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WO2011107143A1 - Poignet de robot - Google Patents

Poignet de robot Download PDF

Info

Publication number
WO2011107143A1
WO2011107143A1 PCT/EP2010/052578 EP2010052578W WO2011107143A1 WO 2011107143 A1 WO2011107143 A1 WO 2011107143A1 EP 2010052578 W EP2010052578 W EP 2010052578W WO 2011107143 A1 WO2011107143 A1 WO 2011107143A1
Authority
WO
WIPO (PCT)
Prior art keywords
wrist
manoeuvre
connection means
outer shroud
tool flange
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/EP2010/052578
Other languages
English (en)
Inventor
Daniel Sirkett
Ivan Lundberg
Jan Larsson
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
Priority to CN201080065097.4A priority Critical patent/CN102781632B/zh
Priority to PCT/EP2010/052578 priority patent/WO2011107143A1/fr
Publication of WO2011107143A1 publication Critical patent/WO2011107143A1/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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • 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
    • 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
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • 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
    • B25J19/0091—Shock absorbers

Definitions

  • the present invention relates to a wrist for an industrial robot, which wrist includes an inner wrist part and at least one manoeuvre connection means.
  • the invention also relates to an industrial robot including such a wrist.
  • the robot may be equipped with a soft foam padding on its external surfaces. Furthermore it is desirable to conceal electric cabling, pneumatic tubing and other process cabling within the arm to prevent accidents due to entanglement.
  • One way to achieve this is to use hollow-shaft motors and gears and route the cabling etc. through the axis of rotation of each joint.
  • hollow-shaft transmission components are up to double the price of standard gears and motors.
  • US 5732599 discloses an industrial robot with hollow arms through which the electric cables extend. However, to avoid sharp bends in the cables and wires at the joint, the cables and wires exit from the interior of the arm shaft prior to the joint and are brought into the interior space of the other arm after passing over the joint section. At the joint the cable is protected by an external shroud.
  • JP2004090152 discloses a robot wrist having a wrist casing enclosing the wrist and the cables.
  • the wrist includes hollow-shaft components through which the cables extend.
  • JP 7052074 discloses a robot wrist where the cables are located in a special wiring chamber at one side of the wrist.
  • the object of the present invention is to provide a robot wrist with manoeuvre connection means such as cables and pneumatic tubes with an eliminated or at least reduced risk for these connection means to interfere with external objects or with the bearings, gears and similar parts of the inner part of the wrist, and also can be made at reasonable cost.
  • a robot wrist of the kind initially specified include the specific features that the inner wrist part includes solid-shaft
  • the outer shroud reduces the risk that the manoeuvre connection means will come into contact with humans or other external objects, which could entail the risk for accidents. Since the manoeuvre connection means are safe located inside the outer shroud it is not necessary to use hollow-shaft components in the wrist for protecting them Thus solid-shaft components are used which leads to a cost saving design.
  • the wrist further includes a tool flange having a substantially planar portion that is perpendicular to the sixth axis and having a cylindrical wall that is concentric with this axis and projects into the outer shroud.
  • Arranging the tool flange in this way is advantageous with regards of the protection of the manoeuvre connection means at the area where they terminate from the wrist to be connected to the tool.
  • the cylindrical wall is smoothly fitted into the outer shroud so that they together form a continuous external shielding.
  • the manoeuvre connection means extend into the inside of the cylindrical wall.
  • This embodiment makes use of the advantage obtained with the cooperating outer shroud and the cylindrical wall.
  • the manoeuvre connection means includes at least one electric cabling and/or at least one pneumatic tubing. Since these are the most common means in this respect, the invention is of particular interest for such application. In most applications both an electric cabling and a pneumatic tubing are present. Other kinds of similar equipment might be present as well. Signalling wires and other controlling connections are also included in the term manoeuvring connection means.
  • the at least one manoeuvre connection means is completely concealed within the outer shroud. Thereby the protective function of the outer shroud is optimized.
  • the outer shroud includes soft padding. This further reduces the risk for accidents, should the wrist come into contact with a human or other external objects.
  • the wrist includes axis number six of the robot, and outer shroud is substantially cylindrical and concentric with this axis.
  • the need for a protected arrangement of the manoeuvre connection means is most critical close to the tool operated by the robot, which implies that in most cases the sixth axis is included in the wrist.
  • the concentric arrangement of the shroud around this axis is an advantageous adaption to the normal design of this wrist and to an optimized extension of the manoeuvre connection means at this wrist.
  • the outer shroud consists of two halves that are joined together in a median plane through the sixth axis.
  • each manoeuvre connection means forms at least one loop inside the outer shroud.
  • the loop in an advantageous way provides a possibility for the movements that are necessary for the manoeuvre connection means when the robot operates and there are rotational movements around the axes of the wrist. Since the loops are located within the space that is protected by the shroud, the movements in the loops do not risk causing any interference with other objects.
  • the manoeuvre connection means includes at least one electric cabling and at least one pneumatic tubing, arranged such that the electric cabling and the pneumatic tubing reach the tool flange in a tangential direction.
  • the electric cabling extends about at least 90° along the inside of the cylindrical wall of the tool flange. This arrangement provides a good adaption for connecting the electric cabling from the spacing between the shrouds to a tangential direction thereof.
  • each manoeuvre connection means is attached to a lug arranged adjacent the end of the inner wrist part that is opposite to the tool flange. The fixation of the manoeuvre connection means in this way enables a controlled extension of these through the spacing between the shrouds towards the tool flange.
  • the electric cabling terminates in a connector, which connector is mounted on the tool flange.
  • the conductors do not have to be individually attached to the poles of the electric connection with the tool, which can be very time consuming.
  • the conductor is attached to the connector it is just to attach the connector to the tool flange.
  • the connector is mounted in an eccentrically located recess on the front side of the tool flange.
  • the recess allows a rapid mounting of the connector onto the tool flange, and the eccentric location provides an advantageous adaption to the drawing of the electric cabling in the spacing inside the outer shroud.
  • the inner wrist part includes a casting enclosing gears and bearings, and the manoeuvre connection means extend between the casting and the outer shroud.
  • the manoeuvre connection means are safely prevented from coming into contact with the bearings and the gears of the wrist, whereby the risk for damage due to contact with these elements is eliminated.
  • the invented robot provided with a wrist according to the present invention has advantages similar to those of the wrist, in particular to any of the preferred embodiments thereof, as have been described above.
  • the above described preferred embodiments of the invention are specified in the dependent claims. It is to be understood that further preferred embodiments of course can be constituted by any possible combination of preferred embodiments above and by any possible combination of these and features mentioned in the description of examples below.
  • Fig. 1 is a perspective view of a robot arm with a wrist according to the invention.
  • Fig. 2 is an exploded view in perspective of the wrist in fig. 1
  • Fig. 3 is a perspective view of details of fig. 2
  • Fig. 4 is a side view of the wrist in fig. 1 with parts removed.
  • Fig. 5 is an end view of fig. 4.
  • Fig. 6 is a schematic side view of an industrial robot according to the invention.
  • Fig. 1 shows the lower arm 1 and of an industrial robot designed to work cooperatively with human workers.
  • the arm 1 is connected to a wrist 2 with a tool flange 5 for a robot tool (not shown).
  • the figure shows the three final axes of rotation, the fourth axis A, the fifth axis B, and the sixth axis C.
  • the gears and motors for axes five and six are housed within an encapsulated module 3, which is partially encased in soft padding 4.
  • the connection means includes an outlet 24 for pneumatic tubing and a connector 23 for electric connection to the tool.
  • the connector 23 is connected to cabling drawn through the wrist 2.
  • the main parts of the wrist 2 namely the inner part 6 thereof, a first half 8a of an outer shroud, a second half 8b of the outer shroud and the tool flange 5.
  • the outer shroud parts 8a, 8b are shown with the padding removed.
  • the inner part 6 of the wrist 2 has a casting 9 which houses the bearings and gears for the fifth and sixth axes.
  • the motor 10 for the fifth axis is mounted.
  • the motor 1 1 for the sixth axis can be seen on the rear side of the casting 9.
  • a pneumatic tubing 12 having a loop 14 extends from the rear side of the inner wrist part 6 to the front side thereof for connection to a tool that is to be mounted on the tool flange 5. From the rear side also an electric cabling 13 with a loop 15 extends to the side of the tool flange 5.
  • the electric cabling includes a plurality of conductors 7.
  • the pneumatic tubing 12 and the electric cabling 13 terminate in the tangential direction with respect to the sixth axis, and are tangentially directed for about 90° at their ends.
  • the tool flange 5 has a cylindrical wall 16 in the rearward direction. With the tool flange attached to the inner wrist part 6, the cylindrical wall thereof is located radially outside the casting 9 and radially outside the pneumatic tubing 12 and the electric cabling 13. The tangentially directed part of the pneumatic tubing 12 and the electric cabling 13 thereby extend along the inside of that cylindrical wall 16.
  • the outer shroud halves 8a, 8b are mounted to each other and enclose the pneumatic tubing 12 and the electric cabling 13 as well as the fifth axis motor 10. The front end of the outer shroud 8a, 8b extends on the outside of the cylindrical wall 16 of the tool flange 5.
  • connection device 24 On the front side of the tool flange 5 there is a connector 23 at which the electric cabling 13 terminates and through which electric connection to a tool is established. Also on the front side of the tool flange is a connection device 24 at which the pneumatic tubing terminates and this is for the air supply to the tool.
  • the connector 23 is an insert that is mounted in an eccentric recess on the front side of the tool flange 5.
  • the rear side of the casting 9 can be seen. From this side a lower 17 and an upper 18 lug protrude.
  • the lower lug 17 provides both anchoring point for two electrical connectors 20 and fixation for the two halves 8a, 8b of the outer shroud.
  • the connectors on the lower lug 17 are for motor phase and ground cables (not shown).
  • the upper lug 18 provides fixation for two further connectors 19 and fixation by means of cable tie 21 of the pneumatic tubing 12 and electric cabling 13.
  • On the upper lug 18 also connectors for the motor position sensor cables (not shown) are provided. From the upper lug 18, the pneumatic tubing 12 and the electric cabling 13 depart in the same direction. This is most clearly seen in fig. 4 and 5.
  • the pneumatic tubing 12 and the electric cabling 13 occupy the annular volume between the casting 9 and the outer shroud 8a, 8b before terminating at the tool flange 5.
  • Sufficient slack is introduced so that the pneumatic tubing 12 and the electric cabling each form a loop 14, 15.
  • the slack length is such that except at the extremes of travel, the pneumatic tubing 12 and the electric cabling 13 never collide with each other.
  • the electric cabling terminates tangentially at the tool flange 5 and hence its cable loop forms a so called "rolling bend" during rotation of axis six.
  • a similar motion is achieved for the pneumatic tubing 12 which also terminates tangentially. Using the dual rolling bends, a total tool flange rotation of just over 360°is attained.
  • the cylindrical wall 16 which protrudes rearwards from the tool flange 2 has the purpose to contain the loops 14, 15 of the pneumatic tubing 12 and the electric cabling 13.
  • the cylindrical wall 16 prevents them from buckling when the tool flange 5 is reversed from maximum rotation position. Without the cylindrical wall, the rolling bend of the electric cable would be unable to reverse successfully from a position of maximum excursion. This is due to the fact that as it is drawn past a constriction that is formed at the neck 22 of the casting 9, the rolling bend loop is forced flat against the tool flange 5. Upon reversal from maximum excursion the flat loop expands radially and a portion makes contact with the outer shroud wall 8a, 8b.
  • Fig. 6 illustrates an industrial robot 101 having a lower arm 1 with a wrist 2 according to the present invention.

Landscapes

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

Abstract

L'invention porte sur un poignet de robot (2) comprenant une partie intérieure de poignet (6) et au moins un moyen de liaison de manœuvre (12, 13). Selon l'invention, la partie intérieure de poignet (6) comprend des composants de transmission à arbre plein. Le poignet comprend en outre une protection extérieure (8a, 8b). Les moyens de liaison de manœuvre (12, 13) sont agencés à l'intérieur de la protection extérieure (8a, 8b). L'invention porte aussi sur un robot industriel (101) qui comporte un tel poignet.
PCT/EP2010/052578 2010-03-02 2010-03-02 Poignet de robot Ceased WO2011107143A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201080065097.4A CN102781632B (zh) 2010-03-02 2010-03-02 机器人手腕
PCT/EP2010/052578 WO2011107143A1 (fr) 2010-03-02 2010-03-02 Poignet de robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2010/052578 WO2011107143A1 (fr) 2010-03-02 2010-03-02 Poignet de robot

Publications (1)

Publication Number Publication Date
WO2011107143A1 true WO2011107143A1 (fr) 2011-09-09

Family

ID=42307856

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2010/052578 Ceased WO2011107143A1 (fr) 2010-03-02 2010-03-02 Poignet de robot

Country Status (2)

Country Link
CN (1) CN102781632B (fr)
WO (1) WO2011107143A1 (fr)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015054388A (ja) * 2013-09-13 2015-03-23 セイコーエプソン株式会社 ロボットアームおよびロボット
US9308636B2 (en) 2012-02-03 2016-04-12 Milwaukee Electric Tool Corporation Rotary hammer with vibration dampening
DE102015012960A1 (de) * 2015-08-14 2017-02-16 Sami Haddadin Robotersystem und Gehäuseteil für ein solches Robotersystem
DE102016004788A1 (de) * 2016-04-20 2017-10-26 Kastanienbaum GmbH Verfahren zur Herstellung eines Roboters und Vorrichtung zur Durchführung dieses Verfahrens
US10843344B2 (en) 2015-10-08 2020-11-24 Sami Haddadin Robot system
US10981278B2 (en) 2015-10-08 2021-04-20 Kastanienbaum GmbH Robot system
US11040455B2 (en) 2015-10-08 2021-06-22 Haddadin Beteiligungs Ug Robot system and method for controlling a robot system
US11358275B2 (en) 2016-04-20 2022-06-14 Franka Emika Gmbh Drive unit for a robot and method for manufacturing the same

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107932556A (zh) * 2017-12-04 2018-04-20 埃夫特智能装备股份有限公司 一种工业机器人线缆布置结构

Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0169905A1 (fr) * 1983-12-15 1986-02-05 Matsushita Electric Industrial Co., Ltd. Robot industriel
EP0299083A1 (fr) * 1987-01-26 1989-01-18 Fanuc Ltd. Robot industriel pourvu d'un organe de guidage de cable
EP0323515A1 (fr) * 1987-06-24 1989-07-12 Fanuc Ltd. Robot industriel
JPH0752074B2 (ja) 1990-08-09 1995-06-05 株式会社日本製鋼所 移動装薬電熱砲の発射方法および移動装薬電熱砲
US5732599A (en) 1995-08-18 1998-03-31 Tokico Ltd. Industrial robot
WO1999008841A1 (fr) * 1997-08-18 1999-02-25 Centre De Recherche Industrielle Du Quebec Appareil de blindage d'une structure articulee
EP0937551A1 (fr) * 1997-07-14 1999-08-25 Fanuc Ltd Robot industriel protege
US6082290A (en) * 1997-09-15 2000-07-04 Conlin; Douglas Paint spray booth with robot
WO2000069601A1 (fr) * 1999-05-19 2000-11-23 Brooks Automation, Inc. Ensemble articulation pour bras d'exosquelette resistant a la corrosion pour bras d'exosquelette
WO2001038047A2 (fr) * 1999-11-22 2001-05-31 Wittenstein Ag Bras de prehension ou de commande
JP2004090152A (ja) 2002-08-30 2004-03-25 Mitsubishi Heavy Ind Ltd ロボットの手首構造
US20080148895A1 (en) 2006-05-02 2008-06-26 Joseph Palau Scara-type robot structure and corresponding robot
US20080223170A1 (en) 2007-03-12 2008-09-18 Comau S.P.A. Articulated robot wrist
US20080315820A1 (en) 2007-06-20 2008-12-25 Fanuc Ltd Industrial robot

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2919172B2 (ja) * 1992-04-28 1999-07-12 ファナック株式会社 産業用ロボットのケーブル処理装置
SE508817C2 (sv) * 1996-06-12 1998-11-09 Asea Brown Boveri Anordning vid en robotarm
SE0202250D0 (sv) * 2002-07-16 2002-07-16 Abb Ab Industrial robot
CN100522507C (zh) * 2007-10-19 2009-08-05 哈尔滨工业大学 机器人灵巧手手指内集成电路板之间的柔性连线结构

Patent Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0169905A1 (fr) * 1983-12-15 1986-02-05 Matsushita Electric Industrial Co., Ltd. Robot industriel
EP0299083A1 (fr) * 1987-01-26 1989-01-18 Fanuc Ltd. Robot industriel pourvu d'un organe de guidage de cable
EP0323515A1 (fr) * 1987-06-24 1989-07-12 Fanuc Ltd. Robot industriel
JPH0752074B2 (ja) 1990-08-09 1995-06-05 株式会社日本製鋼所 移動装薬電熱砲の発射方法および移動装薬電熱砲
US5732599A (en) 1995-08-18 1998-03-31 Tokico Ltd. Industrial robot
EP0937551A1 (fr) * 1997-07-14 1999-08-25 Fanuc Ltd Robot industriel protege
WO1999008841A1 (fr) * 1997-08-18 1999-02-25 Centre De Recherche Industrielle Du Quebec Appareil de blindage d'une structure articulee
US6082290A (en) * 1997-09-15 2000-07-04 Conlin; Douglas Paint spray booth with robot
WO2000069601A1 (fr) * 1999-05-19 2000-11-23 Brooks Automation, Inc. Ensemble articulation pour bras d'exosquelette resistant a la corrosion pour bras d'exosquelette
WO2001038047A2 (fr) * 1999-11-22 2001-05-31 Wittenstein Ag Bras de prehension ou de commande
JP2004090152A (ja) 2002-08-30 2004-03-25 Mitsubishi Heavy Ind Ltd ロボットの手首構造
US20080148895A1 (en) 2006-05-02 2008-06-26 Joseph Palau Scara-type robot structure and corresponding robot
US20080223170A1 (en) 2007-03-12 2008-09-18 Comau S.P.A. Articulated robot wrist
US20080315820A1 (en) 2007-06-20 2008-12-25 Fanuc Ltd Industrial robot

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10195730B2 (en) 2012-02-03 2019-02-05 Milwaukee Electric Tool Corporation Rotary hammer
US9308636B2 (en) 2012-02-03 2016-04-12 Milwaukee Electric Tool Corporation Rotary hammer with vibration dampening
JP2015054388A (ja) * 2013-09-13 2015-03-23 セイコーエプソン株式会社 ロボットアームおよびロボット
KR102181135B1 (ko) * 2015-08-14 2020-11-23 케이비 에이지 로보틱 시스템 및 이러한 로보틱 시스템을 위한 하우징 부품
KR20180040649A (ko) * 2015-08-14 2018-04-20 케이비 에이지 로보틱 시스템 및 이러한 로보틱 시스템을 위한 하우징 부품
JP2018528089A (ja) * 2015-08-14 2018-09-27 クベー アーゲー ロボットシステム及びそのハウジング部品
US10625414B2 (en) 2015-08-14 2020-04-21 Franka Emika Gmbh Robotic system and housing part for such robotic system
DE102015012960A1 (de) * 2015-08-14 2017-02-16 Sami Haddadin Robotersystem und Gehäuseteil für ein solches Robotersystem
DE102015012960B4 (de) 2015-08-14 2021-09-16 Franka Emika Gmbh Robotersystem und Gehäuseteil für ein solches Robotersystem
DE102015017296B3 (de) 2015-08-14 2021-10-07 Franka Emika Gmbh Robotersystem
US10843344B2 (en) 2015-10-08 2020-11-24 Sami Haddadin Robot system
US10981278B2 (en) 2015-10-08 2021-04-20 Kastanienbaum GmbH Robot system
US11040455B2 (en) 2015-10-08 2021-06-22 Haddadin Beteiligungs Ug Robot system and method for controlling a robot system
DE102016004788A1 (de) * 2016-04-20 2017-10-26 Kastanienbaum GmbH Verfahren zur Herstellung eines Roboters und Vorrichtung zur Durchführung dieses Verfahrens
US11358275B2 (en) 2016-04-20 2022-06-14 Franka Emika Gmbh Drive unit for a robot and method for manufacturing the same
US11623355B2 (en) 2016-04-20 2023-04-11 Kastanienbaum GmbH Method for producing a robot and device for carrying out said method

Also Published As

Publication number Publication date
CN102781632B (zh) 2015-06-03
CN102781632A (zh) 2012-11-14

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