WO2010127701A1 - Articulation de robot à commande de tangage et roulis et robot industriel - Google Patents

Articulation de robot à commande de tangage et roulis et robot industriel Download PDF

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Publication number
WO2010127701A1
WO2010127701A1 PCT/EP2009/055537 EP2009055537W WO2010127701A1 WO 2010127701 A1 WO2010127701 A1 WO 2010127701A1 EP 2009055537 W EP2009055537 W EP 2009055537W WO 2010127701 A1 WO2010127701 A1 WO 2010127701A1
Authority
WO
WIPO (PCT)
Prior art keywords
pitch
robot
roll
joint
gear
Prior art date
Application number
PCT/EP2009/055537
Other languages
English (en)
Inventor
Arne TRANGÄRD
Ivan Lundberg
Original Assignee
Abb Research Ltd
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 filed Critical Abb Research Ltd
Priority to PCT/EP2009/055537 priority Critical patent/WO2010127701A1/fr
Publication of WO2010127701A1 publication Critical patent/WO2010127701A1/fr

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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • 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
    • B25J17/0258—Two-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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators

Definitions

  • This invention relates to a pitch and roll robot joint including a differential gear.
  • the invention also relates to an industrial robot having such a robot joint.
  • BACKGROUND From US 4,608,884 is previously known a joint of a hand element or wrist of a robot.
  • the housing of the hand element is pivoted around a first axis while resting between two fork arms on the end of the boom connected to the robot arm.
  • Two reduction gears which can be separately driven, are provided in the housing and are arranged coaxially to the first axis.
  • the reduction gears are arranged to drive coaxial bevel gears which, in their turn, are engaged with additional bevel gears supported by the housing and extended at right angle to the previous bevel gears.
  • the shaft of one of the bevel gears supports a flange which rotates around a secondary rotary axis running at a right angle to the first axis.
  • the drive shafts are capable of commonly driving both the pitch and roll movements, thus getting the advantage of an even distribution of the load torque to the motors.
  • the prior art em- bodiments of this type of robot wrist joint need extensive gearing that adds to weight and complexity.
  • An object of the invention is to further develop a robot joint of the kind de- scribed above that has fewer components in order to be more lightweight and less complicated.
  • a pitch and roll robot joint including a differential gear, comprising a base structure, a pitch housing rotationally supported in the base structure, a roll shaft rotationally supported in the pitch housing and including a planet gear wheel of said differential gear, left and right transversally oriented drive shafts rotationally supported in the pitch housing, each drive shaft including a side gear wheel of said differential gear in engagement with the planet gear wheel for providing pitch movement to the pitch housing and roll movement to the roll shaft, characterized by the robot joint having left and right drive transmissions, each transmission being in operative engagement between a respective pair of a motor shaft and one of said drive shafts.
  • both transmissions may be of identical and simple design and located laterally away from the joint, providing space for interior cabling in the joint. This may be suitable when the joint is a wrist joint.
  • the inven- tion is, however, not restricted to wrist joints but may also be applied to other joints in a robot structure.
  • motor shafts may be oriented for example perpendicularly to the drive shafts
  • the motor shafts are transversely oriented, i.e. with motor shafts in parallel with the drive shafts.
  • the drive transmissions may be further simplified by not needing any angled gear connections.
  • the motors may be located rearwardly away from the joint, for example in a robot boom structure supporting a wrist joint, or in a corresponding connection part when the joint is used elsewhere in a robot, in one embodiment of the invention the joint has a pair of motors, each having one of said transversally oriented motor shafts.
  • the roll shaft is provided with a through-going axial cavity.
  • both ends of the joints are free from internal components, sufficient space will be provided for arranging axially internal cabling all the way through the joint, for example, up to an end effector, in case the joint is a wrist joint.
  • Each drive transmission can be a belt transmission.
  • each drive transmission can be a gear transmission.
  • the motors may be located at a desired distance away from the pitch housing - in the base structure or in a rearward structure such as a robot boom supporting a wrist, in case the joint is a wrist joint, or a corresponding connection part when the joint is used elsewhere in a robot.
  • the motors can further be arranged in a spaced lateral side-by-side configuration. Thereby the internal cabling may extend in the space between the motors.
  • the planet gear is a crown gear and the side gear is a crown gear pinion gear wheel.
  • the necessary gear engagement force in the planet gear will be oriented substantially in the forward direction of the joint only, this force will be fully absorbed by the radial bearings of the drive shafts of the side gears with little or no need of further axial and radial support, for example by shims or counteracting gear wheels as common in other types of differential gears. Accordingly, the necessary components of the planet gear may thereby be minimized, sav- ing weight and leaving space for internal cabling in the joint.
  • the robot joint may suitably be wrist joint.
  • the invention is also concerned with an industrial robot having at least one robot joint according to the invention.
  • FIG. 1 is a rearward side view of a robot joint according to the invention having belt drive transmissions
  • FIG. 2 is a is a sectional side view of the robot joint shown in FIG. 1 ;
  • FIG. 3 is a rear end perspective view of the robot joint shown in FIG. 1 ;
  • FIG. 4 is a diagrammatic side view with parts broken away of a robot joint according to the invention having gear drive transmissions;
  • FIGS. 5A and 5B are rearward respective side and sectional views of a pitch housing according to the invention.
  • FIG 6 is a schematic illustration of a six-axis industrial robot.
  • corresponding components are throughout designated by the same numerals.
  • FIG. 6 is schematically illustrated a conventional six-axis industrial robot 14.
  • the illustrated robot has a stand 1 that is rotatably mounted on a base 2, which enables it to rotate about a vertical axis A.
  • a lower robot arm 3 is connected to the stand and is pivotably mounted about an axis 4.
  • the lower robot arm 3 supports the robot's upper arm 5.
  • the lower and upper ro- bot arms are pivoted about an axis 6.
  • the upper arm 5 is rotatable about an axis B that coincides with the longitudinal axis of the upper arm.
  • the upper arm supports a wrist part 7 at its outer end, said wrist part comprising a tilt part 8 that is rotatable about an axis C and a turning disc 9 that is rotatable about an axis D.
  • An end effector such as a robot tool or other desired attachment is mountable on the rotatable turn disc 9.
  • the axes A, B and D are axes where a roll movement is obtained and the axes 4, 6 and C are axes where a pivoting movement or pitch is obtained.
  • the robot has three pitch and roll modules where a pitch and roll joint according to the present invention may be used, namely the joint between the base 2 and the lower arm 3 which is located in the stand 1 and includes the axes A and 4, the joint between the lower arm 3 and the upper arm 5 which includes the axes B and 6, and the joint between the upper arm 5 and the wrist part 7 which includes the axes C and D.
  • the robot is illustrated as having a wrist joint designed as a pitch and roll joint 10 according to the invention, as an example.
  • the details of the inventive pitch and roll joint 10 are described in relation to an embodiment of the invention in a robot wrist.
  • the pitch and roll wrist embodiment of a robot joint 10 shown in the drawings is adapted for connection to a boom 12 or corre- sponding connection part of a diagrammatically depicted industrial robot 14 (FIG.1 ).
  • the wrist joint 10 has a base structure 20 that may be considered to have a U-shaped forward portion 30, a box-shaped intermediate portion 40 and a rearward boom-connecting portion 50 comprising a hollow pipe 52.
  • the base structure 20 is further formed with a hollow axial interior or a through-going axial passage to allow unobstructed passage through the wrist joint 10 of flexible cabling 120 (FIG. 1 ) capable of supplying power and control signals to a diagrammatically depicted end effector 122 (FIG. 1 , 2) attached to the wrist joint 10.
  • the U-shaped forward portion 30 of base structure 20 has a pair of lateral flanges 32 defining a space therebetween for a generally T-shaped pitch housing 60, which in the case of a wrist joint is a tilt housing.
  • the pitch housing 60 is rotationally supported by the lateral flanges 32 about a transverse pitch axis 62.
  • pitch housing 60 is supported by roller bearings 38 (FIG. 2).
  • Each roller bearing 38 is retained in a circular recess defined by the corresponding flange 32 and an end piece 34 that clamps the bearing 38 in place by means of screw joints 36.
  • Retaining means such as one or more washers 124 (FIG. 1 ) may be provided for example in the pitch housing 60 to keep the cabling 120 clear from the gear wheels supported in the pitch housing 60.
  • cabling 120 may also have a slack for allowing the rotational movement of pitch housing 60.
  • the slack may, however, alternatively be present in robot components (not shown) rearward of the wrist joint 10.
  • a roll shaft 70 having an axial bore 74 is rota- tionally supported by roller bearings 64 in the pitch housing 60 about a roll axis 72 extending in a radial plane to the pitch axis 62 in the pitch housing 60.
  • a hollow front end flange 78 of roll shaft 70 is adapted for attachment to the end effector 122, in the case of a wrist joint. When the joint is used elsewhere in a robot the front end is adapted for connection to another corresponding robot part.
  • a rear end of roll shaft 70 is provided with a planet gear wheel 76 forming part of a differential gear yet to be described in more detail.
  • Left and right drive shafts 80 are rotationally supported about the pitch axis 62 in the pitch housing 60 via respective pairs of roller bearings 66.
  • An inner end of each drive shaft 80 is provided with a side gear wheel 82 meshing with the planet gear wheel 76 to complete the resulting differential gear.
  • gear wheels may be used in embodiments of the invention, such as two pairs of opposing angled gear wheels, e.g. bevel gears, as in a conventional differential gear
  • the single planet gear wheel 76 is a crown gear wheel and the two side gear wheels 82 are crown gear pinion wheels. This arrangement does not need any close alignment of the drive shafts 80 in the axial direction thereof in order to secure sufficient gear engagement as compared to a traditional differential gear having an angled gear engagement.
  • each drive shaft 80 is driven by a respective electric motor 90 via a belt transmission 100 comprising a belt 102, a drive shaft pul- ley 104 and a motor shaft pulley 106.
  • each transmission 100 may alternatively comprise a gear transmission 80 having, for example, four serially meshing gear wheels, i.e. a gear wheel 108 connected to the drive shaft 80, intermediate gear wheels 110, 112 freely journalled to the base structure 20, and a gear wheel 114 connected to the motor shaft 92.
  • the transmission may also be a sprocket chain transmission (not shown).
  • the motors 90 have transversally oriented motor shafts 92 and are, in the shown embodiment, located in the intermediate box-shaped portion 40 of the base structure 20, supported to lateral walls 42 of portion 40. As apparent from FIG. 3, the motors 90 are also spaced from each other not to obstruct the internal axial passage of wrist joint 10. As indicated above, motors 90 may also be located away (not shown) from the base structure 20.
  • the joint functions as follows. When the two motors are simultaneously driven in the same direction at the same speed, the pitch part of the joint will rotate and the roll will not. When the two motors are simultaneously driven at the same speed in opposite directions, the roll part of the joint will rotate and the pitch will not. Any other combination of motor movements will make both pitch and roll move simultaneously.

Abstract

La présente invention se rapporte à une articulation de robot à commande de tangage et roulis (10) comprenant un engrenage différentiel, comprenant une structure de base (20), un boîtier de tangage (60) supporté rotatif dans la structure de base (20), un arbre de roulis (70) supporté rotatif dans le boîtier de tangage (60) et comprenant une roue planétaire (76) dudit engrenage différentiel, des arbres d'entraînement gauche et droit orientés de manière transversale (80) supportés rotatifs dans le boîtier de tangage (60), chaque arbre d'entraînement comprenant une roue d'engrenage latérale (82) dudit engrenage différentiel en prise avec la roue planétaire (76) pour fournir un mouvement de tangage au boîtier de tangage (60) et un mouvement de roulis à l'arbre de roulis (70). Selon l'invention, l'articulation comporte des transmissions d'entraînement gauche et droite (100), chaque transmission étant en prise fonctionnelle entre une paire respective d'un arbre de moteur (92) et de l'un desdits arbres d'entraînement (80).
PCT/EP2009/055537 2009-05-07 2009-05-07 Articulation de robot à commande de tangage et roulis et robot industriel WO2010127701A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2009/055537 WO2010127701A1 (fr) 2009-05-07 2009-05-07 Articulation de robot à commande de tangage et roulis et robot industriel

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2009/055537 WO2010127701A1 (fr) 2009-05-07 2009-05-07 Articulation de robot à commande de tangage et roulis et robot industriel

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WO2010127701A1 true WO2010127701A1 (fr) 2010-11-11

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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103264399A (zh) * 2013-05-08 2013-08-28 南京航空航天大学 机器人腰臂一体化同步双驱机构及其控制方法
CN103994311A (zh) * 2014-05-19 2014-08-20 上海大学 多功能三自由度智能云台
EP2711145A4 (fr) * 2011-05-13 2015-08-26 Kawasaki Heavy Ind Ltd Robot industriel à articulations multiples
WO2016084178A1 (fr) * 2014-11-26 2016-06-02 株式会社安川電機 Bras de robot et système de robot
CN105945933A (zh) * 2016-07-14 2016-09-21 广东技术师范学院 一种工厂用货物搬运机器人
CN106015861A (zh) * 2016-08-08 2016-10-12 北京奇正数元科技股份有限公司 一种无人机航空相机的三轴云台
CN106142132A (zh) * 2016-09-22 2016-11-23 电子科技大学中山学院 刚度连续可调的机器人柔性关节
CN106737822A (zh) * 2016-12-28 2017-05-31 中国科学院长春光学精密机械与物理研究所 一种大扭矩紧凑型机械臂关节
US20180311834A1 (en) * 2017-04-26 2018-11-01 Kabushiki Kaisha Yaskawa Denki Robot
CN109048990A (zh) * 2018-08-30 2018-12-21 东北大学 一种三电机驱动的二自由度关节结构
WO2020148706A1 (fr) * 2019-01-16 2020-07-23 Genesis Robotics And Motion Technologies, LP Agencement d'actionneur compact
USD958213S1 (en) 2021-01-14 2022-07-19 Genesis Advanced Technology Inc. Actuator
WO2022164025A1 (fr) * 2021-01-27 2022-08-04 삼성전자주식회사 Dispositif de joint différentiel pour robot et procédé de diagnostic d'état de dispositif de joint différentiel pour robot

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4608884A (en) * 1982-08-03 1986-09-02 Eke Robotersysteme Gmbh Apparatus for driving two axes of the hand element of an industrial robot
JPS6310087U (fr) * 1986-07-04 1988-01-22
US4972735A (en) * 1986-06-09 1990-11-27 Fanuc Ltd. Wrist assembly for an industrial robot
US5549016A (en) * 1993-04-28 1996-08-27 Kabushiki Kaisha Yaskawa Denki Wrist mechanism for an industrial robot
US20080016979A1 (en) * 2006-07-20 2008-01-24 Fanuc Ltd Arm structure of industrial robot

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4608884A (en) * 1982-08-03 1986-09-02 Eke Robotersysteme Gmbh Apparatus for driving two axes of the hand element of an industrial robot
US4972735A (en) * 1986-06-09 1990-11-27 Fanuc Ltd. Wrist assembly for an industrial robot
JPS6310087U (fr) * 1986-07-04 1988-01-22
US5549016A (en) * 1993-04-28 1996-08-27 Kabushiki Kaisha Yaskawa Denki Wrist mechanism for an industrial robot
US20080016979A1 (en) * 2006-07-20 2008-01-24 Fanuc Ltd Arm structure of industrial robot

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2711145A4 (fr) * 2011-05-13 2015-08-26 Kawasaki Heavy Ind Ltd Robot industriel à articulations multiples
US9180595B2 (en) 2011-05-13 2015-11-10 Kawasaki Jukogyo Kabushiki Kaisha Multiple-joint industrial robot
CN103264399A (zh) * 2013-05-08 2013-08-28 南京航空航天大学 机器人腰臂一体化同步双驱机构及其控制方法
CN103994311A (zh) * 2014-05-19 2014-08-20 上海大学 多功能三自由度智能云台
US10414044B2 (en) 2014-11-26 2019-09-17 Kabushiki Kaisha Yaskawa Denki Robot arm and robot system
WO2016084178A1 (fr) * 2014-11-26 2016-06-02 株式会社安川電機 Bras de robot et système de robot
CN105945933A (zh) * 2016-07-14 2016-09-21 广东技术师范学院 一种工厂用货物搬运机器人
CN106015861A (zh) * 2016-08-08 2016-10-12 北京奇正数元科技股份有限公司 一种无人机航空相机的三轴云台
CN106142132A (zh) * 2016-09-22 2016-11-23 电子科技大学中山学院 刚度连续可调的机器人柔性关节
CN106737822A (zh) * 2016-12-28 2017-05-31 中国科学院长春光学精密机械与物理研究所 一种大扭矩紧凑型机械臂关节
US20180311834A1 (en) * 2017-04-26 2018-11-01 Kabushiki Kaisha Yaskawa Denki Robot
US10710250B2 (en) * 2017-04-26 2020-07-14 Kabushiki Kaisha Yaskawa Denki Robot
CN109048990A (zh) * 2018-08-30 2018-12-21 东北大学 一种三电机驱动的二自由度关节结构
CN109048990B (zh) * 2018-08-30 2020-08-28 东北大学 一种三电机驱动的二自由度关节结构
WO2020148706A1 (fr) * 2019-01-16 2020-07-23 Genesis Robotics And Motion Technologies, LP Agencement d'actionneur compact
CN113286959A (zh) * 2019-01-16 2021-08-20 詹尼斯机器人移动技术有限公司 紧凑型致动器布置
USD958213S1 (en) 2021-01-14 2022-07-19 Genesis Advanced Technology Inc. Actuator
WO2022164025A1 (fr) * 2021-01-27 2022-08-04 삼성전자주식회사 Dispositif de joint différentiel pour robot et procédé de diagnostic d'état de dispositif de joint différentiel pour robot

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