CN202169594U - Industrial robot and robot arm used for industrial robot - Google Patents
Industrial robot and robot arm used for industrial robot Download PDFInfo
- Publication number
- CN202169594U CN202169594U CN201120257685XU CN201120257685U CN202169594U CN 202169594 U CN202169594 U CN 202169594U CN 201120257685X U CN201120257685X U CN 201120257685XU CN 201120257685 U CN201120257685 U CN 201120257685U CN 202169594 U CN202169594 U CN 202169594U
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- robot arm
- flexible conduit
- guide member
- rotating shaft
- robot
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Abstract
The utility model relates to a robot arm used for an industrial robot comprising an arm part rotating around a first rotating shaft A and a wrist part, which is connected with the robot arm part and can rotate around a second rotating shaft. The second rotating shaft and the first rotating shaft are arranged in an intersected manner and can form an angle. A tool auxiliary connection device disposed on the wrist part can rotate around a third rotating shaft. A flexible conduit can be used for the protection between the outlet port of the robot arm part and the tool auxiliary connection device and used for guiding the wiring therebetween. The outlet port and the first rotating shaft are in a concentric arrangement. A guide member used for the flexible conduit is connected with the wrist part. The guide member is designed to be used for receiving the flexible conduit, guiding the flexible conduit to penetrate through the guide member, and allowing the flexible conduit to do the axial motion with respect to the guide member and the wrist part. The utility model also relates to an industrial robot comprising an upper robot arm having the characteristics of the robot arm.
Description
Technical field
The utility model relates to robot arm that is used for industrial robot and the industrial robot that comprises robot arm.
Background technology
A kind of industrial robot; Form by interconnective robot part, this robot part such as be for example the robot frame, down robot arm, go up robot arm, arm cover, wrist, instrument attached peripheral device (for example rolling disc (turn disc)) and be installed in instrument or other annexes on the instrument attached peripheral device.Along the robot part, and sometimes in the robot part, arrange various wirings (cabling).These various wirings can comprise the robot wiring of the power supply that is provided for drive motor (this motor driven machine people rotatablely moves); And other so-called process wirings that are used for providing power supply to the instrument such as electric power or compressed air; Be used for the control wiring of control signal; The conduit that is used for fluid or gas is to stand-by circuit of client's specific requirement etc.Can be in manufactory's installation wiring before paying robot, and/or can be after paying by buyer's installation wiring of robot.
In order to protect wiring, usually cable, conduit and flexible pipe are collected in the protection tube together, protection tube is processed by flexible material usually, and it will be called as flexible conduit in following.The bag of this type of wiring that is centered on by the protectiveness flexible conduit, flexible pipe etc. is commonly called the wiring bag, or more simply, is called as the cable bag.
Have multiple industrial robot, it is inner so that protection is provided wherein to be routed in some part that is positioned at this robot in varying degrees.The example of above-mentioned robot is open in WO 2008/077896A1 and EP-A1-2022609.
In the operating period of robot; The cable bag (promptly; Protectiveness flexible conduit and the wiring and the flexible pipe of portion within it) experience such as crooked, elastic extension and reverse load and stress, this mainly is because crooked with rotation and during the repetitive cycling of being everlasting, occur the cable bag time.When through being attached to robot arm or other machines people part with the cable bag fixedly the time, cable bag and the tension force on the part is obvious especially separately.
Usually, it is inner not to be positioned at any robot part by end user's installation with the wiring as bunch of cables, but is attached to this arm along robot arm and at mutual separated a plurality of points.Between these a plurality of points, arrange this wiring with non-stretching mode, this makes this arm has quite high scope under the situation that does not receive this wiring restriction freely-movable.Because the relatively friction of this arm, such wiring is worn and torn especially, and depends on the environment that this robot is positioned at and suffer dust and pollution.
The utility model content
A purpose of the utility model is that a kind of robot arm is provided and corresponding robot is provided that this robot arm is that robot wiring provides flexibility and protection.This target is through realizing according to the robot arm of the utility model with according to the industrial robot of the utility model.
Therefore; Define the robot arm that is used for industrial robot; This robot arm comprises and is used for around the arm part of first rotating shaft A rotation and is connected to the robot arm part and can be around the wrist part of second rotating shaft B rotation; The second rotating shaft B intersect with the first rotating shaft A and with the first rotating shaft A angulation, this robot arm also comprises the instrument attached peripheral device that is assemblied on the said wrist part, the instrument attached peripheral device can be rotated around the 3rd rotating shaft C; And this robot arm also comprises the flexible conduit that is used between the exit opening of robot arm part and said instrument attached peripheral device protection and is guided in wiring wherein; This exit opening is concentric with the first rotating shaft A, it is characterized in that, this robot arm comprises the guide member that is used for flexible conduit; This guide member is attached to the wrist part, and this guide member is designed to receive flexible conduit and the guiding flexible conduit passes this guide member and allows the axially-movable of flexible conduit about this guide member and wrist part.
According to another feature, the guide member of this robot arm can be designed to allow flexible conduit in guide member and rotatablely moving about guide member.
As supplementary features; This guide member can be designed as sleeve pipe and this guide member with two openends and has conical interior shape at its at least one end, and this conical interior shape has the internal diameter wideer than the inside of sleeve pipe at openend.
According to another feature, can comprise the terminal protective device that is used for flexible conduit according to the robot arm of the utility model, this end protective device is designed to be assembled in flexible conduit in the face of on the end of instrument attached peripheral device.This end protective device can be designed as the two sleeve pipes that comprise inner sleeve part and outer tube part; This inner sleeve part is connected through end wall with the end of outer tube part at them; Thereby make when on the end that should the end protective device through the end of insertion flexible conduit between inner sleeve part and outer tube part be assemblied in flexible conduit this end abutment end wall of flexible conduit.
In addition, the end wall of this end protective device can have the outer shape of the circle that is suitable for not damaging any wiring of leaving flexible conduit.
According to another feature; This end protective device can also be attached at the terminal of the flexible conduit of the outlet side extension of guide member and be designed to have and prevent that it from can insert the outer shape of guide member; Thereby also serve as arresting stop; When in a single day this arresting stop is inserted into guide member and should the end protective device be attached to this end of flexible conduit at flexible conduit, prevent that flexible conduit from withdrawing from guide member.
As supplementary features; Can also comprise the maintenance equipment that is used at the flexible conduit at the exit opening place of robot arm part according to the robot arm of the utility model, this maintenance equipment is arranged to about the fixing flexible conduit of robot arm part axial.In addition, this maintenance equipment can be arranged to and allow the rotation of flexible conduit about this maintenance equipment.
According to the utility model; Also define a kind of industrial robot; It comprises the frame that rotatably is assemblied on the pedestal; Be pivotally connected to this and support the following robot arm of going up robot arm, it is characterized in that robot arm comprises the characteristic according to the robot arm that robot arm limited of the utility model on this.
The utility model provides the advantage that the route of protection is provided for the wiring of installing in manufactory; And also has possibility by end user's installation wiring and bunch of cables; At the place, final position of mounting robot, it is protected with the route of protecting and limit flexible conduit.
In addition; Pass through the utility model; Realized having avoided reversing of flexible conduit, because the bunch of cables of swing is loaded into flexible conduit to the advantage of the unrestricted workspace of the 4th and the 5th manipulator shaft; Thereby do not have the speed restriction that causes owing to the bunch of cables of waiting for swing, also improved robot motion's predictability.Especially, since obtained flexible conduit be attached to wrist part and instrument attached peripheral device place axially with rotatablely move the two possibility, and the conical end shape of guide member, so realized the improved adaptation of bending motion.
Description of drawings
To carry out reference to the different aspect that illustrates the utility model that only is provided as example and the accompanying schematic figure of embodiment now, to describe the utility model in further detail, wherein:
Fig. 1 schematically illustrates the industrial robot that comprises robot arm according to the utility model;
Fig. 2 schematically illustrates an embodiment according to the robot arm of the utility model;
Fig. 3 schematically illustrates the zoomed-in view of the part of the robot arm among Fig. 2;
Fig. 4 schematically illustrates the part according to the robot arm of the utility model with cross section, particularly is installed in the guide member on the flexible conduit;
Fig. 5 schematically illustrates the guide member of the Fig. 4 with the flexible conduit that comprises wiring with cross section; And
Fig. 6 schematically illustrates the robot arm according to the utility model from different perspectives.
In the accompanying drawings, similar elements in the different modification or corresponding element have been given identical reference number.
The specific embodiment
In Fig. 1, schematically illustrate 6 shaft industrial robots.Yet clearly the utility model is not limited to this robot, but possibly be used to have more or less robot.Illustrated robot has the frame 1 that rotatably is assemblied on the pedestal 2, and this pedestal makes frame 1 rotate around vertical first manipulator shaft.Following robot arm 3 is connected to frame and around the second manipulator shaft pivotal connection.Following robot arm 3 supports the upper arm 4 of robot.Following robot arm and last robot arm are around the 3rd manipulator shaft pivoted.Last robot arm 4 can rotate around the 4th manipulator shaft.Upper arm 4 supports wrist part 7 in its outer end, and said wrist part comprises can around the inclination part 8 of the 5th manipulator shaft rotation and support can be around the instrument attached peripheral device 9 of the 6th manipulator shaft rotation.End effector 10 such as the annex of soldering appliance or other expectations can be assemblied on the instrument attached peripheral device 9.In order to drive the part that is connected in axle rotation separately, motor and necessary transmission device are provided.Along the aforesaid flexible conduit 5 of robot arm 4 assemblings.In flexible conduit 5, be laid with necessary wiring, exit opening 12 is passed at this place, the inner that is routed in upper arm 4, on the upper arm next door, and up to instrument attached peripheral device 9.Exit opening 12 is concentric with the first rotating shaft A.Can with the wiring further cloth be made as pass in the instrument attached peripheral device with the 3rd rotating shaft C concentric openings in the instrument attached peripheral device.
Other parts of the wiring of cable bag and necessity do not illustrate, but they can and be assemblied in robot part inside or outside in varying degrees according to combining form.In illustrated robot type, upper arm 4 has to be positioned at and departs from upper arm rotating shaft and the part parallel with this, and this is called as the first rotating shaft A below upper arm rotating shaft.
In Fig. 2 to Fig. 6, illustrate robot arm in more detail according to the utility model.Robot arm 4 comprises arm part 6 and wrist part 8.This arm part can rotate around the first rotating shaft A.Be provided with in the outer end of arm part 6 and comprise and be used for intersecting also shape at an angle that the second rotating shaft B is perpendicular to the first rotating shaft A in illustrated embodiment around wrist part 8, the second rotating shaft B of the tilt function of second rotating shaft B rotation and the first rotating shaft A.Far-end at wrist part 8 is connected with instrument attached peripheral device 9, and instrument attached peripheral device 9 can be rotated around the second rotating shaft B pivot through the wrist part, and instrument attached peripheral device 9 can be rotated around the 3rd rotating shaft C equally.The 3rd rotating shaft C can depend on the pivot angle of wrist part 8 and aim at the first rotating shaft A or intersect with the first rotating shaft A.Usually, the first rotating shaft A and the 3rd rotating shaft C will be positioned at same vertical plane.Instrument attached peripheral device 9 can comprise so-called rolling disc (turning disc) and/or tool, on them, is equipped with actual tool 10.
Guide the flexible conduit 5 that is used to connect up with flexible pipe at wrist part 8 places through guide member 14, guide member 14 is attached to the wrist part via attached peripheral device.In Fig. 3 and Fig. 4, illustrate guide member 14 in more detail.Guide member 14 is designed to have the basic sleeve-shaped of two openends, and its suitable flexible conduit 5 passes guide member.The inside of guide member 14 is designed to the free axially-movable of the flexible conduit 5 in the guide member, and is used for the motion that rotates freely of the interior flexible conduit of guide member.In order under the situation of not damaging flexible conduit, to promote the bending of flexible conduit, the inlet opening 15 of guide member can have conical interior shape.Through this conical interior shape, when flexible conduit is crooked at the some place that gets into guide member, bigger bending radius and littler wearing and tearing and the advantage of tension force on flexible conduit, have been obtained.If expectation, guide member 14 can also have conical interior shape at the end that flexible conduit leaves guide member for the same reason.
In Fig. 3, Fig. 4 and Fig. 5 in the illustrated embodiment, for the end of flexible conduit 5 provides terminal protective device 16.Terminal protective device is designed to two sleeve pipes; It comprises inner sleeve part 17 and outer tube part 18; This inner sleeve part is connected through end wall 19 with the end of outer tube part at them; Thereby made the 20 last times of end that are mounted to flexible conduit 5 when terminal protective device that the end of flexible conduit was in abutting connection with said end wall and thereby be protected in pair sleeve pipes.Alternatively, terminal protective device can be described to outer tube part 18, and an end of this outer tube part is inwardly turned up and thereby formation end wall 19 and inner sleeve part 17.
Terminal protective device 16 in the illustrated embodiment also has second function, and this second function is as arresting stop, and this arresting stop prevents that flexible conduit 5 from can be extracted from guide member 14.For this purpose, in case having on the end that is mounted to flexible conduit, terminal protective device 16 prevents that it is inserted into the outer shape of guide member.In illustrated example, in the face of the free end 22 of the outer tube part 18 of guide member when attempting that flexible conduit pulled out guide member backward, serve as the flange that stops near the associated end 23 of guide member.
Robot arm according to the utility model also comprises the maintenance equipment 26 that is used for flexible conduit 5; This maintenance equipment 26 is disposed in exit opening 12 places of the inner of robot arm 4; This place's flexible conduit from the inside of robot arm withdraw from, as shown in Figure 6.This maintenance equipment 26 is designed to make it to allow rotating freely of the interior flexible conduit 5 of maintenance equipment, and at the same time, it prevents the axially-movable of flexible conduit.Therefore, arm part 6 can rotate freely about flexible conduit 5 equally.Can be in the example that obtains to be used to be assemblied in the maintenance equipment 26 on the flexible conduit with corrugated outer shape on the market with above-mentioned functions.This maintenance equipment also can be designed to make it be minimized in the wearing and tearing on the flexible conduit, and thereby serves as protective cannula.
The utility model should not be limited to shown example and embodiment, but can as will being recognized by those skilled in the art, in the scope of appended Patent right requirement book, be revised in every way.
Claims (10)
1. robot arm that is used for industrial robot; Said robot arm comprises and is used for around the arm part (6) of first rotating shaft A rotation and is connected to said robot arm part and can be around the wrist part (8) of second rotating shaft B rotation; The said second rotating shaft B intersect with the said first rotating shaft A and with the said first rotating shaft A angulation; Said robot arm also comprises the instrument attached peripheral device (9) that is assemblied on the said wrist part; Said instrument attached peripheral device can be rotated around the 3rd rotating shaft C; And said robot arm also comprises the flexible conduit (5) that is used between the exit opening (12) of said arm part and said instrument attached peripheral device protection and is guided in wiring wherein; Said exit opening is concentric with the said first rotating shaft A, it is characterized in that, said robot arm comprises the guide member (14) that is used for said flexible conduit (5); Said guide member is attached to said wrist part (8), and said guide member is designed to receive said flexible conduit and guides said flexible conduit and pass said guide member and allow the axially-movable of said flexible conduit about said guide member and said wrist part.
2. robot arm according to claim 1 is characterized in that, said guide member (14) be designed to allow said flexible conduit (5) in said guide member and rotatablely moving about guide member.
3. robot arm according to claim 1 and 2; It is characterized in that; Sleeve pipe and said guide member that said guide member (14) is designed to have two openends have conical interior shape at its at least one end, and said conical interior shape has the internal diameter wideer than the inside of said sleeve pipe at said openend.
4. robot arm according to claim 1 and 2; It is characterized in that; Said robot arm comprises the terminal protective device (16) that is used for said flexible conduit (5), and said terminal protective device (16) is designed to be assembled in said flexible conduit in the face of on the end of said instrument attached peripheral device (9).
5. robot arm according to claim 4; It is characterized in that; Said terminal protective device (16) is designed to comprise two sleeve pipes of inner sleeve part (17) and outer tube part (18); Said inner sleeve part is connected through end wall (19) with the end of outer tube part at them; Thereby make when on the end that said terminal protective device (16) is assemblied in said flexible conduit through the end of the said flexible conduit of insertion (5) between said inner sleeve part and said outer tube part the said end wall of end adjacency of said flexible conduit.
6. robot arm according to claim 5 is characterized in that, the end wall (19) of said terminal protective device (16) has the outer shape of the circle that is suitable for not damaging any wiring (24) of leaving said flexible conduit.
7. robot arm according to claim 4; It is characterized in that; Said terminal protective device (16) is attached to the end at the said flexible conduit (5) of the outlet side extension of said guide member; And said terminal protective device is designed to have and prevents that it from can insert the outer shape of said guide member (14); Thereby also serve as arresting stop, in a single day said arresting stop is inserted into said guide member and said terminal protective device when being attached to said flexible conduit terminal at said flexible conduit, prevents that said flexible conduit from withdrawing from said guide member.
8. robot arm according to claim 1 and 2; It is characterized in that; Said robot arm comprises the maintenance equipment (26) of the said flexible conduit (5) that is used for locating at the said exit opening (12) of said robot arm part (6), and said maintenance equipment is arranged to about the fixing said flexible conduit of said robot arm part axial.
9. robot arm according to claim 8 is characterized in that, said maintenance equipment (26) is arranged to and allows the rotation of said flexible conduit (5) about said maintenance equipment.
10. industrial robot; Comprise the frame (1) that rotatably is assemblied on the pedestal (2); Be pivotally connected to said and support to go up the following robot arm (3) of robot arm (4); It is characterized in that the said robot arm of going up comprises the characteristic according to the said robot arm that each limited among the claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120257685XU CN202169594U (en) | 2011-07-14 | 2011-07-14 | Industrial robot and robot arm used for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120257685XU CN202169594U (en) | 2011-07-14 | 2011-07-14 | Industrial robot and robot arm used for industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202169594U true CN202169594U (en) | 2012-03-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201120257685XU Expired - Lifetime CN202169594U (en) | 2011-07-14 | 2011-07-14 | Industrial robot and robot arm used for industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202169594U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107775199A (en) * | 2017-11-17 | 2018-03-09 | 奥士康科技股份有限公司 | Circuit board cutting machine and circuit board cutting method |
-
2011
- 2011-07-14 CN CN201120257685XU patent/CN202169594U/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107775199A (en) * | 2017-11-17 | 2018-03-09 | 奥士康科技股份有限公司 | Circuit board cutting machine and circuit board cutting method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180522 Address after: Baden, Switzerland Patentee after: ABB TECHNOLOGY LTD. Address before: Zurich Patentee before: ABB T & D Technology Ltd. |
|
| TR01 | Transfer of patent right | ||
| CX01 | Expiry of patent term |
Granted publication date: 20120321 |
|
| CX01 | Expiry of patent term |