CN102781632B - A robot wrist - Google Patents
A robot wrist Download PDFInfo
- Publication number
- CN102781632B CN102781632B CN201080065097.4A CN201080065097A CN102781632B CN 102781632 B CN102781632 B CN 102781632B CN 201080065097 A CN201080065097 A CN 201080065097A CN 102781632 B CN102781632 B CN 102781632B
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- China
- Prior art keywords
- wrist
- outer shield
- wiring
- axis
- electric wiring
- 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 for industrial robot, described wrist comprises inner wrist part and at least one operating connection.The invention still further relates to the industrial robot comprising this wrist.
Background technology
Be intended in the industrial robot cooperated with mankind workman, special precautionary measures must be taked to guarantee safety.For this reason, robot can be equipped with flexible foam bedding and padding on its outer surface.In addition, advantageously the wiring of electric wiring, pneumatic pipeline and other process is covered in arm, to avoid owing to being wound around the accident caused.A kind of method realizing foregoing is use quill shaft motor and gear and wiring etc. laid through the rotation in each joint.But 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, described device has the internal cavities for cable material and tubing in the arm of hollow and wrist.
US 5732599 discloses the industrial robot with hollow arm, and electric wiring extends through described hollow arm.But in order to avoid the sharply bend in joint cable material and wire rod, cable material and wire rod left from the inside of arm axle and enter the inner space of other arms after by joint portion section before joint.At joint, cable material is protected by outer shield.
JP 2004090152 discloses a kind of robot wrist, and it has the wrist shell of closed wrist and cable material.Described wrist comprises quill shaft parts, and cable material extends through described quill shaft parts.
JP 7052074 discloses a kind of robot wrist, and wherein, cable material is arranged on the Special wiring room being arranged in wrist side.
US 2008/0315820 and US 2008/0148895 discloses other examples of the robot wrist with inner cable material.
Summary of the invention
The object of this invention is to provide a kind of robot arm, it has the operating connection such as cable material and pneumatic pipeline, to eliminate or at least to reduce described jockey and exterior object is interfered or the risk of interfering with the similar portion of bearing, gear and wrist interior section, and can manufacture with rational cost.
Described object realizes as follows: the robot wrist of the type indicated at first comprises special characteristic, described special characteristic is that inner wrist part comprises solid shafting drive disk assembly, described wrist also comprises outer shield, and described operating connection is arranged in described outer shield.
Outer shield reduces the risk of the operating connection contact mankind or other exterior objects that can cause accident risk.Because it is safe that operating connection is positioned at outer shield, so there is no need to use quill shaft parts to protect operating connection in robot.Therefore, the solid shaft member causing cost savings to design is used.
If do not have otherwisely clearly to state, the extension of the axis that the instrument flange relating to wrist such as the term axis in this application, tangential, eccentric can rotate around it.
According to preferred embodiment, wrist also comprises instrument flange, described instrument flange have perpendicular to the 6th axis substantially in plane part and there is columnar wall portion, described columnar wall portion is concentric with described axis and protrudes in outer shield.
Arrange instrument flange by this way to stop protecting described control connection device to be favourable with the region being connected to instrument from robot at control connection device.Preferably, columnar wall portion is successfully engaged in outer shield and makes columnar wall portion form continuous print exterior shield together with outer shield.
According to other preferred embodiment, described operating connection extends in columnar wall portion.
Described embodiment utilizes the advantage being cooperated by outer shield and columnar wall portion and obtained.
According to other preferred embodiment, described 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.Also may there is the similar equipment of other types.Holding wire and other control connection devices are also comprised in term operating connection.
According to other preferred embodiment, at least one operating connection described fully covers in outer shield.Thus optimize the defencive function of outer shield.
According to other preferred embodiment, outer shield comprises soft bedding and padding.This create a further reduction the risk of the accident of the robotic contact mankind or other exterior objects.
According to other preferred embodiment, wrist comprises the 6th axis of robot, and outer shield is columnar substantially and is concentric with described axis.
Normally, to the demand of the protection setting of operating connection close to being most critical by the instrument of robot manipulation, this means in most of the cases, the 6th axis is included in wrist.Outer cover is to the standard design of described wrist and the favourable adaptation to the optimum extension of operating connection at this wrist place around the concentric setting of this axis.
According to other preferred embodiment, described outer shield is made up of two half-unit, and described two half-unit combines in through the mid-plane of the 6th axis.
When assembling wrist, it is favourable for by this way outer shield being divided into two half-unit.This also makes the described arm of dismounting become simple when such as safeguarding, repairing or adjusting.
According to other preferred embodiment, each operating connection forms at least one loop in outer shield.
Described loop provides possibility for motion in an advantageous manner, and described motion runs in robot and exists round being necessary to operating connection during the rotational motion of the axis of wrist.Because described loop is positioned at the space protected by guard shield, so the motion in loop does not cause the risk with any interference of other objects.
According to other preferred embodiment, described operating connection comprises at least one electric wiring and at least one pneumatic pipeline, and it is arranged so that described electric wiring and pneumatic pipeline arrive described instrument flange in the tangential direction.
According to other preferred embodiment, electric wiring extends approximately at least 90 degree along the inner side of the columnar wall portion of described instrument flange.This is set to electric wiring to provide good adaptation from the spatial joins between guard shield to the tangential direction of described guard shield.
According to other preferred embodiment, each operating connection is all attached to protuberance, and described protuberance is set to the end back on instrument flange of contiguous inner wrist part.By this way to the fixing permission operating connection of operating connection through the in check extension of the space guard shield towards instrument flange.
According to other preferred embodiment, electric wiring terminates in connector, and described connector is arranged on instrument flange.Therefore, wire need not be attached on the electrode of electrical connection by means of instrument individually, and this may be very time-consuming.When wire is attached on connector, just described connector is attached to instrument flange.
According to other preferred embodiment, connector is arranged in the recess be arranged on prejudicially on front side of instrument flange.Recess allows connector to be installed to rapidly on instrument flange, and the position of bias is be drawn to by electric wiring in the interval in outer shield to provide favourable adaptation.
According to other preferred embodiment, inner wrist part comprises the foundry goods of closed gear and bearing, and operating connection extends between foundry goods and outer shield.By means of foundry goods, prevent operating connection to contact bearing and the gear of wrist safely, thus eliminate the risk of the damage produced owing to contacting with these elements.
Be provided with according to the robot invented of wrist of the present invention have to wrist, especially to any one similar advantage in the preferred embodiment of wrist, as mentioned above.
Above-mentioned preferred embodiment of the present invention illustrates in the dependent claims.Should be appreciated that the other preferred embodiment of process can by any possible combination of above-mentioned preferred embodiment and by these with form any possible combination of the feature mentioned in the description of example below.
The present invention is described further by the following detailed description to example of the present invention and with reference to accompanying drawing.
Accompanying drawing explanation
Fig. 1 has the stereogram according to the robot arm with wrist of the present invention.
Fig. 2 is the exploded perspective view of the wrist in Fig. 1.
Fig. 3 is the stereogram of the details of Fig. 2.
Fig. 4 is the side view of wrist when eliminating part in Fig. 1.
Fig. 5 is the end-view of Fig. 4.
Fig. 6 is the schematic side elevation according to industrial robot of the present invention.
Detailed description of the invention
Fig. 1 illustrates the bottom arm 1 be designed to the industrial robot of mankind workman's collaborative work.Arm 1 is connected to wrist 2 by means of the instrument flange 5 for robot tool (not shown).Picture illustrates three articles of last rotations: four axistyle A, the 5th axis B and the 6th axis C.Be contained in package module 3 for the gear of axis five and axis six and motor, described package module 3 partly wraps in soft bedding and padding 4.The front side of instrument flange 5 has for the jockey controlled and power for instrument mounted thereto.Described jockey comprises for the outlet of pneumatic pipeline and the connector 23 for being electrically connected to described instrument.Described connector 23 be connected to be pulled through wrist 2 wiring on.
The major part of wrist 2 is there is shown, i.e. the inner wrist part 6 of wrist 2, the first half portion 8a of outer shield, the second half portion 8b of described outer shield and described instrument flange 5 in the exploded perspective of Fig. 2.Half portion 8a, the 8b of outer shield are shown when removing bedding and padding.
The inner wrist part 6 of wrist 2 has foundry goods 9, the accommodating bearing for the 5th axis and the 6th axis of described foundry goods 9 and gear.Motor 10 for the 5th axis is installed in the left side of foundry goods 9.The motor 11 for the 6th axis can be seen at the rear side of foundry goods 9.Pneumatic pipeline 12 has the loop 14 that extends from the front side of the rear side of inner wrist part 6 internally wrist 6 to be connected to the instrument be arranged on instrument flange 5.Electric wiring 13 with loop 15 also extends to the sidepiece of instrument flange 5 from described rear side.Described electric wiring comprises many wires 7.Pneumatic pipeline 12 and electric wiring 13 stop in the tangential direction relative to the 6th axis, and are tangentially guided about 90 degree in its end.
When part shown in 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.When instrument flange is attached to inner wrist part 6, the columnar wall portion of instrument flange is radially positioned at the outside of foundry goods 9 and is radially positioned at the outside of pneumatic pipeline 12 and electric wiring 13.Therefore, being extended by the part that tangentially the guides inner side along described columnar wall portion 16 of pneumatic pipeline 12 and electric wiring 13.The half portion 8a of outer shield, 8b are mounted to each other and enclose the motor 10 of pneumatic pipeline 12 and electric wiring 13 and the 5th axis.The leading section of outer shield extends in the outside of the columnar wall portion 16 of instrument flange 5.
Have connector 23 in the front side of instrument flange 5, electric wiring 13 is terminated in described connector 23 place and is established the electrical connection of instrument by described connector 23.Also have connection device 24 in the front side of described instrument flange, described pneumatic pipeline terminates in described connection device 24 place and this is for described instrument air supply.
Described connector 23 is mounted in the inserts in the eccentric recess of the front side of instrument flange 5.
The rear side of foundry goods 9 can be seen in figure 3.Lower protuberance 17 and upper protuberance 18 are outstanding from this side.Lower protuberance 17 all provides anchor point for two electrical connectors 20, and provides that the two half-unit 8a to outer shield, 8b's is fixing.Connector on lower protuberance 17 is used for motor phase and ground connection cable material (not shown).Upper protuberance 18 provides two other connector 19 fixing, and it is fixing to provide pneumatic pipeline 12 and electric wiring 13 by means of cable material binding piece 21.Upper protuberance 18 is also provided with the connector for motor position sensor cable material (not shown).
Pneumatic pipeline 12 leaves upper protuberance 18 with electric wiring 13 along identical direction.This is clear that in figures 4 and 5.Pneumatic pipeline 12 and electric wiring 13 occupied the annular volume between foundry goods 9 and outer shield before ending at instrument flange 5 place.Introduce enough slacks and make pneumatic pipeline 12 and each self-forming loop 14,15 of electric wiring.The length of slack makes except except the end of stroke, pneumatic pipeline 12 and electric wiring 13 never impinging one another.Electric wiring tangentially terminates in instrument flange 5 place, and therefore its cable material loop is formed in so-called " rotation bending portion " in the rotary course of axis six.Similar motion is realized for the pneumatic pipeline 12 equally tangentially stopped.Utilize two rotation bending portion, obtain and just rotate through the flange of instrument completely of 360 °.
There is from the rearwardly projecting columnar wall portion 16 of instrument flange 5 purposes holding the loop 14 of pneumatic pipeline 12 and the loop 15 of electric wiring 13.When instrument flange 5 is return from maximum position of rotation, columnar wall portion 16 prevents pneumatic pipeline 12 and electric wiring 13 from bending.When not having columnar wall portion, the rotation bending portion of electric cable material may not successfully return from peak excursion position.This is due to the following fact: when electric wiring is pulled the shrinkage part through being formed at the neck place of foundry goods 9, and the loop in rotation bending portion is forced to be pressed on the flat instrument that leans against flange 5.When returning from peak excursion, flat loop radially expands and a part touches outer shroud wall.The friction that this point is subject to makes described loop resist rotation, therefore described loop part bending below.By contrast, when instrument flange 5 columnar wall portion 16 in position time, radially expand loop contact along with instrument flange 5 move surface, therefore, whole loop can be return through the shrinkage part of the neck of foundry goods 9, and does not bend.
Fig. 6 illustrates the industrial robot with bottom arm 1, and wherein, described bottom arm 1 is with good grounds wrist of the present invention 2.
Claims (15)
1. the wrist for industrial robot (2), described wrist (2) comprises inner wrist part (6) and process wiring, it is characterized in that, described wrist (2) comprises the 6th axis (C) of described robot, described inner wrist part (6) comprises solid shafting drive disk assembly, described wrist (2) also comprises outer shield, described outer shield is columnar substantially and is concentric with described 6th axis (C), space is formed between described inner wrist part (6) and described outer shield, described space has the form of annular volume, described process wiring is arranged in the described space in described outer shield.
2. wrist according to claim 1, it is characterized in that, described wrist (2) also comprises instrument flange (5), described instrument flange (5) have perpendicular to the plane substantially of described 6th axis (C) part and there is columnar wall portion (16), described columnar wall portion (16) is concentric with described 6th axis (C) and is projected in described outer shield.
3. wrist according to claim 2, is characterized in that, described process wiring extends in described columnar wall portion (16).
4. wrist according to any one of claim 1 to 3, is characterized in that, described process wiring comprises at least one electric wiring (13) and/or at least one pneumatic pipeline (12).
5. wrist according to any one of claim 1 to 3, is characterized in that, described process wiring is covered completely in described outer shield.
6. wrist according to any one of claim 1 to 3, is characterized in that, described outer shield comprises soft bedding and padding (4).
7. wrist according to any one of claim 1 to 3, it is characterized in that, described outer shield is made up of two half-unit (8a, 8b), and described two half-unit (8a, 8b) combines in through the mid-plane of described 6th axis (C).
8. wrist according to any one of claim 1 to 3, is characterized in that, described process is routed in described outer shield and forms at least one loop.
9. the wrist according to Claims 2 or 3, it is characterized in that, described process wiring comprises at least one electric wiring (13) and at least one pneumatic pipeline (12), and described electric wiring (13) and described pneumatic pipeline (12) tangentially direction arrive described instrument flange (5).
10. wrist according to claim 9, is characterized in that, described electric wiring (13) extends at least 90 ° along the inner side of described columnar wall portion (16).
11. wrists according to claim 9, is characterized in that, described electric wiring (13) terminates in connector (23), and described connector (23) is arranged on described instrument flange (5).
12. wrists according to claim 11, is characterized in that, described connector (23) is arranged in the recess be arranged on prejudicially in described instrument flange (5).
13. wrists according to Claims 2 or 3, is characterized in that, described process wiring is attached to protuberance, and described protuberance is set to the end back on described instrument flange (5) of contiguous described inner wrist part (6).
14. wrists according to any one of claim 1 to 3, it is characterized in that, described inner wrist part comprises the foundry goods (9) of accommodating gear and bearing, and described process is routed between described foundry goods (9) and described outer shield and extends.
15. 1 kinds of industrial robots, is characterized in that, described robot (101) comprises the wrist (2) according to any one of claim 1 to 14.
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 CN102781632A (en) | 2012-11-14 |
| CN102781632B true 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) |
Families Citing this family (9)
| 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 |
| 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 |
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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 |
| 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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| JPH0752074B2 (en) | 1990-08-09 | 1995-06-05 | 株式会社日本製鋼所 | Method for launching mobile charging electric heat gun and mobile charging electric heat gun |
| JPH0957680A (en) | 1995-08-18 | 1997-03-04 | Tokico Ltd | Industrial robot |
| JPH1133973A (en) * | 1997-07-14 | 1999-02-09 | Fanuc Ltd | Shielded-type industrial robot |
| CA2213287A1 (en) * | 1997-08-18 | 1999-02-18 | Clement Tessier | Apparatus for shielding an articulated structure |
| US6082290A (en) * | 1997-09-15 | 2000-07-04 | Conlin; Douglas | Paint spray booth with robot |
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| JP4280295B2 (en) | 2007-06-20 | 2009-06-17 | ファナック株式会社 | Industrial robot |
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2010
- 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 (4)
| 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 |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2011107143A1 (en) | 2011-09-09 |
| CN102781632A (en) | 2012-11-14 |
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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. |