WO2004007151A1 - A device for an industrial robot - Google Patents
A device for an industrial robot Download PDFInfo
- Publication number
- WO2004007151A1 WO2004007151A1 PCT/SE2003/001171 SE0301171W WO2004007151A1 WO 2004007151 A1 WO2004007151 A1 WO 2004007151A1 SE 0301171 W SE0301171 W SE 0301171W WO 2004007151 A1 WO2004007151 A1 WO 2004007151A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- stop
- stop elements
- row
- elements
- rotation
- Prior art date
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 230000001427 coherent effect Effects 0.000 claims abstract description 8
- 238000000034 method Methods 0.000 claims description 4
- 229910052729 chemical element Inorganic materials 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 description 6
- 238000004026 adhesive bonding Methods 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000009172 bursting Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920000136 polysorbate Polymers 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
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
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
- B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
Definitions
- the present invention relates to the field of devices for restricting the working range around an axis of an industrial robot in the form of restriction of the maximum angle for rotation of a first part of the robot relative to a second part connected to the first part, wherein the first part is provided with a stop and the second part is provided with a stop element adapted to hit against the stop, when rotating the first part relative to the second part, thus forming opposite end positions for this rotation.
- the industrial robot may be of any type.
- An industrial robot is usually programmed to operate within a certain working range. For safety reasons, it is furthermore often prescribed that the working range for certain axes of the robot shall be restricted, from the hardware point of view, by means of mechanical or electric stop means. In this way, an emergency stop of the robot is released if the robot, due to a fault in the control system, should attempt to move outside the programmed working range .
- a device of the kind described in the introductory part of the description comprising a set of stop elements and means for fixing a varying number of the stop elements on the first part in a row one after the other and adjacent to each other along a circular arc around the axis of rotation of the first part in order to hit against the stop with those end surfaces of the stop elements which are located at opposite ends of the row, when rotating the first part relative to the second part, thus forming opposite end po- sitions for this rotation.
- a set of stop elements which are formed from blocks having essentially the shape of truncated sectors of a circle
- different numbers or combinations of such blocks may be arranged one after the other on said row to cover angles of rotation, of various magnitudes, around said axis in dependence on the current requirements.
- the means for fixing these blocks to the first part for example a robot arm or a robot foot, which may be in the form of bolts, are subjected to very considerable loads when the first stop element, viewed in the direction of movement, is at some time run against the fixed stop. For this reason, various measures must be taken to prevent said means from bursting or becoming deformed.
- the object of the present invention is to provide a device of the kind which is defined in the preamble to the appended claim 1 and which provides a far-reaching solution to the problem, discussed above, arising in such prior art devices .
- the stop elements in this way act as if they were one single stop element, the force transmitted to them via the stop may be taken up by considerably more fixing means, for example screws, than if the stop elements should act as individual parts.
- the tangential force arising upon impact of the front stop element in the row against the stop will be capable of being transmitted from one stop element to another stop element and hence, to the greatest possible extent, the force be transmitted to the body of the first part that the stop elements are fixed to.
- the fixing means are spared great shear stresses in a radial direction, so that they do not have to be oversized or be reinforced by radial supports for the stop elements.
- connection members are arranged, when forming said row, to bring about mechanical interlocking between adjacent stop elements.
- This makes possible a simple mounting of the stop elements in situ while at the same time achieving a reliable and effective locking of the elements so as to act, with respect to the force transmitted via the stop, as one single element.
- the connection members comprise tooth-shaped projections on those surfaces of the stop elements which are essentially tangentially directed when a row has been formed, and re- Steps corresponding thereto in corresponding surfaces on adjacent stop elements. This constitutes a very simple and efficient way of forming said interlocking.
- the assembly is very simple in that adjacent stop elements may be pushed in an essentially tangential direction with the teeth and recesses into each other before being fixed to the first part.
- connection members comprise, at the essentially tangentially directed ends of the stop elements, essentially axially extending grooves or recesses and projections which fit therein and which are adapted to be axially inserted into these.
- the projections may have the shape of a dovetail or any other shape. Also this embodiment exhibits the advantages mentioned for the preceding embodiment .
- the invention also relates to a method for achieving a restriction of the working range around an axis of an indus- trial robot according to the appended method claims.
- Figure 1 shows a side view of an industrial robot, around the different axes of rotation of which the wor- king range may be restricted by a device according to the invention
- Figure 2 is a perspective view of part of an industrial robot with a device according to a preferred embodiment of the invention applied to a joint between two arms of the robot,
- Figure 3 is a partially cut-away view of a joint of an industrial robot provided with a device according to the invention
- Figure 4 is a detailed view of a stop element of a device according to a preferred embodiment of the in- vention.
- Figure 5 is a detailed view of a stop element of a device according to another preferred embodiment of the invention.
- Figure 1 shows one possible type of industrial robot, to which a device for restriction of the working range according to the invention may be applied.
- the robot has a stand 1 which is rotatably journalled, around a vertical axis C, in a robot foot 2 secured to a mounting base.
- a first robot arm 3 is pivotally journalled at the stand 1 around an axis B.
- a second robot arm 4 is pivotally journalled around an axis A.
- FIG. 2 illustrates how a device according to the invention is arranged for restricting the working range in the form of the maximum angle for rotation of an upper robot arm 4 relative to a lower robot arm 3 around an axis A.
- Two fixed stops 5, 6 with essentially tangentially directed stop surfaces, relative to the axis of rotation A, are arranged on the lower robot arm 3.
- the stops 5, 6 preferably consist of lugs formed when casting the body of the arm 3.
- the device further comprises a set of stop elements 7, 7', 7" in the form of blocks essentially shaped as truncated sectors of a circle, which are arranged to be placed in a row one after the other and making contact with one another on the upper arm 4, or a part secured thereto, along a circular arc around the axis of rotation A.
- the arm 4 exhibits first holes 8, distributed around the axis A, and the stop elements exhibit second holes 9 for inserting bolts 14, screws, or the like, for fixing the stop elements relative to the arm 4. In this way, upon rotation of the arm 4 around the axis A, the stop elements will hit against the stops 5 and 6, respectively, with end surfaces located at opposite ends of the rows, thus forming opposite end positions for the rotation.
- the set of stop elements may be combined in an arbitrary manner and be fixed by means of the fixing means (the screws) at different desired locations around the axis A, to define different desired end positions of the working range of the industrial robot around the axis A.
- the stop elements may, for example, exhibit a few, possibly only one, stop element adapted to extend through a relatively large angle along said circular arc, for example through 60°, preferably between 65° and 90°, whereas it may contain considerably more small stop elements with a corresponding angle of between 10° and 40°, preferably between 15° and 30°.
- members are provided for mutually connecting stop elements arranged adjacent to each other in said row so that these elements, with respect to transmission of forces between them and the stops 5, 6, when hitting against the stops upon rotation, behave essentially as if they together were one single coherent stop element.
- the connecting members are arranged on the stop elements themselves to bring about mechanical interlocking between adjacent stop elements, and in the embodiment illustrated in Figures 3 and 4 this is achieved by arranging tooth-like projections 10 on the essentially tangentially directed surfaces of the stop elements, when a row has been formed, and by forming recesses 11, corresponding thereto, on corresponding surfaces of adjacent stop elements.
- the teeth 10 and the recesses 11 are preferably elongated in the form of ridges and valleys, which ensures a very good interlock and transmission of forces therebetween, and it is especially preferred that they have an axial longitudinal extension in the position of the stop element around the axis.
- a tooth on one side of a stop element is preferably followed by a tooth in an exactly corresponding position of the stop element on the opposite side of this stop element.
- Figure 5 illustrates how the stop elements may exhibit different members for mutual mechanical interlocking, and here the tangentially directed ends of the stop elements are provided with essentially axially extending grooves 12 and projections 13 fitting therein and adapted to be inserted axially into these.
- the grooves and the projections exhibit a dovetail-shaped cross section, but other cross-section shapes are also feasible.
- the connecting members counteract relative motion of adjacent stop elements in a radial direction, so that when applying an essentially tangentially directed force to the front surface of a stop element, as viewed in the direction of movement, when hitting against a stop, this force may be forwarded from that stop element to the next as if this in practice constituted one coherent portion of the first stop element.
- the connecting members could also be formed from essentially tangentially directed fingers and corresponding recesses in the end surfaces of the respective stop element for insertion thereinto in an essentially tangential direction, such as for the teeth in the embodiment shown in Figure 4.
- the stop element blocks are advantageously made from extruded aluminium, which provides good possibilities of creating a complex two-dimensional geometry with good possibilities for tolerance.
- connecting members other than those shown and/or discussed above are possible, and it is within the scope of the invention, for example, to connect adjacently positioned stop elements to one another in other ways, so that they behave in this respect as if they were one single coherent stop element, than by mutual interlocking, such as by means of members which are completely separate from the stop elements and which are applied at the transition be- tween adjacent stop elements, for example yoke-like elements with branches that are inserted into recesses in the respective stop elements or the like.
- interlocking seems to be preferable in most applications because of its simplicity and great reliability.
- stop elements are intended, with respect to the transmission of forces between them, to behave as one single coherent stop element, embraces all types of mutual connection between them which results in this behaviour but which allows subsequent detachment to enable the set of stop elements to be optionally combined again. Consequently, permanent gluing of the stop elements is not included.
- the teeth could be shaped like pyramids or cones or differ from ridges in some other way by interruptions, and the recesses could be modified in a corresponding way.
- the fixed stops could just as well be arranged on the upper arm and the stop elements on the lower arm.
- Damper layers for example of rubber, absorbing kinetic energy may be arranged on the surface of the stop and designed to be hit by the "foremost" stop element in the row and/or on the front surface of this stop element, as viewed in the direction of movement, and this is intended to be covered by the definition in the claim that the stop element hits against the stop.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Spray Control Apparatus (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2003244291A AU2003244291A1 (en) | 2002-07-11 | 2003-07-04 | A device for an industrial robot |
EP03764270A EP1526952B1 (en) | 2002-07-11 | 2003-07-04 | A device for an industrial robot |
US10/520,919 US20060224275A1 (en) | 2002-07-11 | 2003-07-04 | Device for an industrial robot |
DE60317335T DE60317335T2 (en) | 2002-07-11 | 2003-07-04 | DEVICE FOR AN INDUSTRIAL ROBOT |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE0202176-4 | 2002-07-11 | ||
SE0202176A SE524740C2 (en) | 2002-07-11 | 2002-07-11 | Device and method of restriction of movement of an industrial robot |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004007151A1 true WO2004007151A1 (en) | 2004-01-22 |
Family
ID=20288508
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/SE2003/001171 WO2004007151A1 (en) | 2002-07-11 | 2003-07-04 | A device for an industrial robot |
Country Status (7)
Country | Link |
---|---|
US (1) | US20060224275A1 (en) |
EP (1) | EP1526952B1 (en) |
AT (1) | ATE377489T1 (en) |
AU (1) | AU2003244291A1 (en) |
DE (1) | DE60317335T2 (en) |
SE (1) | SE524740C2 (en) |
WO (1) | WO2004007151A1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8109170B2 (en) * | 2008-08-13 | 2012-02-07 | Fanuc Ltd | Umbilical member motion limiting device and robot having the device |
CN109866253A (en) * | 2017-12-01 | 2019-06-11 | 发那科株式会社 | The robot for having limiter |
US10933524B2 (en) | 2017-05-02 | 2021-03-02 | Fanuc Corporation | Arm fixing device and reducer replacement method |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012208430A1 (en) * | 2012-05-21 | 2013-11-21 | Kuka Roboter Gmbh | Industrial robot with an annular drag stop |
DE102017203741A1 (en) * | 2017-03-07 | 2018-09-13 | Kuka Deutschland Gmbh | Robotic arm with a mechanical stop device |
WO2020165989A1 (en) * | 2019-02-14 | 2020-08-20 | 株式会社Fuji | Multi-joint robot |
JP7260398B2 (en) * | 2019-05-24 | 2023-04-18 | ファナック株式会社 | Arm fixing device |
DE112019007680T5 (en) * | 2019-09-02 | 2022-06-15 | Yamaha Hatsudoki Kabushiki Kaisha | Arm rotation type robot |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3721274A1 (en) * | 1987-06-27 | 1989-01-12 | Fraunhofer Ges Forschung | Device for limiting the swivelling range of rotationally movable components |
US5839322A (en) * | 1996-01-26 | 1998-11-24 | Genmark Automation | Robotic arm rotation controller |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2840651A (en) * | 1957-02-25 | 1958-06-24 | Budd Co | Rotary drum limit switch operating mechanism |
US2863330A (en) * | 1957-04-05 | 1958-12-09 | John G Moorhead | Rotational setting mechanism |
US3272031A (en) * | 1965-04-29 | 1966-09-13 | Mc Graw Edison Co | Adjustable stop for rotary selector switches |
JPS5127064B1 (en) * | 1970-12-26 | 1976-08-10 | ||
US3954188A (en) * | 1973-12-26 | 1976-05-04 | Prab Conveyors, Inc. | Universal transfer device |
US3896681A (en) * | 1973-12-26 | 1975-07-29 | Prab Conveyors | Universal transfer device |
JPS5898193U (en) * | 1981-12-25 | 1983-07-04 | 株式会社岡村製作所 | Multi-point stopping device for industrial robot arm |
US4564331A (en) * | 1983-01-17 | 1986-01-14 | Karr Ake Wendell | Robot |
JPS6228194A (en) * | 1985-07-29 | 1987-02-06 | フアナツク株式会社 | Regulator for operating range of industrial robot |
JPH07121513B2 (en) * | 1986-10-17 | 1995-12-25 | フアナツク株式会社 | Swivel cylinder swivel area setting device for industrial robots |
SE469878B (en) * | 1991-02-11 | 1993-10-04 | Asea Brown Boveri | Adjustable stop robot for industrial robot |
US6065364A (en) * | 1995-09-18 | 2000-05-23 | Kabushiki Kaisha Yaskawa Denki | Stopper for use in an industrial robot |
KR200145221Y1 (en) * | 1996-07-30 | 1999-06-15 | 윤종용 | The stopper of robot arm |
-
2002
- 2002-07-11 SE SE0202176A patent/SE524740C2/en not_active IP Right Cessation
-
2003
- 2003-07-04 DE DE60317335T patent/DE60317335T2/en not_active Expired - Lifetime
- 2003-07-04 AU AU2003244291A patent/AU2003244291A1/en not_active Abandoned
- 2003-07-04 EP EP03764270A patent/EP1526952B1/en not_active Expired - Lifetime
- 2003-07-04 AT AT03764270T patent/ATE377489T1/en not_active IP Right Cessation
- 2003-07-04 US US10/520,919 patent/US20060224275A1/en not_active Abandoned
- 2003-07-04 WO PCT/SE2003/001171 patent/WO2004007151A1/en active IP Right Grant
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3721274A1 (en) * | 1987-06-27 | 1989-01-12 | Fraunhofer Ges Forschung | Device for limiting the swivelling range of rotationally movable components |
US5839322A (en) * | 1996-01-26 | 1998-11-24 | Genmark Automation | Robotic arm rotation controller |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8109170B2 (en) * | 2008-08-13 | 2012-02-07 | Fanuc Ltd | Umbilical member motion limiting device and robot having the device |
US10933524B2 (en) | 2017-05-02 | 2021-03-02 | Fanuc Corporation | Arm fixing device and reducer replacement method |
CN109866253A (en) * | 2017-12-01 | 2019-06-11 | 发那科株式会社 | The robot for having limiter |
CN109866253B (en) * | 2017-12-01 | 2020-10-30 | 发那科株式会社 | Robot with stopper |
Also Published As
Publication number | Publication date |
---|---|
DE60317335T2 (en) | 2008-02-21 |
SE0202176L (en) | 2004-01-12 |
SE524740C2 (en) | 2004-09-21 |
ATE377489T1 (en) | 2007-11-15 |
EP1526952A1 (en) | 2005-05-04 |
US20060224275A1 (en) | 2006-10-05 |
EP1526952B1 (en) | 2007-11-07 |
SE0202176D0 (en) | 2002-07-11 |
DE60317335D1 (en) | 2007-12-20 |
AU2003244291A1 (en) | 2004-02-02 |
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