WO2018091440A1 - Bras robotisé et procédé de montage d'un bras robotisé - Google Patents

Bras robotisé et procédé de montage d'un bras robotisé Download PDF

Info

Publication number
WO2018091440A1
WO2018091440A1 PCT/EP2017/079146 EP2017079146W WO2018091440A1 WO 2018091440 A1 WO2018091440 A1 WO 2018091440A1 EP 2017079146 W EP2017079146 W EP 2017079146W WO 2018091440 A1 WO2018091440 A1 WO 2018091440A1
Authority
WO
WIPO (PCT)
Prior art keywords
housing cover
robot arm
edge portion
leg
rocker
Prior art date
Application number
PCT/EP2017/079146
Other languages
German (de)
English (en)
Inventor
Rainer Krumbacher
Leander EISENWINTER
Original Assignee
Kuka Roboter Gmbh
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 Kuka Roboter Gmbh filed Critical Kuka Roboter Gmbh
Publication of WO2018091440A1 publication Critical patent/WO2018091440A1/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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type

Definitions

  • the invention relates to a robot arm, comprising a base frame, one on the base frame by means of a first
  • the invention also relates to a method for mounting a particular one
  • Robotic arm. From EP 1 145 808 Bl is a robot with a
  • an industrial robot comprising a robot arm, which has a rocker arm and an arm arm pivotably mounted on the rocker arm, which has an arm housing pivotally mounted on the rocker arm
  • first drive having a by means of a first drive, which has a first drive shaft to a in The longitudinal axis of the arm arm extending arm axis has rotatably mounted on the arm housing base housing, and a means of a second drive having a second drive shaft to a first hand axis relative to the hand base housing adjustable first hand member and by means of a third drive having a third drive shaft Having a second hand axis relative to the first hand member adjustable second hand member.
  • the object of the invention is a robot arm and a
  • a power line of the robotic arm can be mounted in a particularly simple manner and particularly reliable manner and, for example, for service purposes in a simple manner and quickly disassembled and / or replaced.
  • the object of the invention is achieved by a
  • Robotic arm comprising:
  • Robot arm rotatably mounted about a first axis of rotation
  • Robot arm about a second axis of rotation pivotally mounted rocker
  • the carousel has a first leg and a second leg, between which the around the second
  • Swivel pivotally mounted rocker is arranged
  • the rocker has a third leg and a fourth leg, between which the third Rotational axis rotatably mounted base arm is arranged, characterized in that the first leg has a first bearing which is adapted to pivotally support the rocker about the second axis of rotation and the second leg forms a first part of a duct in which a first portion of a
  • Power line strand of the robot arm is arranged, and the third leg has a second bearing, the
  • the base arm to pivot about the third axis of rotation on one side and the fourth leg forms a second part of the duct, in which a second portion of the power line string is arranged.
  • the rocker is thus not supported on both sides of the carousel, but only on one side by means of the first leg of the carousel.
  • Thighs all the necessary bearings, gears and / or motors to move the swingarm relative to the carousel through the
  • Robot control of the robot arm to move.
  • the base arm is thus not supported on both sides of the rocker, but only on one side by means of the third leg of the rocker.
  • the third leg alone has all the necessary bearings, gears and / or motors to move the base arm relative to the rocker by the robotic control of the robotic arm.
  • the second leg may have a mirror-symmetrical shape to the first leg.
  • the fourth leg can also be one to the third leg
  • the second leg of the carousel and the fourth leg of the rocker serve so far only to form the duct for the power line.
  • the power line string may in particular be the so-called cable set, ie the power line string comprises electrical lines which serve to supply electric motors of the robot arm which are designed to automatically adjust the joints of the robot arm according to a
  • Robot program or manually in a manual drive controlled by the robot controller to move are examples of the following:
  • Power line string may also have signal lines, which are connected, for example, with sensors of the robot arm.
  • the sensors can in particular the
  • the power line string may have a plurality of individual lines that may run individually or be bundled together.
  • the power line string can be connected after its installation in the duct of the robot arm by means of one or more cable clamps with one or more members of the robot arm in particular detachable or non-destructively manually or by tools.
  • the structural components base frame, carousel, rocker arm and base arm are in particular designed so that they are open on one side. From this side, the harness is inserted, starting from the base frame.
  • Assembly sequence is preferably from the base frame to the carousel farther to the rocker and arm. After cable assembly, the open areas are closed with a lid.
  • Structural parts and the lid is created an optically closed, and in particular symmetrical robot structure.
  • the second leg can be formed together with the carousel as a one-piece molded part, and the second leg ⁇ can thereby a closed by a first housing cover, half-shell-like first receiving space aufwei- sen, in which the first portion of the power line string is arranged.
  • the carousel and / or robotic arm and / or rocker and / or each of the legs may be assembled by joining together two half-shell shaped parts.
  • the joining takes place by plugging, preferably with subsequent locking, latching, gluing and / or screwing.
  • plugging preferably with subsequent locking, latching, gluing and / or screwing.
  • the second leg may be formed together with the carousel as an aluminum casting.
  • the second leg in particular if this second leg is not formed integrally with the carousel, as a plastic injection molded part or a plastic molded part
  • the fourth leg may be formed together with the rocker as a one-piece molding, and the fourth
  • Leg can thereby have a half-shell-like second receiving space closed by a second housing cover, in which the second section of the
  • Power line strand is arranged.
  • the fourth leg may be formed together with the rocker as an aluminum casting.
  • the fourth leg in particular if this fourth leg is not formed integrally with the rocker, as a plastic injection molded part or a plastic molded part
  • the first receiving space may have a first through opening for the power line strand, the one
  • Partially circular first edge portion, and the second receiving space may have a second passage opening for the power line strand, the one
  • part-circular second edge portion which, together with the first edge portion of the first
  • Through hole forms a first gap seal, such that the first edge portion and the second edge portion in accordance with the movement of the second joint to the second
  • Rotary axis are arranged rotatable against each other.
  • the first receiving space and the second receiving space can thus be arranged mutually adjustable, wherein by means of the first gap seal a at least against
  • Entry of dust and / or dirt-protected duct is provided for the power line, in addition, can not be grasped from outside the robot arm.
  • the second receiving space may have a third passage opening for the power line strand, the one
  • Partially circular third edge portion, and the base arm may have a third receiving space with a fourth passage opening for the power line strand having a part-circular fourth edge portion which forms a second gap seal together with the third edge portion of the third passage opening, such that the third edge portion and the fourth
  • Edge portion according to the movement of the third joint about the third axis of rotation are arranged rotatable against each other.
  • the third receiving space and the fourth receiving space can thus be arranged mutually adjustable, wherein by means of the second gap seal a at least against Entry of dust and / or dirt-protected duct is provided for the power line, in addition, can not be grasped from outside the robot arm.
  • the second housing cover can complete the part-circular second edge portion of the second passage opening of the rocker to a full circle
  • the first housing cover may be configured to cover in its mounted on the carousel arrangement, the sixth edge portion of the second housing cover.
  • the third receiving space may be closed by a third housing cover.
  • the third housing cover can complete the part-circular fourth edge section of the fourth through-opening of the basic arm to form a complete circle
  • the third housing cover completes a part-circular fourth edge section of the fourth through-opening of the basic arm to a complete circle
  • Direction can be inserted into the duct of the robot arm.
  • the second housing cover may be configured to cover in its mounted on the rocker assembly the fifth edge portion of the third housing cover.
  • the second housing cover covers the fifth edge section of the third housing cover in its arrangement mounted on the rocker, an outer contour of the robot arm that is at least largely or even completely closed is only created while leaving a slight gap seal.
  • the object of the invention is also achieved by a method for mounting a robot arm, in particular a robot arm according to one or more of the described embodiments, with the steps:
  • Receiving space by attaching a second housing cover and closing the third receiving space by attaching a third housing cover.
  • the method can have the further steps:
  • Housing cover completes a fourth edge portion of the basic arm to a full circle
  • FIG. 1 is a perspective view of an exemplary
  • Robot arm with the housing covers removed and the power line cord removed
  • Fig. 2 is a perspective view of the exemplary
  • Fig. 3 is an exploded view of the invention
  • Fig. 4 is a perspective view of the exemplary
  • Fig. 5 is a perspective view of the exemplary
  • FIG. 1 shows a robot 1 having a robot arm 2 and a robot controller 13.
  • the robot arm 2 comprises a plurality of links 12 arranged one after the other and connected by joints 11.
  • the links 12 are, in particular, a base frame 3 and a frame rotatably mounted relative to the frame 3 about a vertical axis of rotation AI
  • the rocker 5 is at the lower end e.g. mounted on a swing bearing head not shown on the carousel 4 about a preferably horizontal axis of rotation A2 pivotally. At the upper end of the rocker 5 is in turn also a preferably horizontal
  • Rotary axis A3 of the arm arm 6 pivotally mounted. This end carries the robot hand 7 with its preferably three axes of rotation A4, A5, A6.
  • the arm boom 6 has in the case of the present embodiment, a pivotally mounted on the rocker arm 5 9.
  • a front arm 10 of the arm jib 6 is rotatably mounted about the axis of rotation A4.
  • Further members of the robot arm 2 are in the case of the present embodiment in addition to the
  • Base frame 3 the carousel 4, the rocker 5 and the base arm 9, also the members 12 of the preferred
  • multi-axis robot hand 7 with a connecting flange 8 designed as a fastening device for attaching an end effector, not shown, such as a tool or a gripper.
  • the robot arm 2 in the case of the present
  • Robot arm 2 about a first axis of rotation AI rotatably mounted carousel 4, one on the carousel 4 by means of a second
  • the carousel 4 has a first leg 4.1 and a second leg 4.2, between which the rocker 5 mounted pivotably about the second axis of rotation A2 is arranged.
  • the first leg 4.1 has a first bearing 14.1, which is designed to pivot the rocker 5 about the second axis of rotation A2 on one side.
  • the second leg 4.2 carries no joint bearing of the robot arm 2 and no transmission of the robot arm 2, but is merely formed as a first part 15.1 of a duct 15 in which a first portion 16.1 of a power line 16 of the robot arm 2 is arranged.
  • the second leg 4.2 is in the case of the present
  • the second leg 4.2 in particular if this second leg 4.2 is not formed integrally with the carousel 4, as a
  • the second leg 4.2 has a half-shell-like first receiving space 17.1.
  • the half-shell-like first receiving space 17.1 is completely in one
  • the rocker 5 also has a third leg 5.3 and a fourth leg 5.4, between which the base arm 9 rotatably mounted about the third axis of rotation A3 is arranged.
  • the third leg 5.3 has a second bearing 14.2, which is formed, the base arm 9 to the third
  • Rotary axis A3 pivoting unilaterally.
  • the fourth leg 5.4 carries no joint bearing of the robot arm 2 and no transmission of the robot arm 2, but is merely formed as a second part 15.2 of the duct 15, in which a second section 16.2 of
  • Power line strand 16 is arranged.
  • the fourth leg 5.4 is in the case of the present
  • the fourth leg 5.4 in particular if this fourth leg is not formed integrally with the rocker 5 5, as a
  • Plastic injection molded part or a plastic molded part may be formed.
  • the fourth leg 5.4 has a half-shell-like second receiving space 17.2.
  • the half-shell-like second receiving space 17.2 is completely in one
  • the second receiving space 17.2 for the second section 16.2 of the power line strand 16 is formed by the fourth leg 5.4 and the second housing cover 18.2 limited interior space.
  • the first receiving space 17. 1 has a first through-opening 19. 1 for the energy-conducting line 16, which has a first through-opening 19
  • the second receiving space 17.2 has a second
  • the first housing cover 18.1 is designed to cover in its carousel-mounted arrangement, as shown in Fig. 5, the sixth edge portion 20.6 of the second housing cover 18.2, as shown in Fig. 4.
  • the second receiving space 17. 2 has a third through opening 19. 3 for the energy line branch 16.
  • the third passage opening 19.3 has a part-circular third edge section 20.3.
  • the base arm 9 has a third receiving space
  • the fourth passage 19.4 has a part-circular fourth edge portion
  • a second gap seal S2 forms, such that the third edge portion 20.3 and the fourth edge portion 20.4 according to the movement of the third hinge 11 about the third axis of rotation A3 against each other
  • the third receiving space 17.3 is, as shown in particular in Fig. 3 and Fig. 4, closed by a third housing cover 18.3.
  • the second housing cover 18.2 is formed, in its mounted on the rocker 5 arrangement, as shown in Fig. 4, the fifth edge portion 20.5 of the third
  • FIGS. 1 to 5 also show through them
  • Snapshots a method of mounting the robot arm 2, with the steps of mounting the rocker 5 of the
  • Robot arm 2 to the first leg 4.1 of the carousel 4 of the robot arm 2 to connect the second joint 11 (axis of rotation A2) and the mounting of the base arm 9 of the robot arm 2 to the third leg 5.3 of the rocker arm 5 of the robot arm 2, to the third joint 11 (axis of rotation A3) to connect.
  • the method comprises in particular the following steps of attaching the third housing cover 18.3 to the

Landscapes

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

Abstract

L'invention concerne un bras robotisé (2) comportant : une première branche (4.1) d'un carrousel (4) du bras robotisé (2), comprenant un premier palier (14.1), lequel est conçu pour supporter un bras oscillant (5) pivotant autour d'un deuxième axe de rotation (A2) sur une face ; et une deuxième branche (4.2) du carrousel (4), formant une première partie (15.1) d'un conduit (15), dans lequel une première section (16.1) d'un fil de ligne de transport d'énergie (16) du bras robotisé (2) est disposé ; et une troisième branche (5.3) du bras oscillant (5) du bras robotisé (2), comprenant un deuxième palier (14.2), lequel est conçu pour supporter un bras de base (9) du bras robotisé (2) pivotant autour d'un troisième axe de rotation (A3) sur une face ; et une quatrième branche (5.4) du bras oscillant (5), formant une deuxième partie (15.2) du conduit (15), dans lequel une deuxième section (16.2) du fil de ligne de transport d'énergie (16) est disposé. L'invention concerne en outre un procédé de montage d'un bras robotisé, en particulier un tel bras robotisé (2).
PCT/EP2017/079146 2016-11-15 2017-11-14 Bras robotisé et procédé de montage d'un bras robotisé WO2018091440A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016222429.8 2016-11-15
DE102016222429.8A DE102016222429B4 (de) 2016-11-15 2016-11-15 Roboterarm und Verfahren zum Montieren eines Roboterarms

Publications (1)

Publication Number Publication Date
WO2018091440A1 true WO2018091440A1 (fr) 2018-05-24

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2017/079146 WO2018091440A1 (fr) 2016-11-15 2017-11-14 Bras robotisé et procédé de montage d'un bras robotisé

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DE (1) DE102016222429B4 (fr)
WO (1) WO2018091440A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108638051A (zh) * 2018-07-06 2018-10-12 佛山华数机器人有限公司 一种高防护双旋关节机器人
CN111127691A (zh) * 2019-12-13 2020-05-08 国网安徽省电力有限公司检修分公司 一种变电站电缆沟巡检系统

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019006347A1 (de) 2019-09-10 2021-03-11 Sauter Feinmechanik Gmbh Wechselvorrichtung

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69303796T2 (de) * 1992-04-28 1997-01-02 Fanuc Ltd Kabelführungseinrichtung für industrieroboterarm
US5732599A (en) * 1995-08-18 1998-03-31 Tokico Ltd. Industrial robot
EP1145808B1 (fr) 2000-04-15 2006-11-29 KUKA Roboter GmbH Disposition des cables sur le socle et le carrousel d'un robot
JP2009113188A (ja) * 2007-11-09 2009-05-28 Toshiba Mach Co Ltd 作業用ロボット
EP2666600A2 (fr) 2012-05-21 2013-11-27 KUKA Roboter GmbH Robot industriel doté d'entraînements s'étendant dans un boîtier de base manuel
DE102013013679A1 (de) * 2012-08-20 2014-02-20 Fanuc Corp. Mehrgelenkiger roboter mit beidseitig getragenem armelement
US20150246449A1 (en) * 2014-02-28 2015-09-03 Nachi-Fujikoshi Corp. Industrial robot

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE511643C2 (sv) 1998-10-16 1999-11-01 Abb Ab Styrning av yttre kablage för industrirobot
DE102014209684B4 (de) 2014-05-21 2023-06-29 Siemens Healthcare Gmbh Medizinisches Untersuchungs- und/oder Behandlungsgerät
JP2016140917A (ja) 2015-01-29 2016-08-08 株式会社安川電機 ロボット

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69303796T2 (de) * 1992-04-28 1997-01-02 Fanuc Ltd Kabelführungseinrichtung für industrieroboterarm
US5732599A (en) * 1995-08-18 1998-03-31 Tokico Ltd. Industrial robot
EP1145808B1 (fr) 2000-04-15 2006-11-29 KUKA Roboter GmbH Disposition des cables sur le socle et le carrousel d'un robot
JP2009113188A (ja) * 2007-11-09 2009-05-28 Toshiba Mach Co Ltd 作業用ロボット
EP2666600A2 (fr) 2012-05-21 2013-11-27 KUKA Roboter GmbH Robot industriel doté d'entraînements s'étendant dans un boîtier de base manuel
DE102013013679A1 (de) * 2012-08-20 2014-02-20 Fanuc Corp. Mehrgelenkiger roboter mit beidseitig getragenem armelement
US20150246449A1 (en) * 2014-02-28 2015-09-03 Nachi-Fujikoshi Corp. Industrial robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108638051A (zh) * 2018-07-06 2018-10-12 佛山华数机器人有限公司 一种高防护双旋关节机器人
CN111127691A (zh) * 2019-12-13 2020-05-08 国网安徽省电力有限公司检修分公司 一种变电站电缆沟巡检系统

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Publication number Publication date
DE102016222429B4 (de) 2020-07-09
DE102016222429A1 (de) 2018-05-17

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