CN102781632A - A robot wrist - Google Patents
A robot wrist Download PDFInfo
- Publication number
- CN102781632A CN102781632A CN2010800650974A CN201080065097A CN102781632A CN 102781632 A CN102781632 A CN 102781632A CN 2010800650974 A CN2010800650974 A CN 2010800650974A CN 201080065097 A CN201080065097 A CN 201080065097A CN 102781632 A CN102781632 A CN 102781632A
- Authority
- CN
- China
- Prior art keywords
- wrist
- outer shield
- operating connection
- electric wiring
- instrument 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.)
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Classifications
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- 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
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- 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
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- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a robot wrist (2) including an inner wrist part (6) and at least one manoeuvre connection means (12, 13). According to the invention, the inner wrist part (6) includes solid-shaft transmission components. The wrist further includes an outer shroud (8a, 8b). The manoeuvre connection means (12, 13) is arranged inside the outer shroud (8a, 8b). The invention also relates to an industrial robot (101) including such a wrist.
Description
Technical field
The present invention relates to a kind of wrist that is used for industrial robot, said wrist comprises inner wrist part and at least one operating connection.The invention still further relates to the industrial robot that comprises this wrist.
Background technology
At the industrial machine philtrum that is intended to cooperate, must take special precautionary measures to guarantee safety with human workman.For this reason, robot can be equipped with soft foam bedding and padding on its outer surface.In addition, advantageously electric wiring, pneumatic pipeline and the wiring of other process are covered in arm, with the accident of avoiding causing owing to twining.The rotation that a kind of method of realization foregoing is passed each joint for use quill shaft motor and gear and will connecting up etc. is laid.Yet the price of quill shaft drive disk assembly reaches the twice of the price of master gear and motor.
In US 2008/0223170, disclose the example of this device, said device has the arm of hollow and the internal cavities that is used for cable material and tubing in the wrist.
US 5732599 discloses the industrial robot with hollow arm, and electric wiring passes said hollow arm and extends.Yet for fear of the rapid bend in joint cable material and wire rod, cable material and wire rod get into the inner space of other arms after the joint is left from the inside of arm axle before and passed through the joint portion section.At joint, the cable material is protected by outer shield.
JP 2004090152 discloses a kind of robot wrist, and it has the wrist shell of sealing wrist and cable material.Said wrist comprises the quill shaft parts, and the cable material passes said quill shaft parts and extends.
JP 7052074 discloses a kind of robot wrist, and wherein, the cable material is set in place in the special-purpose wiring chamber of wrist one side.
US 2008/0315820 and US 2008/0148895 disclose other examples of the robot wrist with inner cable material.
Summary of the invention
The purpose of this invention is to provide a kind of robot arm; It has for example is the operating connection of cable material and pneumatic pipeline; With eliminate reduce at least that said jockey is interfered with exterior object or with the risk of the similar part interference of bearing, gear and wrist interior section, and can make with rational cost.
Said purpose realizes as follows: the robot wrist of the type that indicates at first comprises special characteristic; Said special characteristic is that inner wrist portion branch comprises the solid shafting drive disk assembly; Said wrist also comprises outer shield, and said operating connection is arranged in the said outer shield.
Outer shield has reduced the risk that the operating connection that can cause accident risk contacts human or other exterior objects.Because it is safe that operating connection is positioned at outer shield, so there is no need in robot, to use the quill shaft parts with the protection operating connection.Therefore, use the solid shafting parts that cause the cost savings design.
If there is not otherwise clearly statement, should with in the instrument flange that relates to wrist such as terms axial, the tangential, eccentric can be around the extension of the axis of its rotation.
According to preferred embodiment; Wrist also comprises the instrument flange; Said instrument flange has perpendicular to the part that is the plane basically of the 6th axis and has columnar wall portion, and said columnar wall portion is the concentric and outstanding outer shield that enters into said axis.
It is favourable for stopping protecting said control connection device with the zone that is connected to instrument from robot at the control connection device that the instrument flange is set by this way.Preferably, columnar wall portion successfully is engaged to and makes columnar wall portion and outer shield form continuous exterior shield together in the outer shield.
According to other preferred implementation, said operating connection extends in the columnar wall portion.
The advantage that said embodiment utilization is obtained by outer shield and the cooperation of columnar wall portion.
According to other preferred implementation, said operating connection comprises at least one electric wiring and/or at least one pneumatic pipeline.Because electric wiring and pneumatic pipeline are the most frequently used devices in this respect, the present invention is especially favourable to this application.In most application, electric wiring and pneumatic pipeline all exist.The similar equipment that also possibly have other types.Also comprise holding wire and other control connection devices in the term operating connection.
According to other preferred implementation, said at least one operating connection fully covers externally in the guard shield.Thereby optimized the defencive function of outer shield.
According to other preferred implementation, outer shield comprises soft bedding and padding.This has reduced the risk of the accident of the contact mankind of robot or other exterior objects further.
According to other preferred implementation, wrist comprises the 6th axis of robot, outer shield be basically columnar and with said axis be concentric.
Normally, the demand of the protection setting of operating connection being most critical near the instrument place by the robot manipulation, this means that in most of the cases the 6th axis is included in the wrist.Outer cover is to the standard design of said wrist and the favourable adaptation that the optimum of operating connection at this wrist place extended around the concentric setting of this axis.
According to other preferred implementation, said outer shield is made up of two and half ones, and said two and half ones combine in the mid-plane of passing the 6th axis.
When the assembling wrist, it is favourable being divided into two and half ones to outer shield by this way.This also makes the said arm of dismounting become simple when for example safeguarding, repairing or adjusting.
According to other preferred implementation, each operating connection externally forms at least one loop in the guard shield.
Said loop provides possibility for motion in an advantageous manner, and said motion is necessary in the robot operation and when having the rotational motion round the axis of wrist to operating connection.Because said loop is positioned at the space by guard shield protection, so the motion in the loop does not cause the risk with any interference of other objects.
According to other preferred implementation, said operating connection comprises at least one electric wiring and at least one pneumatic pipeline, and it is arranged so that said electric wiring and pneumatic pipeline arrive said instrument flange on tangential direction.
According to other preferred implementation, electric wiring extends approximately at least 90 degree along the inboard of the columnar wall portion of said instrument flange.This tangential direction that is set to electric wiring is connected to from the space between the guard shield said guard shield provides good adaptation.
According to other preferred implementation, each operating connection all is attached to protuberance, said protuberance be set to contiguous inner wrist part dorsad in the end of instrument flange.By this way the fixedly permission operating connection of operating connection is passed space between the guard shield towards the in check extension of instrument flange.
According to other preferred implementation, electric wiring terminates in the connector, and said connector is installed on the instrument flange.Therefore, lead needn't be attached on the electrode of electrical connection by means of instrument individually, and this possibly be very time-consuming.When lead is attached on the connector, just said connector is attached to the instrument flange.
According to other preferred implementation, connector is installed in the recess that is arranged on instrument flange front side prejudicially.Recess allows connector is installed on the instrument flange apace, and eccentric position provides favourable adaptation for electric wiring is drawn in the interval in the outer shield.
According to other preferred implementation, inner wrist portion branch comprises the foundry goods of sealing gear and bearing, and operating connection extends between foundry goods and outer shield.By means of foundry goods, prevented the bearing and the gear of operating connection contact wrist safely, thereby eliminated owing to the risk that contacts the damage that produces with these elements.
Be provided with the robot of being invented according to wrist of the present invention have with wrist, especially with the preferred implementation of wrist in any similar advantage, as stated.
Above-mentioned preferred implementation of the present invention specifies in the dependent claims.The other preferred implementation that should be appreciated that process can be formed by any possible combination of above-mentioned preferred implementation and by these and the following any possible combination of facing the characteristic of mentioning in the description of example.
The present invention describes to the detailed description of example of the present invention and with reference to accompanying drawing through following further.
Description of drawings
Fig. 1 has the stereogram that has the robot arm of wrist according to of the present invention.
Fig. 2 is the exploded perspective view of the wrist among Fig. 1.
Fig. 3 is the stereogram of the details of Fig. 2.
Fig. 4 is the side view of the wrist among Fig. 1 under the situation of having removed part.
Fig. 5 is the end-view of Fig. 4.
Fig. 6 is the schematic side elevation according to industrial robot of the present invention.
The specific embodiment
Fig. 1 illustrates the bottom arm 1 that is designed to the industrial robot of human workman's collaborative work.Arm 1 is connected to wrist 2 by means of the instrument flange 5 that is used for the robot tool (not shown).Picture illustrates three last rotations: four axistyle A, the 5th axis B and the 6th axis C.The gear and the motor that are used for axis five and axis six are contained in the package module 3, and said package module 3 partly wraps in the soft bedding and padding 4.On the front side of instrument flange 5, have and be used to control and be the jockey of instrument power supply mounted thereto.Said jockey comprises outlet 24 that is used for pneumatic pipeline and the connector 23 that is used to be electrically connected to said instrument.Said connector 23 is connected in the wiring that is pulled through wrist 2.
The major part of wrist 2 has been shown, i.e. the second half 8b of and said instrument flanges 5 of the first half 8a of of the interior section 6 of wrist 2, outer shield, said outer shield in the exploded perspective view of Fig. 2.Part 8a, the 8b of outer shield are shown under the situation of removing bedding and padding.
The interior section 6 of wrist 2 has foundry goods 9, said foundry goods 9 ccontaining bearing and the gears that are used for the 5th axis and the 6th axis.The motor 10 that is used for the 5th axis is installed in the left side of foundry goods 9.Can see the motor 11 that is used for the 6th axis at the rear side of foundry goods 9.The rear side that pneumatic pipeline 12 has a wrist part 6 internally divides loop 14 that 6 front side extends to be connected to the instrument that is installed on the instrument flange 5 to inner wrist portion.The electric wiring 13 that has loop 15 also extends to the sidepiece of instrument flange 5 from said rear side.Said electric wiring comprises many leads 7.Pneumatic pipeline 12 stops in the tangential direction with respect to the 6th axis with electric wiring 13, and is tangentially guided about 90 degree at its place, end.
When the part shown in the assembly drawing 2, pneumatic pipeline 12 and electric wiring 13 are positioned at the outside of foundry goods 9.Instrument flange 5 has the columnar wall portion 16 along backward directions.Be attached at the instrument flange under the situation of inner wrist part 6, the columnar wall portion of instrument flange radially is positioned at the outside of foundry goods 9 and radially is positioned at pneumatic pipeline 12 and the outside of electric wiring 13.Therefore, pneumatic pipeline 12 and electric wiring 13 is extended along the inboard of said columnar wall portion 16 by the part of tangential guiding.Half 8a of of outer shield, 8b have been mounted to each other and have sealed the motor 10 of pneumatic pipeline 12 and electric wiring 13 and the 5th axis.The leading section of outer shield 8a, 8b extends in the outside of the columnar wall portion 16 of instrument flange 15.
Have connector 23 in the front side of instrument flange 5, electric wiring 13 terminates in said connector 23 places and has set up the electrical connection of instrument through said connector 23.Front side at said instrument flange also has connection device 24, and said pneumatic pipeline terminates in said connection device 24 places and this is used for to said instrument air supply.
Said connector 23 is mounted in the inserts in the eccentric recess of front side of instrument flange 5.
In Fig. 3, can see the rear side of foundry goods 9.Following protuberance 17 and last protuberance 18 are side-prominent from this.Following protuberance 17 is that two electrical connectors 20 all provide anchor point, and provides that two and half 8a of to outer shield, 8b's is fixing.Connector on the following protuberance 17 is used for motor phase and ground connection cable material (not shown).Last protuberance 18 provides two other connector 19 fixing, and by means of cable material binding piece 21 fixing to pneumatic pipeline 12 and electric wiring 13 is provided.On last protuberance 18, also be provided with the connector that is used for motor position sensor cable material (not shown).
The purposes that has the loop 15 of the loop 14 that holds pneumatic pipeline 12 and electric wiring 13 from the rearwardly projecting columnar wall of instrument flange 2 portion 16.When instrument flange 5 when maximum position of rotation is return, columnar wall portion 16 prevents pneumatic pipeline 12 and electric wiring 13 bendings.Under the situation that does not have columnar wall portion, the rotation bend of electric cable material may not successfully be return from the peak excursion position.This is because the following fact: when electric wiring is pulled the shrinkage part that forms through neck 22 places at foundry goods 9, rotate compelled being pressed on the flat instrument that the leans against flange 5 of loop of bend.When peak excursion is return, flat loop is radially expanded and a part touches outer shield wall 8a, 8b.The friction that this point receives makes said loop opposing rotation, the therefore part of said loop back bending.By contrast, when the columnar wall portion 16 of instrument flange 5 in position the time, radially the contact of the loop of expansion is along with the surface of instrument flange 5 motions, and therefore, whole loop can pass through the shrinkage part of the neck 22 of foundry goods 9 and return, and does not bend.
Fig. 6 illustrates the industrial robot with bottom arm 1, and wherein, said bottom arm 1 has according to wrist 2 of the present invention.
Claims (16)
1. wrist (2) that is used for industrial robot; Said wrist (2) comprises inner wrist part (6) and at least one operating connection (12,13); It is characterized in that; Said inner wrist part (6) comprises the solid shafting drive disk assembly, and said wrist (2) also comprises outer shield (8a, 8b), and said at least one operating connection (12,13) is arranged in the said outer shield.
2. wrist according to claim 1; It is characterized in that; Said wrist (2) also comprises instrument flange (5); Said instrument flange (5) has perpendicular to the part on the plane basically of axis (C) and has columnar wall portion (16), and said columnar wall portion (16) is concentric with said axis (C) and is projected in the said outer shield (8a, 8b).
3. wrist according to claim 2 is characterized in that, said at least one operating connection (12,13) extends in the said columnar wall portion (16).
4. according to each described wrist in the claim 1 to 3, it is characterized in that said operating connection (12,13) comprises at least one electric wiring (13) and/or at least one pneumatic pipeline (12).
5. according to each described wrist in the claim 1 to 4, it is characterized in that said at least one operating connection (12,13) covers fully in said outer shield (8a, 8b).
6. according to each described wrist in the claim 1 to 5, it is characterized in that said outer shield (8a, 8b) comprises soft bedding and padding (4).
7. according to each described wrist in the claim 1 to 6, it is characterized in that said wrist (2) comprises the 6th axis (C) of said robot, said outer shield (8a, 8b) be basically columnar and with said axis (C) be concentric.
8. wrist according to claim 5 is characterized in that, said outer shield (8a, 8b) is made up of two and half ones (8a, 8b), and said two and half ones (8a, 8b) combine in the mid-plane of passing said axis (C).
9. according to each described wrist in the claim 1 to 8, it is characterized in that each said operating connection (12,13) all forms at least one loop (14,15) in said outer shield (8a, 8b).
10. according to each described wrist in the claim 1 to 9; It is characterized in that; Said operating connection (12,13) comprises at least one electric wiring (13) and at least one pneumatic pipeline (12), and said electric wiring (13) and said pneumatic pipeline (12) tangentially direction arrive said instrument flange (5).
11. wrist according to claim 10 is characterized in that, said electric wiring (13) extends approximately at least 90 ° along the inboard of said columnar wall portion (16).
12. according to each is described and comprise the wrist of said instrument flange (5) in the claim 1 to 11; It is characterized in that; Each operating connection (12,13) all is attached to protuberance (18), said protuberance (18) be set to contiguous said inner wrist part (6) dorsad in the end of said instrument flange (5).
13., it is characterized in that said electric wiring (13) terminates in the connector (23) according to each described wrist in the claim 1 to 12, said connector (23) is installed on the said instrument flange (5).
14. wrist according to claim 13 is characterized in that, said connector (23) is installed in the recess that is arranged on prejudicially in the said instrument flange (5).
15. according to each described wrist in the claim 1 to 14; It is characterized in that; Said inner wrist portion branch comprises the foundry goods (9) of sealing gear and bearing, and said operating connection (12,13) extends between said foundry goods (9) and said outer shield (8a, 8b).
16. an industrial robot is characterized in that, said robot (101) comprises according to each described wrist (2) in the claim 1 to 15.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/EP2010/052578 WO2011107143A1 (en) | 2010-03-02 | 2010-03-02 | A robot wrist |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102781632A true CN102781632A (en) | 2012-11-14 |
| CN102781632B CN102781632B (en) | 2015-06-03 |
Family
ID=42307856
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201080065097.4A Active CN102781632B (en) | 2010-03-02 | 2010-03-02 | A robot wrist |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102781632B (en) |
| WO (1) | WO2011107143A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107932556A (en) * | 2017-12-04 | 2018-04-20 | 埃夫特智能装备股份有限公司 | A kind of industrial robot cable arranging structure |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9308636B2 (en) | 2012-02-03 | 2016-04-12 | Milwaukee Electric Tool Corporation | Rotary hammer with vibration dampening |
| JP6163989B2 (en) * | 2013-09-13 | 2017-07-19 | セイコーエプソン株式会社 | Robot arm and robot |
| DE202015009616U1 (en) | 2015-08-14 | 2018-08-30 | Franka Emika Gmbh | Robot system and housing part for such a robot system |
| DE102015012959B4 (en) | 2015-10-08 | 2019-01-17 | Franka Emika Gmbh | Robot system and method for controlling a robot system |
| DE102015012962A1 (en) | 2015-10-08 | 2017-04-13 | Sami Haddadin | robot system |
| DE102015012961B4 (en) | 2015-10-08 | 2022-05-05 | Kastanienbaum GmbH | robotic system |
| DE102016004788A1 (en) | 2016-04-20 | 2017-10-26 | Kastanienbaum GmbH | Method for producing a robot and device for carrying out this method |
| DE102016004787B4 (en) | 2016-04-20 | 2023-02-02 | Franka Emika Gmbh | Driving device for a robot and method for its manufacture |
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| US4931617A (en) * | 1987-06-24 | 1990-06-05 | Fanuc Ltd. | Electrically conductive coating for cover of industrial robot |
| US5375480A (en) * | 1992-04-28 | 1994-12-27 | Fanuc, Ltd. | Cable laying arrangement for the robot arm unit of an industrial robot |
| US6125715A (en) * | 1996-06-12 | 2000-10-03 | Abb Ab | Device in a robot arm |
| US20060101937A1 (en) * | 2002-07-16 | 2006-05-18 | Abb Ab | Cable connection and method of connecting a cable between two relative to each other moving parts of a robot |
| CN101161426A (en) * | 2007-10-19 | 2008-04-16 | 哈尔滨工业大学 | Flexible connecting line structure between integrated circuit board in the finger of robot delicacy hand |
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- 2010-03-02 WO PCT/EP2010/052578 patent/WO2011107143A1/en active Application Filing
- 2010-03-02 CN CN201080065097.4A patent/CN102781632B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4931617A (en) * | 1987-06-24 | 1990-06-05 | Fanuc Ltd. | Electrically conductive coating for cover of industrial robot |
| US5375480A (en) * | 1992-04-28 | 1994-12-27 | Fanuc, Ltd. | Cable laying arrangement for the robot arm unit of an industrial robot |
| US6125715A (en) * | 1996-06-12 | 2000-10-03 | Abb Ab | Device in a robot arm |
| US20060101937A1 (en) * | 2002-07-16 | 2006-05-18 | Abb Ab | Cable connection and method of connecting a cable between two relative to each other moving parts of a robot |
| CN101161426A (en) * | 2007-10-19 | 2008-04-16 | 哈尔滨工业大学 | Flexible connecting line structure between integrated circuit board in the finger of robot delicacy hand |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107932556A (en) * | 2017-12-04 | 2018-04-20 | 埃夫特智能装备股份有限公司 | A kind of industrial robot cable arranging structure |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2011107143A1 (en) | 2011-09-09 |
| CN102781632B (en) | 2015-06-03 |
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Effective date of registration: 20200228 Address after: Baden, Switzerland Patentee after: ABB Schweiz AG Address before: Zurich Patentee before: ABB RESEARCH Ltd. |