WO2014008662A1 - Structures de routage pour robot - Google Patents

Structures de routage pour robot Download PDF

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Publication number
WO2014008662A1
WO2014008662A1 PCT/CN2012/078611 CN2012078611W WO2014008662A1 WO 2014008662 A1 WO2014008662 A1 WO 2014008662A1 CN 2012078611 W CN2012078611 W CN 2012078611W WO 2014008662 A1 WO2014008662 A1 WO 2014008662A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotary shaft
cables
supporter
routing structure
hoses
Prior art date
Application number
PCT/CN2012/078611
Other languages
English (en)
Inventor
Tao Feng
Xiaodong Cao
Yun HA
Original Assignee
Abb Technology 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 Technology Ltd filed Critical Abb Technology Ltd
Priority to PCT/CN2012/078611 priority Critical patent/WO2014008662A1/fr
Publication of WO2014008662A1 publication Critical patent/WO2014008662A1/fr

Links

Classifications

    • 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

Definitions

  • Embodiments of the present invention generally relate to the field of industry robots, particularly relate to routing structures for robots, and more particularly relate to routing structures for a large rotation range.
  • a robot typically comprises one or more rotary joints in order to achieve flexible positioning of robot arms.
  • the robots with flexible joints can achieve user-assigned positions without big changes of the main axes.
  • a routing structure for a robot comprises; a rotary shaft adapted to be rotatable around an axis; and a guide member arranged to support cables or hoses, such that the cables or hoses are separated from the rotary shaft.
  • the rotary shaft can be shaped as an arc to allow the cables or hoses going through a hollow axle coupled with the rotary shaft.
  • a first end of the rotary shaft is coupled with a driving unit and a second end of the shaft is coupled with the hollow axle.
  • the guide member can comprise a supporter for supporting the cables or hoses; a runner arranged to be coaxial with the rotary shaft; and a slider arranged to be slidable along the runner.
  • a first end of the supporter is shaped for clamping the cables or hoses and a second end of the supporter is coupled with the slider,
  • the runner may be fixed on the rotary shaft or on a housing of the robot.
  • the runner may be replaced with a rotary bearing.
  • the rotary bearing is arranged coaxially with the rotary shaft.
  • the rotary bearing may comprise two portions being rotatable with respect to each other. One portion of the rotary bearing is fixed with the slider, and the other portion is fixed on the rotary shaft or on a housing of the robot.
  • the routing structure can further comprise a mechanical stopper for preventing the rotary shaft from moving out of its working range.
  • the mechanical stopper comprises a projection fixed to the second end of the supporter; and a boss located on a housing of the robot for blocking the projection and thereby the rotary shaft from forwarding.
  • the supporter when the rotary shaft rotates within a first range, the supporter remains substantially quiescent, and when the rotary shaft rotates within a second range, the rotary shaft pushes the supporter to rotate together.
  • the first end of the supporter has a ring for guiding the cables or hoses, and the cables or hoses are rotatable with respect to the ring.
  • embodiments of the present invention provide a rotary joint comprising the routing structure as described above.
  • embodiments of the present invention provide a robot comprising the rotary joint as described above.
  • a simple routing structure which reduces or eliminates the interference between the cables and the rotary shaft. Due to its simple structure, it is easy for adoption and possible to achieve a bigger hole to let cable go through in a compact design. Further, without using special drivetrain components, the risk of component failure is reduced and the cost of the routing structure would be more competitive.
  • FIG. 1 shows a routing structure 100 in the prior art
  • FIG. 2 shows a routing structure 200 at a home position according to a first embodiment of the present invention
  • FIG. 3 shows a section view of the routing structure 200 as shown in Fig. 2;
  • FIG. 4 shows the routing structure 200 at an in-between position according to the first embodiment of the present invention;
  • FIG. 5 shows the routing structure 200 at a max positive position according to the first embodiment of the present invention
  • FIG. 6 shows the routing structure 200 at a max negative position according to the first embodiment of the present invention
  • FIG. 7 shows a detailed view of a mechanical stopper according to the first embodiment of the present invention.
  • FIGS. 8A-8B shows a routing structure 300 according to a second embodiment of the present invention.
  • FIGS. 9A-9B shows a routing structure 400 according to a third embodiment of the present invention.
  • FIGS. 10A-10B shows a routing structure 500 according to a fourth embodiment of the present invention. [0033] Throughout the figures, same or similar reference numbers indicate same or similar elements.
  • FIG. 1 shows a routing structure 100 in the prior art.
  • a rotary shaft 101 is coupled between two members.
  • One end of the rotary shaft 101 is directly or indirectly coupled with a driving unit 102, e.g. a motor, and the other end of the rotary shaft 101 is coupled with a driven axle 103, e.g, a robot arm.
  • a driving unit 102 e.g. a motor
  • a driven axle 103 e.g, a robot arm.
  • each rotary joint In order to transmit power and various signals to and from robot arms, one or more cables typically go through each rotary joint.
  • the rotary shaft 101 is shaped as an arc, such that the arc shaft 101 can be used to form a hole and let the cables 104 go through.
  • the driving unit 102 may drive the rotary shaft 101 to rotate in directions as indicated by the arrow 108. Then, the rotary shaft 101 may drive the driven axle 103, e.g. a robot arm, to rotate accordingly. In this way, the robot arm can achieve desired positions.
  • the driven axle 103 e.g. a robot arm
  • the routing structure 100 as shown in FIG 1 is very simple and can work well under a situation that relative small rotation ranges, e.g., no more than ⁇ 170deg, are required.
  • the rotation range is small, e.g. ⁇ 170deg
  • the cables 104 going through the robot joint would not contact with the rotary shaft 101 and no bending or twisting will happen.
  • the rotation ranges increase, for example ⁇ 270deg
  • the rotary shaft 101 would contact with the free cables 104 going through the hollow (not shown) and drive the free cables 104 to rotate together.
  • Such rotation will cause the cables 104 bending in a small radius, twisting around the driving unit 102 in a small length, and sliding on coarse surfaces, e.g. the surface of the driving unit 102. All of these will reduce the lifetime of the cables.
  • routing structure for a robot.
  • the routing structure comprises a rotary shaft adapted to be rotatable around an axis; and a guide member arranged to support cables or hoses, such that the cables or hoses are separated from the rotary shaft.
  • the rotary shaft is shaped as an arc to allow the cables or hoses going through a hollow axle coupled with the rotary shaft.
  • a first end of the rotary shaft is coupled with a driving unit, and a second end of the rotary shaft is coupled with the hollow axle.
  • the proposed routing structure is very simple and easy to adopt even in a compact design.
  • the direction and shape of bending and twisting of the cables or hoses would be predictable, and thus unwanted contact and friction between the shaft and the cables or hoses may be avoided as possible.
  • such routing structure is easy to introduce an additional safety assurance mechanism, which is important during robot applications.
  • the risk of component failure is reduced and the cost of the routing structure would be more competitive.
  • FIGS. 2-7 hereinafter will be described a first embodiment of the present invention.
  • FIG. 2 shows a routing structure 200 at a home position according to the first embodiment of the present invention.
  • a rotary shaft 201 is coupled between two members.
  • a first end of the rotary shaft 201 is coupled with a driving unit 202, for example, a motor.
  • a second end of the rotary shaft 201 is coupled with a driven axle 203, for example, a robot arm.
  • the driving unit 202 may drive the rotary shaft 201 to rotate around an axis, i.e., rotating in directions as indicated by the arrow 208.
  • the rotary shaft 201 may drive the driven axle 203, e.g. a robot arm, to rotate accordingly. In this way, the robot arm can achieve desired positions.
  • the rotary shaft 201 is shaped to allow cables 204 or hoses traveling within the robot.
  • the rotary shaft 201 may be shaped as an arc to allow the cables 204 or hoses going through a hollow axle (e.g., the driven axle 203) coupled with the rotary shaft, which is similar to that in FIG 1.
  • the rotary shaft 201 may have other shapes to form a hole and let the cables 204 or hoses go through.
  • a guide member 205 is provided to support the cables 204 or hoses so as to provide a fixture point for the cables 204 or hoses.
  • the guide member 205 has separated the cables 204 or hoses from the rotary shaft 201, such that unnecessary friction between the cables and the rotary shaft may be avoided. Further, by fixing the cables or hoses partly, the direction and shape of bending and twisting of the cables may be predictable.
  • the guide member 205 may be constructed in various ways.
  • the guide member 205 comprises a supporter 211 for supporting the cables 204 or hoses; a runner 212 arranged to be coaxial with the rotary shaft 201; and a slider 213 (shown in FIG. 3) arranged to be slidable along the runner 212.
  • a first end of the supporter 211 is shaped for guiding the cables 204 or hoses.
  • the first end of the supporter 211 may have a ring, e.g. a C-shaped ring, for clamping the cables 204 or hoses, and the cables or hoses may be rotatable with respect to the C-shaped ring.
  • a second end of the supporter 211 is coupled with the slider 213. The coupling may be implemented by one or more screws as shown in FIGS. 2-3. In other implementation, the second end of the supporter 211 and the slider 213 may be coupled in other ways, including but not limited to riveting, moulding, welding, etc.
  • the second end of the supporter 211 and the slider 213 may be formed integrally.
  • the slider 213 and the supporter 211 may slide along the runner 212 and drive the clamped cables 204 or hoses to move (e.g., bend and twist) together.
  • the runner 212 may have a C-shaped ring. In the first embodiment, the runner 212 is fixed on the rotary shaft 201 and is concentric with the rotary shaft 201. Depending on the manufacture method, the runner 212 and the rotary shaft 201 may be formed integrally or separately. [0054] In some implementations, rollers may be adopted to smooth the sliding in the runner 212.
  • the routing structure 200 may further comprise a mechanical stopper 206 for preventing the rotary shaft 201 from moving out of its working range.
  • the mechanical stopper 206 is an important safety assurance during robot applications.
  • the mechanical stopper 206 may comprise a projection 214 and a boss 215.
  • the projection 214 may be fixed to the second end of the supporter 211 and project out of the runner 212 in the radial direction.
  • the projection 214 and the supporter 211 may be formed integrally or separately. When formed separately, the projection 214 and the supporter 211 may be coupled by riveting, moulding, welding, etc.
  • the boss 215 is located on a housing of the robot, e.g., the housing of the driving unit 202, for blocking the projection 214 and thereby blocking the rotary shaft 201 from forwarding.
  • the boss 215 may be formed integrally with the housing of the driving unit 202.
  • the boss 215 may be formed separately and coupled with the housing by riveting, moulding, welding, etc.
  • FIG. 3 shows a section view of the routing structure 200 of the first embodiment.
  • a rotary shaft 201 is coupled between a driving unit 202 and a driven axle 203.
  • the rotary shaft 201 is shaped as an arc to allow cables 204 or hoses going through.
  • a guide member 205 is shown to include a supporter 211 for supporting the cables 204 or hoses; a runner 212 arranged to be coaxial with the rotary shaft 201; and a slider 213 arranged to be slidable along the runner 212.
  • the first end of the supporter 211 is shaped for clamping the cables 204 or hoses, and the cables or hoses may be rotatable with respect to the C-shaped ring.
  • the second end of the supporter 211 is coupled with the slider 213 by one or more screws, such that the slider 213 and the supporter 211 may slide along the runner 212 and drive the clamped cables 204 or hoses to move (e.g., bend and twist) together.
  • the runner 212 may have a C-shaped ring and be fixed on one end of the rotary shaft 201.
  • a mechanical stopper 206 is provided for preventing the rotary shaft 201 from moving out of its working range.
  • the mechanical stopper 206 comprises a projection 214 and a boss 215.
  • the projection 214 may be fixed to the second end of the supporter 211 and project out of the runner 212 in the radial direction.
  • the projection 214 and the supporter 211 may be formed integrally and take the shape of Z.
  • the head of Z is the projection 214
  • the tail of Z is the first end of the supporter 211, which has a C-shaped ring for clamping the cables 204 or hoses.
  • the boss 215 is located on a housing of the robot for blocking the projection 214 and thereby blocking the rotary shaft 201 from forwarding.
  • the routing structure 200 is very simple and easy to adopt even in a compact design.
  • the movement of the cables 204 or hoses may be restricted, and thus unwanted contact and friction between the rotary shaft 201 and the cables 204 or hoses may be avoided as possible.
  • a mechanical stopper 206 may be introduced to assure safety.
  • FIG 1 shows the routing structure 200 at a home position according to the first embodiment of the present invention.
  • the rotary shaft 201 is opposite to the supporter 211.
  • the routing structure 200 may be asymmetrical as required and the relative positional relation may vary.
  • the rotary shaft 201 may rotate in two directions, clockwise (+) or anticlockwise (-), as indicated by the arrow 208.
  • the rotary shaft 201 When the rotary shaft 201 rotates within a first small range, e.g., about ⁇ lOOdeg, the rotary shaft 201 will drive the coupled runner 212 to rotate together.
  • the runner 212 will move with respect to the slider 213 mounted in the runner 212.
  • the supporter 211 coupled with the slider 213 remains almost quiescent or merely has little movement.
  • the rotary shaft 201 would not contact with the cables 204 supported by the supporter 211 and no bending or twisting of the cables 204 will happen.
  • FIG. 4 shows the routing structure 200 at an in-between position according to the first embodiment of the present invention.
  • the rotary shaft 201 has rotated about lOOdeg from the home position in the clockwise direction.
  • the rotary shaft 201 contacts with the supporter 211 instead of hitting the cables 204 directly. If the rotary shaft 201 goes on rotating within a second range, e.g., about +100 ⁇ +270deg or -100— 270deg, it will push the supporter 211 to rotate together. Then, the clamped cables 204 will bend and twist as the supporter 211 rotates.
  • FIG. 5 shows the routing structure 200 at a max positive (clockwise) position according to the first embodiment of the present invention.
  • the rotary shaft 201 has rotated about 270deg from the home position in the clockwise direction.
  • the rotary shaft 201 contacts with the supporter 211 and pushes the supporter 211 to rotate together. Then, the clamped cables 204 are bent and twisted as the supporter 211 rotates.
  • the mechanical stopper 206 will function to prevent the rotary shaft 201 from moving out of its working range, e.g., +270deg.
  • the projection 214 extruding out of the runner 212 in the radial direction will hit on the boss 215 and be blocked from forwarding. Thereby, the rotary shaft 201 will be blocked from forwarding.
  • Such mechanical stopper 206 provides an additional safety assurance not only for the cables themselves, but also for operators and surrounding equipments.
  • FIG. 6 shows the routing structure 200 at a max negative (anticlockwise) position according to the first embodiment of the present invention.
  • FIG 6 shows a detailed view of a mechanical stopper 206 when the routing structure 200 is at its max negative position as shown in FIG. 6. As shown in FIG. 7, the projection 214 is blocked by the boss 215 from forwarding in the anticlockwise direction.
  • the working range of the rotary shaft 201 may be designed according to the practical requirements, which may be symmetrical or asymmetrical.
  • the runner and the boss may be adapted accordingly.
  • FIGS. 8A-8B hereinafter will be described a second embodiment of the present invention.
  • the components identical with or similar to those in the first embodiment are given the same reference numerals for the sake of omitting explanation.
  • FIG. 8 A shows a routing structure 300 according to the second embodiment of the present invention.
  • a rotary shaft 201 is coupled between a driving unit 202 and a driven axle 203.
  • the rotary shaft 201 is shaped as an arc to allow cables 204 or hoses going through.
  • a guide member 205 is shown to include a supporter 211 for supporting the cables 204 or hoses; a runner 212 arranged to be coaxial with the rotary shaft 201; and a slider 213 (shown in FIG. 8B) arranged to be slidable along the runner 212.
  • the difference is in that the runner 212 is fixed on a housing of the driving unit 202, e.g., the housing of the motor, instead of on the rotary shaft 201.
  • the runner 212 may have a C-shaped ring, e.g., a broken ring of 270deg.
  • the runner 212 in the routing structure 300 as illustrated in FIG 8 A is bigger than that in the routing structure 200.
  • the rotary shaft 201 is coaxial with the runner 212 and can rotate along the inner ring of the runner 212.
  • a nature-bom mechanical stopper is formed by the two end faces of the runner 212.
  • FIG. 8B shows a detailed section view of the routing structure 300.
  • an additional mechanical stopper 206 may be provided for preventing the rotary shaft 201 from moving out of its working range.
  • the mechanical stopper 206 may comprise a projection 214 fixed on the second end of the supporter 211.
  • the operation of the mechanical stopper 206 is similar to that in the first embodiment except that in the second embodiment, the projection 214 is blocked by the end of the runner 212.
  • FIG. 9A shows a routing structure 400 according to a third embodiment of the present invention.
  • a rotary shaft 201 is coupled between a driving unit 202 and a driven axle 203.
  • the rotary shaft 201 is shaped as an arc to allow cables 204 or hoses going through.
  • a guide member 205 is also provided to support the cables 204 or hoses.
  • the difference is in that the runner 212 of the guide member 205 in the first embodiment is replaced with a rotary bearing 216 in the third embodiment.
  • the rotary bearing 216 comprises two portions, i.e., an inner ring and an outer ring, being rotatable with respect to each other.
  • the inner ring of the rotary bearing 216 is fixed on the rotary shaft 201.
  • the slider 213 of the guide member 205 is fixed to the outer ring and the supporter 211 of the guide member 205 is coupled with the slider 213.
  • a mechanical stopper 206 may be provided for preventing the rotary shaft 201 from moving out of its working range.
  • a projection 214 of the mechanical stopper 206 may be fixed on the outer ring of the rotary bearing 216, and a boss 215 of the mechanical stopper 206 may be located on the housing of the robot.
  • FIG. 9B shows a detailed section view of the routing structure 400.
  • the positional relation between the rotary shaft 201 , the rotary bearing 216 and the supporter 211 during the operation is same with that in the first embodiment and the detail description thereof is omitted herein.
  • FIG 1 OA shows a routing structure 500 according to a fourth embodiment of the present invention.
  • the routing structure 500 of the fourth embodiment is similar to the routing structure 400 of the third embodiment. The difference is in that the rotary bearing 216 is fixed on a housing of the driving unit 202, e.g., the housing of the motor, just like the second embodiment.
  • the outer ring of the rotary bearing 21 is fixed on the housing of the driving unit 202.
  • the slider 213 of the guide member 205 is fixed to the inner ring and the supporter 211 of the guide member 205 is coupled with the slider 213.
  • a mechanical stopper 206 may be provided for preventing the rotary shaft 201 from moving out of its working range.
  • a projection 214 of the mechanical stopper 206 may be fixed on the inner ring of the rotary bearing 216, and a boss 215 of the mechanical stopper 206 may be located on the housing of the robot.
  • FIG 10B shows a detailed section view of the routing structure 500.
  • the routing structure comprises a rotary shaft and a simple guide member. Similar to other embodiments, a first end of the rotary shaft is coupled with a driving unit and a second end of the rotary shaft is coupled with a driven axle.
  • the rotary shaft is shaped to allow cables or hoses traveling within the robot.
  • the guide member has only one supporter for supporting the cables or hoses.
  • a first end of the supporter is shaped for clamping the cables or hoses.
  • a second end of the supporter is fixed relatively to the rotary shaft.
  • the second end of the supporter may be fixed directly on the rotary shaft.
  • the supporter and in turn the clamped cables will rotate accordingly.
  • the guide member e.g., the supporter
  • the direction and shape of bending and twisting of the cables may be predefined, and thus unwanted contact and friction between the shaft and the cables may be avoided as possible.
  • the second end of the support may be fixed on the housing of the driving unit.
  • the rotary shaft will contact with the guide member at different positions.
  • the supporter may be arranged to be opposite to the rotary shaft.
  • a rotary joint comprising the routing structure as described above.
  • a robot comprising the rotary joint as described above.

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

Abstract

L'invention porte sur une structure de routage (200, 300, 400, 500) pour un robot. La structure de routage (200, 300, 400, 500) comprend un arbre rotatif (201) apte à tourner autour d'un axe ; et un élément de guidage (205) agencé pour soutenir des câbles (204) ou tuyaux, de telle sorte que les câbles (204) ou tuyaux soient séparés de l'arbre rotatif (201). Grâce à l'élément de guidage (205), la direction et la forme de la courbure et de la torsion des câbles (204) ou tuyaux sont prévisibles et il est possible d'éviter un frottement inutile. Un joint rotatif comprenant la structure de routage (200, 300, 400, 500) et un robot comprenant le joint rotatif sont également décrits.
PCT/CN2012/078611 2012-07-13 2012-07-13 Structures de routage pour robot WO2014008662A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2012/078611 WO2014008662A1 (fr) 2012-07-13 2012-07-13 Structures de routage pour robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2012/078611 WO2014008662A1 (fr) 2012-07-13 2012-07-13 Structures de routage pour robot

Publications (1)

Publication Number Publication Date
WO2014008662A1 true WO2014008662A1 (fr) 2014-01-16

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ID=49915333

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2012/078611 WO2014008662A1 (fr) 2012-07-13 2012-07-13 Structures de routage pour robot

Country Status (1)

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WO (1) WO2014008662A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1733436A (zh) * 2004-08-13 2006-02-15 发那科株式会社 工业用机器人的管线构造
DE102007008985A1 (de) * 2007-02-23 2008-08-28 Kuka Roboter Gmbh Haltevorrichtung für eine Energiezuführung
CN101450485A (zh) * 2007-12-06 2009-06-10 崔光述 工业机器人电缆导向装置
CN201325058Y (zh) * 2008-11-20 2009-10-14 Abb技术公司 工业机器人单元
JP2010264525A (ja) * 2009-05-12 2010-11-25 Daihen Corp アーク溶接ロボットのケーブル配設構造

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1733436A (zh) * 2004-08-13 2006-02-15 发那科株式会社 工业用机器人的管线构造
DE102007008985A1 (de) * 2007-02-23 2008-08-28 Kuka Roboter Gmbh Haltevorrichtung für eine Energiezuführung
CN101450485A (zh) * 2007-12-06 2009-06-10 崔光述 工业机器人电缆导向装置
CN201325058Y (zh) * 2008-11-20 2009-10-14 Abb技术公司 工业机器人单元
JP2010264525A (ja) * 2009-05-12 2010-11-25 Daihen Corp アーク溶接ロボットのケーブル配設構造

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