CN102873688B - Industrial robot device, industrial robot and method for operating objects - Google Patents
Industrial robot device, industrial robot and method for operating objects Download PDFInfo
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- CN102873688B CN102873688B CN201210345415.3A CN201210345415A CN102873688B CN 102873688 B CN102873688 B CN 102873688B CN 201210345415 A CN201210345415 A CN 201210345415A CN 102873688 B CN102873688 B CN 102873688B
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- swivel joint
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Abstract
The invention relates to an industrial robot device. The industrial robot device comprises a rotary joint which is provided with an attaching part for attaching tools. According to the industrial robot device, the attaching part comprises at least two different attaching devices for two different types of tools, wherein the first attaching device (8 and 9) comprises a positioning part (9) which limits the attached tools so that the attached tools have a constant angle position relative to the rotary joint; and the second attaching device (10) is arranged so that the attached tool has any angle position relative to the rotary joint. The invention also relates to an industrial robot with the device and a method for operating objects.
Description
The application is the applying date, and to be October 9, international application no in 2007 be: PCT/EP2007/060720, national applications number are: 200780100151.2, name is called the divisional application entering the international application of National Phase in China of " industrial robot device, industrial robot and the method for handling object ".
Technical field
The present invention relates to a kind of industrial robot device, a kind of industrial robot and a kind of method handling object.Described industrial robot device comprises the attachment component for attaching tool.
Background technology
Industrial robot comprises operating means and control appliance, and operating means performs any operation in working range under the help of control appliance.Usually, this operating means comprises multiple arms of supported mechanical hand, and instrument is arranged on a robotic arm.In most of robot application, use six traditional axle operating means, this six axles operating means has sufficient mobility thus usually performs far-ranging operation with very high precision.But for specific application, needs have the operating means that more lower-mobility but can operate sooner.This operating means can for the manipulator of carrying tool always in a predefined manner directed mode be in space mechanically connected.
From the known a kind of operating means of US4976582 and WO00/29177, can be moved in space relative to retaining element with the gradient of the orientation kept and maintenance by this operating means moving element.This operating means has three arms of common support moving element.In these arms each around respective first axle rotatably axle journal be supported in retaining element.Arm supports linkage, and one end of linkage rotatably axle journal is supported in the exterior section of arm, allows the motion of two frees degree.At its other end, linkage supports moving element and axle journal is supported on wherein, allows the motion of two frees degree.
Linkage comprises two parallel connecting rods and is configured to make together with arm the one degree of freedom of the every one end of linkage to form rotation around the axis parallel with the first axle of respective arm.Therefore, the no matter motion of arm or linkage, these three pivot centers all keeping parallelisms.Like this, moving element always has identical orientation and gradient relative to retaining element.But a kind of situation is that the respective first axle of arm is at an angle to each other.This kind of industrial robot is commonly called stamp identification operating means.
For the moving element of the industrial robot of this kind of industrial robot and various other types, moving element is provided with the swivel joint for being attached manipulation tool.Therefore, swivel joint has the attachment arrangement for particular types instrument.
Under many circumstances, robot is applied to handling the variety classes product needing variety classes instrument.When product has different geometries just so.Other reasons of replacing instrument may be needed in addition.Such as, in food service industry, a kind of product may comprise nut, and another kind of product may be completely irrelevant with nut.If a kind of product is not rotational symmetric, then need to recalibrate robot when the instrument of replacing.As an alternative, the plate of instrument to be attached can exchange.But this needs the arm for loading plate unloading robot.This is very complicated and consuming time.
The object of the invention is overcome above-mentioned shortcoming and solve this problem thus, namely realize the operation of economical when needs two kinds of variety classes instruments.
DE202005003748U1 discloses a kind of swivel joint with natural activity for operating means.This swivel joint, by module structure, is connected on swivel joint to allow the pneumatic driving moving part of varying number.
Summary of the invention
Unless clearly indicated in addition, in the text of the application, term axially, the axis that all limits with the swivel joint of device of radial, angle and center is for reference.
The problems referred to above by solving according to a first aspect of the invention, kind is discussed device there is following specific features: attachment component comprises at least two kinds of two kinds of variety classes instruments different attachment arrangements.First attachment arrangement of described attachment arrangement comprises positioning element, this positioning element limits attached instrument and has certain Angle Position relative to swivel joint, and the second attachment arrangement of described attachment arrangement is configured such that attached instrument has random angle position relative to swivel joint.
Owing to there being two kinds of attachment arrangements, same swivel joint can be used for two kinds of different types of instruments.When needs use another instrument, as long as the instrument of installation is pulled down from its attachment arrangement and another instrument is attached on another attachment arrangement.To need the instrument of certain Angle Position thus, such as clamping device changes the unimportant instrument of angular orientation into, and such as can be very easy to as rotation symmetric tools such as suckers and carry out at low cost, vice versa.This needs to provide higher efficiency during these different instruments in the same course of work.
Therefore, for the user of robot, very large benefit is not need when the instrument of replacing to the plate of attaching tool thereon will recalibrating or exchange.This is applicable to the situation that situation that rotation asymmetry instrument and another rotation asymmetry instrument carry out exchanging and rotation symmetric tool and rotation asymmetry instrument carry out exchanging.
The present invention also has such benefit, and the possibility of attachment rotation asymmetry instrument is combined with the favourable effective counterweight accessories being usually applied to rotation symmetric tool by described device.Therefore, the present invention is that effective counterweight accessories and the annex comprising Angle Position both provide possibility.
According to a kind of preferred embodiment of described device, attachment component also comprises and is configured such that attached instrument has the 3rd attachment arrangement of random angle position relative to swivel joint.
This embodiment embodies application inventive concept of the present invention further, namely allows more high-freedom degree to exchange instrument.Therefore, this embodiment such as will adopt during another rotation symmetric tool and gain a special interest outside sucker.This embodiment also has such benefit, is namely also when only needing a rotation symmetric tool, and swivel joint is applicable to this instrument with different attachment arrangement.
According to another preferred embodiment, the first attachment arrangement comprises the radial circumference assembly surface with multiple axial hole.
This is the attachment arrangement of the type of this instrument for requiring certain Angle Position.Therefore there is the benefit with its adaptation.Another benefit is: for require the attachment arrangement of the instrument of certain Angle Position therefore another attachment arrangement comparable more away from axis location.Which increase angular accuracy.
According to another preferred embodiment, at least one some holes is threaded.
This is also the measure of the usual set-up mode adapting to this kind of instrument to be attached and further increases possibility swivel joint of the present invention being used for existing instrument.
According to a kind of preferred embodiment, the second attachment arrangement comprises screwed hole of centre.
Equally, this is also a kind of measure of the usual structure of the instrument adapting to not should be noted that its Angle Position and install, for identical reason above-mentioned, this is also good.Center arrangement also contributes to obtaining the relation making the first attachment arrangement radial arrange farther.
According to another kind of preferred embodiment, the 3rd attachment arrangement comprises the screwed hole of centre that diameter is different from the diameter in the described hole of the second attachment arrangement.
This makes swivel joint be adapted to existing tool construction more neatly.
The above-mentioned preferred embodiment subclaims describing swivel joint of the present invention of claim 1.
The specific features of industrial robot of the present invention is the device be provided with according to the present invention or any one preferred embodiment of the present invention.
This robot has the benefit identical with device of the present invention above-mentioned and preferred embodiment thereof.
According to a kind of preferred embodiment, industrial robot is stamp identification operating means.
Although described device also can be used for the industrial robot of other types, its benefit noticeable is especially relevant to such robot.
According to another preferred embodiment, robot is arranged for rapid movement, and rapid movement refers to that the cycle time of motion is in the scope of 0.1 to 1.0 seconds, particularly preferably in the scope of 0.3 to 0.6 second.
Because fast machine people there will be the situation much needing to utilize two kinds of variety classes tool works, the benefit that therefore swivel joint of the present invention obtains gains a special interest in this case.
According to another aspect of the invention, provide a kind of method for handling object, this object is met by handling these objects by industrial robot according to the present invention.
By method of the present invention, can realize and corresponding benefit above-mentioned.
According to a kind of preferred embodiment of method of the present invention, described object is food.
For swivel joint of the present invention, the type of the course of work is very important, especially in food service industry, often needs exchange tool during the course of work.Therefore, this embodiment particular importance.
According to another preferred embodiment, described method comprises and alternately the first instrument is attached to described first attachment arrangement and the second instrument is attached to the second attachment arrangement, and alternately utilizes object described in described first instrument and the second tool control.
Therefore, the possibility that robot of the present invention provides obtains application and therefore makes its benefit become valuable.
The above-mentioned preferred embodiment subclaims describing method of the present invention of claim 10.
By being explained in detail the present invention referring to the description of accompanying drawing to advantageous embodiment of the present invention.
Accompanying drawing explanation
Fig. 1 is the stereogram of industrial robot.
Fig. 2 is the stereogram of the swivel joint of device in Fig. 1.
Fig. 3 is the diagrammatic side view of the first instrument of the swivel joint being suitable for being attached to Fig. 2.
Fig. 4 is the diagrammatic side view of the second instrument of the swivel joint being suitable for being attached to Fig. 2.
Detailed description of the invention
Fig. 1 shows the industrial robot of a type, and swivel joint according to the present invention is specially adapted to the industrial robot of the type.The robot of Fig. 1 is commonly referred to as the type of stamp identification operating means.This operating means comprises movable link 2 and a fixing basic building block 1.Basic building block 1 has three actuator (not shown), and each actuator is provided for control arm 3 is moved pivotally.The outer end of each control arm 3 is connected to pair of links 4 by linkage 5.Often pair of connecting rod is connected to movable link 2 at its other end by linkage 6.No matter how control arm moves, and movable link 2 all keeps parallel with himself.The operating means of type shown in Fig. 1 is known, therefore need not be explained in detail.
Movable link 2 is arranged and is used for the swivel joint 7 of attaching tool.Instrument is attached to the downside of movable link 2.Swivel joint 7 is arranged in the through hole of movable link 2.Flexible pipe (not shown) radial direction above movable link 2 is connected to swivel joint 7.
Fig. 2 shows the downside of movable link 2.Instrument is attached to swivel joint 7 by any one in two kinds of different types of attachment arrangements.
The circumferential surface 8 that first attachment arrangement is arranged with one heart by the axis 0 around swivel joint is formed.Surface 8 is the surfaces can carrying out the plate of angular adjustment.This surface is provided with many screwed holes 9.First kind instrument is attached to swivel joint by this instrument being fastened to circumferential surface 8 by bolt.Thus, instrument will have limited Angle Position relative to swivel joint.Therefore this first attachment arrangement is applicable to the instrument of similar clamping components.
Second attachment arrangement is formed by the screwed hole of centre 10 that the centre bore 11 with swivel joint is coaxial.This enables instrument be tightened onto in this hole.
3rd attachment arrangement is formed by the screwed hole 11 coaxial with centre bore 10 and its diameter is less than centre bore 10.
Screwed hole 10,11 is suitable for being attached the instrument that such as absorber etc. does not need certain Angle Position.
Diagrammatically illustrate the clamping device 20 being provided with clamping device 21 in figure 3.Clamping device 20 is suitable for the first attachment arrangement 8,9 be attached on swivel joint 7.Flange 22 is provided with multiple hole 23, to mate with the hole 9 of the first attachment arrangement and by bolted attachments to hole 9.
Diagrammatically illustrate the absorber instrument 30 being provided with sucker 31 in the diagram.Absorber instrument 30 is suitable for the second attachment arrangement be made up of screwed hole 10 be attached on swivel joint 7.Absorber instrument has the external screw thread 32 coordinated with screwed hole 10.
When describe industrial robot be applied to need carry out pick-up operation alternately through absorber and carry out the course of work of clipping operation by clamping device time, the instrument 20,30 shown in Fig. 3 and Fig. 4 exchanges mutually.
Claims (12)
1. an industrial robot device, comprise the swivel joint (7) of the attachment component had for attaching tool, the axis (0) of this swivel joint definition of said device, the feature of this device is, described attachment component comprises at least two kinds of two kinds of variety classes instruments different attachment arrangements, described variety classes instrument has different attached arrangement, first attachment arrangement (8 of described attachment arrangement, 9) positioning element (9) is comprised, this positioning element limits attached instrument (20) and has certain Angle Position relative to described axis (0), and described first attachment arrangement has the radial surface (8) arranged with one heart around described axis (0), second attachment arrangement (10) of described attachment arrangement comprises the screwed hole of centre (10) in described swivel joint.
2. industrial robot device according to claim 1, it is characterized in that, described attachment component also comprises the 3rd attachment arrangement (11), and the 3rd attachment arrangement is configured such that attached instrument has random angle position relative to described axis (0).
3. industrial robot device according to claim 1 and 2, is characterized in that, the described radial surface (8) of described first attachment arrangement (8,9) comprises multiple axial hole (9).
4. industrial robot device according to claim 3, is characterized in that, axial hole described at least some (9) is threaded.
5. industrial robot device according to claim 2, is characterized in that, described 3rd attachment arrangement (11) comprises the screwed hole of centre in described swivel joint, and its diameter is different from the diameter of the described screwed hole of centre of described second attachment arrangement.
6. an industrial robot, is characterized in that, described robot comprises industrial robot device according to any one of claim 1 to 5.
7. industrial robot according to claim 6, is characterized in that, described robot is stamp identification operating means.
8. the industrial robot according to claim 6 or 7, is characterized in that, described robot is arranged for rapid movement, and rapid movement refers to the motion of the time period of motion in the scope of 0.1 to 1.0 seconds.
9. the industrial robot according to claim 6 or 7, is characterized in that, described robot is arranged for rapid movement, and rapid movement refers to the motion of the time period of motion in the scope of 0.3 to 0.6 second.
10. one kind for handling the method for object by industrial robot, described industrial robot has the robot device comprising swivel joint, and described swivel joint has the attachment component for attaching tool, and described swivel joint limits the axis of described robot device, the feature of described method is
The described attachment component had at least two kinds of two kinds of variety classes instruments different attachment arrangements is provided, described variety classes instrument has different attached arrangement, first attachment arrangement of described attachment arrangement comprises positioning element, this positioning element limits attached instrument and has certain Angle Position relative to described axis, and described first attachment arrangement has the radial surface (8) arranged with one heart around described axis (0), and the second attachment arrangement of described attachment arrangement comprises the screwed hole of centre (10) in described swivel joint;
Instrument is attached to described attachment arrangement any one on; And
By described tool control object.
11. methods according to claim 10, is characterized in that, described object is food.
12. methods according to claim 10 or 11, it is characterized in that, alternately the first instrument is attached on described first attachment arrangement and by the second instrument and is attached on the second attachment arrangement, and alternately utilize object described in described first instrument and the second tool control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210345415.3A CN102873688B (en) | 2007-10-09 | 2007-10-09 | Industrial robot device, industrial robot and method for operating objects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210345415.3A CN102873688B (en) | 2007-10-09 | 2007-10-09 | Industrial robot device, industrial robot and method for operating objects |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200780100151A Division CN101772403A (en) | 2007-10-09 | 2007-10-09 | An industrial robot device, an industrial robot and a method for manipulating objects |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102873688A CN102873688A (en) | 2013-01-16 |
| CN102873688B true CN102873688B (en) | 2015-04-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210345415.3A Active CN102873688B (en) | 2007-10-09 | 2007-10-09 | Industrial robot device, industrial robot and method for operating objects |
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|---|---|
| CN (1) | CN102873688B (en) |
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- 2007-10-09 CN CN201210345415.3A patent/CN102873688B/en active Active
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| CN102873688A (en) | 2013-01-16 |
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Effective date of registration: 20180509 Address after: Baden, Switzerland Patentee after: ABB TECHNOLOGY LTD. Address before: Zurich Patentee before: ABB T & D Technology Ltd. |