétique

Country Status (1)

Country Link
WO (1) WO2009080373A1 (fr)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090095109A1 (en) * 2007-10-10 2009-04-16 Osamu Mizuno Structure, manipulator and structure control system
WO2011029114A1 (fr) * 2009-09-10 2011-03-17 Fronius International Gmbh Dispositif anticollision
WO2012010332A1 (fr) * 2011-02-07 2012-01-26 Abb Research Ltd Robot industriel à applicateur de force de traitement pliable
WO2016032978A1 (fr) * 2014-08-25 2016-03-03 Paul Ekas Doigts de robot à absorption de choc et à réalignement automatique
WO2016140804A1 (fr) 2015-03-03 2016-09-09 The Procter & Gamble Company Dispositif de sécurité pour un dispositif à mouvement mécanique
DE102015218347A1 (de) 2015-09-24 2017-03-30 Kuka Systems Gmbh Kupplungsvorrichtung zum Kuppeln von Bauteilen
US9718194B2 (en) 2014-08-25 2017-08-01 Paul Ekas Robotic grippers including finger webbing for improved grasping
US10086512B2 (en) 2015-12-21 2018-10-02 Robert Bosch Gmbh Protection apparatus for a manipulation device on a handling device, as well as handling device
DE102017211810A1 (de) * 2017-07-11 2019-01-17 Festo Ag & Co. Kg Greifanordnung
DE102019201628A1 (de) * 2019-02-08 2020-08-13 Kuka Deutschland Gmbh Roboterstrukturelement
CN115476380A (zh) * 2022-10-26 2022-12-16 上海理工大学 一种用于水下机械臂作业工具自动更换的传动与锁紧机构

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6416387A (en) * 1987-07-08 1989-01-19 Mitsubishi Electric Corp Horizontal multi-joint robot
US5954446A (en) * 1997-04-11 1999-09-21 Ireland; Randy L. Breakaway tool coupler for robot arm
DE19925688A1 (de) * 1998-06-05 1999-12-09 Ati Ind Automation Garner Überlast-Schutzeinrichtung
JP2001003951A (ja) * 1999-06-23 2001-01-09 Kansai Tlo Kk 力制限装置、トルクリミッタ、ロボットアーム、及びロボット
DE19938114A1 (de) * 1999-08-12 2001-02-22 Duerr Systems Gmbh Maschine mit einem lösbar befestigten Werkzeug
GB2356291A (en) * 1999-11-13 2001-05-16 Rolls Royce Plc A magnetic clamping system
WO2003013783A1 (fr) * 2001-08-09 2003-02-20 Pemstar, Inc. Desaccouplement d'element de robot fixe de maniere magnetique

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6416387A (en) * 1987-07-08 1989-01-19 Mitsubishi Electric Corp Horizontal multi-joint robot
US5954446A (en) * 1997-04-11 1999-09-21 Ireland; Randy L. Breakaway tool coupler for robot arm
DE19925688A1 (de) * 1998-06-05 1999-12-09 Ati Ind Automation Garner Überlast-Schutzeinrichtung
JP2001003951A (ja) * 1999-06-23 2001-01-09 Kansai Tlo Kk 力制限装置、トルクリミッタ、ロボットアーム、及びロボット
DE19938114A1 (de) * 1999-08-12 2001-02-22 Duerr Systems Gmbh Maschine mit einem lösbar befestigten Werkzeug
GB2356291A (en) * 1999-11-13 2001-05-16 Rolls Royce Plc A magnetic clamping system
WO2003013783A1 (fr) * 2001-08-09 2003-02-20 Pemstar, Inc. Desaccouplement d'element de robot fixe de maniere magnetique

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8402860B2 (en) * 2007-10-10 2013-03-26 Panasonic Corporation Structure, manipulator and structure control system
US20090095109A1 (en) * 2007-10-10 2009-04-16 Osamu Mizuno Structure, manipulator and structure control system
US9339937B2 (en) 2009-09-10 2016-05-17 Fronius International Gmbh Collision protection device
WO2011029114A1 (fr) * 2009-09-10 2011-03-17 Fronius International Gmbh Dispositif anticollision
WO2012010332A1 (fr) * 2011-02-07 2012-01-26 Abb Research Ltd Robot industriel à applicateur de force de traitement pliable
KR102004623B1 (ko) * 2014-08-25 2019-07-26 폴 에카스 충격 흡수 및 자가 재정렬 로봇식 핑거
CN106573382B (zh) * 2014-08-25 2020-12-01 保罗·埃卡斯 吸振和自动重新对齐的机器人手指
US9446513B2 (en) 2014-08-25 2016-09-20 Paul Ekas Robotic grippers including finger webbing for improved grasping
US9469027B2 (en) 2014-08-25 2016-10-18 Paul Ekas Tendon based robotic fingers having shock absorbing and self re-aligning features
DE112015003875B4 (de) 2014-08-25 2022-06-23 Paul Ekas Stoßdämpfende und sich selbst neu ausrichtende Roboterfinger
CN106573382A (zh) * 2014-08-25 2017-04-19 保罗·埃卡斯 吸振和自动重新对齐的机器人手指
KR20170047237A (ko) * 2014-08-25 2017-05-04 폴 에카스 충격 흡수 및 자가 재정렬 로봇식 핑거
US9718194B2 (en) 2014-08-25 2017-08-01 Paul Ekas Robotic grippers including finger webbing for improved grasping
JP2017525578A (ja) * 2014-08-25 2017-09-07 ポール・エカス 衝撃吸収および自己再整列ロボット型フィンガ
JP7007343B2 (ja) 2014-08-25 2022-01-24 ポール・エカス 衝撃吸収および自己再整列ロボット機構
US10046461B2 (en) 2014-08-25 2018-08-14 Paul Ekas Link structure and assembly including cable guide system for robotic mechanical manipulator structure
JP2020011378A (ja) * 2014-08-25 2020-01-23 ポール・エカス 衝撃吸収および自己再整列ロボット機構
WO2016032978A1 (fr) * 2014-08-25 2016-03-03 Paul Ekas Doigts de robot à absorption de choc et à réalignement automatique
WO2016140804A1 (fr) 2015-03-03 2016-09-09 The Procter & Gamble Company Dispositif de sécurité pour un dispositif à mouvement mécanique
US9937628B2 (en) 2015-03-03 2018-04-10 The Procter & Gamble Company Safety device for a mechanical motion device
DE102015218347A1 (de) 2015-09-24 2017-03-30 Kuka Systems Gmbh Kupplungsvorrichtung zum Kuppeln von Bauteilen
US10086512B2 (en) 2015-12-21 2018-10-02 Robert Bosch Gmbh Protection apparatus for a manipulation device on a handling device, as well as handling device
DE102017211810A1 (de) * 2017-07-11 2019-01-17 Festo Ag & Co. Kg Greifanordnung
DE102019201628A1 (de) * 2019-02-08 2020-08-13 Kuka Deutschland Gmbh Roboterstrukturelement
DE102019201628B4 (de) 2019-02-08 2022-02-17 Kuka Deutschland Gmbh Roboterstrukturelement
CN115476380A (zh) * 2022-10-26 2022-12-16 上海理工大学 一种用于水下机械臂作业工具自动更换的传动与锁紧机构

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