WO2010118769A1 - An apparatus for a robot arm - Google Patents

An apparatus for a robot arm Download PDF

Info

Publication number
WO2010118769A1
WO2010118769A1 PCT/EP2009/054430 EP2009054430W WO2010118769A1 WO 2010118769 A1 WO2010118769 A1 WO 2010118769A1 EP 2009054430 W EP2009054430 W EP 2009054430W WO 2010118769 A1 WO2010118769 A1 WO 2010118769A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotation
axis
module
robot arm
motor unit
Prior art date
Application number
PCT/EP2009/054430
Other languages
French (fr)
Inventor
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 US13/259,509 priority Critical patent/US8677854B2/en
Priority to EP09779294A priority patent/EP2419244B1/en
Priority to PCT/EP2009/054430 priority patent/WO2010118769A1/en
Priority to CN200980158751.3A priority patent/CN102395449B/en
Publication of WO2010118769A1 publication Critical patent/WO2010118769A1/en

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
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20317—Robotic arm including electric motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements
    • Y10T74/20335—Wrist

Definitions

  • the present invention relates to an apparatus for a robot arm, or a manipulator arm, of an industrial robot, which apparatus comprises a first module comprising a first and a second member rotatable in relation to each other about a first axis of rotation, the first member being indirectly, or directly, connectable to a base of the industrial robot; a second module comprising a first and a second member rotatable in relation to each other about a second axis of rotation, the first member of the second module being rigidly attached to the second member of the first module; and a third module comprising a first and a second member rotatable in relation to each other about a third axis of rotation, the first member of the third module being rigidly attached to the second member of the second module.
  • the second axis of rotation is substantially perpendicular to the first and the third axis of rotation, the second axis of rotation is offset from the first and the third axis of rotation when the first axis of rotation is substantially parallel to the third axis of rotation, and the third module comprises a motor unit comprising an output shaft rotatable about an axis which is substantially collinear with the third axis of rota- tion, the motor unit being adapted to drive the relative rotation of the first and second members of the third module.
  • Industrial robots or modular robots, are conventionally designed according to a specific design scheme for how joint actuators, such as electric motor units, and structural elements, such as joint modules, are connected to form a robot arm, or a manipulator.
  • joint actuators such as electric motor units
  • structural elements such as joint modules
  • EP-A1 -1 930 129 describes an articulated manipulator comprising a plurality of arm bodies in series, and joint parts rotatably connecting two adjacent arm bodies of the plurality of arm bodies, where the joint parts are provided such that rotation axes of the adjacent joint parts intersect each other at right angles.
  • US 4,527,945 discloses a swivelling handle for a robot arm including three reduction gear assemblies, each assuring the control of movement about three axes of rotation, where one of the axes intersects both of the other two.
  • WO-A1 - 2005/061189 describes a wrist unit for connection to a robot arm of an industrial robot.
  • US 4,766,775 discloses a modular robotic manipulator comprising articulating modules.
  • US 4,900,997 describes a device to guide an object around two axes of rotation.
  • EP-A1 -0 612 591 discloses a motorized rotary joint for robots.
  • WO-A2-2007/099511 discloses a programmable robot system comprising a robot provided with a number of individual arm sections, where adjacent sections are interconnected by a joint.
  • EP-A2-0 233 712 upon which the preamble of the appended claim 1 is based, discloses an industrial robot having integrated joint drive modules assembled in series to form an arm.
  • the joint modules are of two basic types, roll joints and pitch joints, and the typical robot arm configuration includes a series of alternating pitch joints and roll joints terminating in a tool at the distal end of the arm.
  • Each joint, or joint module is independently powered by its own motor which is attached to the joint.
  • Each pitch joint is disposed with its axis of rotation substantially perpendicular to the roll joint axes, and each pitch joint is offset from the lon- gitudinal axis of the robot arm extended with the roll joint axes collinear. Said offset permits the robot arm to be folded back on itself or to be fully extended.
  • Some designs result in a bulky arm structure, in one or more directions, which is not as compact as desired.
  • Some designs have limitations in the dynamic performance, e.g. because of high inertia caused by the weight the arm modules or joints of the arm, and have limited joint strokes. This impairs or limits the movement of the robot arm.
  • the object of the present invention is thus to improve the movement and the dynamic performance of a robot arm.
  • an apparatus for a robot arm of an industrial robot which apparatus comprises a first module comprising a first and a second member rotatable in relation to each other about a first axis of rotation, the first member being indirectly, or directly, connectable to a base of the industrial robot, a second module comprising a first and a second member rotatable in relation to each other about a second axis of rotation, the first member of the second module being rigidly attached to the second member of the first module, and a third module comprising a first and a second member rotatable in relation to each other about a third axis of rotation, the first member of the third module being rigidly attached to the second member of the second module, where the second axis of rotation is substantially perpendicular to the first and the third axis of rotation, the second axis of rotation is offset from the first and the third axis of rotation when the first axis of rotation is substantially parallel to the third axis
  • the first module can be categorized as a roll joint module
  • the second module can be categorized as a pitch joint module
  • the third module can be categorized as a roll joint module.
  • the motor unit of the third module is displaced in such a way that the centre of gravity of the third module is displaced in an advantageous way in the direction towards the first module and closer to the second module and the second axis of rotation.
  • the extension of the roll joint type third module in the direction of its axis of rotation can be reduced, which also provides a flexibility in the design of the industrial robot arm.
  • the extension of the third module in the direction of its axis of rotation can be reduced such that the wrist offset is efficiently minimized, providing a radically reduced inertia and consequently radically improved dynamic performance of the wrist unit, and providing a compact and non- bulky wrist unit with improved mobility and flexibility.
  • a member of a module can be rigidly attached, secured, or affixed, to the member of another module by being integrally formed with it, or by being secured to it by welding, or by any other suitable means.
  • the modules are positionable such that the first axis of rotation is substantially collinear with the third axis of rotation, and the second axis of rotation is offset from the first and the third axis of rotation when the first axis of rotation is substantially collinear with the third axis of rotation.
  • the inventive displacement of the motor unit is further advantageous to embodiments where the modules are connected to each other such that the second axis of rotation is offset from the first and the third axis of rotation when the first axis of rotation is substantially collinear with the third axis of rotation.
  • the motor unit intersects a plane in which the second axis of rotation lies, which plane is substantially perpendicular to the first axis of rotation when the first axis of rotation is substantially collinear with the third axis of rotation.
  • the motor unit is adapted to drive the relative rotation of the first and second members of the third module via a transmission adapted to transmit rotation to the second member of the third module, and the axis of rotation of said transmission is substantially collinear with the third axis of rotation.
  • the transmission comprises a harmonic drive assem- bly.
  • other kinds of transmission are also possible.
  • the second axis of rotation is offset from the first and the third axis of rotation when the first axis of rotation is substantially collinear with the third axis of rotation
  • at least one tenth of the extension of the motor unit in the direction of the third axis of rotation is situated between said plane and the first module, when the third axis of rotation is substantially collinear with the first axis of rotation.
  • the inventor has found that embodiments, where at least one tenth of the extension of the motor unit in the direction of the third axis of rotation is situated between said plane and the first module, further improves the movement and the dynamic performance of a robot arm.
  • the entire motor unit is positionable between the first module and a plane in which the second axis of rotation lies, and which plane is substantially perpendicular to the first axis of rotation.
  • the movement of a robot arm can be further improved, as the third module can rotate to a greater extent about the second axis of rotation.
  • the third module can be folded back to a great extent in an additional direction, and thus provide a greater backward stroke of the pitch joint type second module, with minimal compromise with regard to the compactness of the second module.
  • the extension of the first member of the second module in the direction of the third axis of rotation is greater in relation to the extension of the second member of the second module in the direction of the third axis of rotation, when the third axis of rotation is substantially collinear with the first axis of rotation.
  • This difference in extension of the first and second members of the pitch joint type second module enables an efficient displacement of the second axis of rotation in the direction towards the third module and further away from the first module, establishing a space between the second axis or rotation and the first module for ro- tation of the motor unit around the second axis of rotation, providing for that the motor unit to be positionable in an efficient way between the first module and the plane in which the second axis of rotation lies, and which plane is substantially perpendicular to the first axis of rotation.
  • the second module comprises a motor unit adapted to drive the relative rotation of the first and second members of the second module and comprising an output shaft rotatable about an axis which is substantially col- linear with the second axis of rotation, and in that one of the first and second members of the second module is positioned between the motor unit and the other member of the second module.
  • the motor unit is in the form of an electric motor.
  • the movement and the dynamic performance of a robot arm is further improved.
  • the second member of the third module is provided with mounting means for holding at least one tool, for example a gripping tool.
  • the third module forms part of a wrist unit which terminates a robot arm.
  • an industrial robot arm comprising at least one apparatus having the features which are mentioned in any of the claims 1 to 11.
  • the apparatus can include any of the pitch joints of an industrial robot arm, and can thus be incorporated anywhere between the base and the terminal wrist unit of the industrial robot.
  • the robot arm, or manipulator can have six or seven degrees of freedom, DOF, or any other suitable number of DOF.
  • the industrial robot arm comprises a plurality of apparatuses each as defined in any of the claims 1 to 11.
  • the above-mentioned positive effects associated with a single apparatus are manifold with regard to the performance of the industrial robot arm.
  • the first module of one of the apparatuses can be the third module of the other apparatus, and apparatuses can thus share the same module.
  • the industrial robot arm comprises a terminal wrist unit, and the wrist unit includes the third module of said apparatus.
  • the third module includes the third module of said apparatus.
  • Fig. 1 is a schematic side view of an embodiment of the industrial robot according to the present invention provided with an embodiment of the industrial robot arm according to the present invention, where the industrial robot arm includes three embodiments of the apparatus according to the present invention;
  • Fig. 2 is an enlarged partly cutaway view of a portion of the industrial robot arm of Fig. 1 ;
  • Fig. 3 is a further enlarged cutaway view of a portion of the industrial robot arm of Fig. 1 ; and Fig. 4 is a schematic perspective view of the industrial robot arm of Fig. 1
  • Fig. 1 schematically shows an industrial robot including an industrial robot arm 102, or a manipulator 102, a base 104 to which the robot arm 102 is connected, and a control system 106 for controlling the robot arm 102.
  • the control system is designed in a conventional way known to the skilled person, and may include a digital computer 108, a data memory 110 and an input unit 112 for input of control parameters, for example in the form of control schemes.
  • the robot arm 102 is built up of two basic types of modules, roll joint type modules and pitch joint type modules.
  • the robot arm 102 comprises: a roll joint type first module 114 comprising a first member 116 and a second member 118 rotatable in relation to each other about a first axis of rotation 120, the first member 116 being rigidly secured to the base 104 of the industrial robot; a pitch joint type second module 122 comprising a first member 124 and a second member 126 rotatable in relation to each other about a second axis of rotation 128, the first member 124 of the second module 122 being rigidly attached to the second member 118 of the first module 114; and a roll joint type third module 130 comprising a first member 132 and a second member 134 rotatable in relation to each other about a third axis of rotation 136, the first member 132 of the third module 130 being rigidly attached to the second member 126 of the second module 122; where the second axis of rotation 128 is substantially per
  • the motor unit 138 of the third module 130 intersects a plane 140 in which the second axis of rotation 128 lies, and which plane 140 is substantially perpendicular to the third axis of rotation 136 and, when the first axis of rotation 120 is substantially collinear with the third axis of rotation 136, is substantially perpendicular to the first axis of rotation 120.
  • the robot arm 102 further comprises: a pitch joint type fourth module 142 comprising a first member 144 and a second member 146 rotatable in relation to each other about a fourth axis of rotation 148, the first member 144 of the fourth module 142 being rigidly attached, se- cured, or affixed, to the second member 134 of the third module 130; and a roll joint type fifth module 150 comprising a first member 152 and a second member 154 rotatable in relation to each other about a fifth axis of rotation 156, the first member 152 of the fifth module 150 being rigidly attached to the second member 146 of the fourth module 142; where the fourth axis of rotation 148 is substantially perpendicular to the third and the fifth axis of rotation 136, 156, the fourth axis of rotation 148 is offset from the third and the fifth axis of rotation 136, 156 when the third axis of rotation 136 is substantially collinear with the fifth axis of rotation 156, and the fifth module
  • the motor unit 158 of the fifth module 150 intersects a plane 160 in which the fourth axis of rotation 148 lies, and which plane 160 is substantially perpendicular to the fifth axis of rotation 156 and, when the third axis of rotation 136 is substantially collinear with the fifth axis of rotation 156, is substantially perpendicular to the third axis of rotation 136.
  • the robot arm 102 further comprises: a pitch joint type sixth module 162 comprising a first member 164 and a second member 166 rotatable in relation to each other about a sixth axis of rota- tion 168, the first member 164 of the sixth module 162 being rigidly attached to the second member 154 of the fifth module 150; and a roll joint type seventh module 170 comprising a first member 172 and a second member 174 rotatable in relation to each other about a seventh axis of ro- tation 176, the first member 172 of the seventh module 170 being rigidly attached to the second member 166 of the sixth module 162; where the sixth axis of rotation 168 is substantially perpendicular to the fifth and the seventh axis of rotation 156, 176, the sixth axis of rotation 168 is off- set from the fifth and the seventh axis of rotation 156, 176 when the fifth axis of rotation 156 is substantially collinear with the seventh axis of rotation 176, and the
  • the motor unit 178 of the seventh module 150 intersects a plane 180 in which the sixth axis of rotation 168 lies, and which plane 180 is substantially perpendicular to the seventh axis of rotation 176 and, when the fifth axis of rotation 156 is substantially collinear with the seventh axis of rotation 176, is substantially perpendicular to the fifth axis of rotation 156.
  • the first member 124, 132, 144, 152, 164, 172 of each module 122, 130, 142, 150, 162, 170, except the first module 114, is considered to be indirectly connected to the base 104 of the industrial robot via at least one previous intermediate module 114, 122, 130, 142, 150, 162, and the second member 118, 126, 134, 146, 154, 166 of each module 114, 122, 130, 142, 150, 162, except the seventh module 170, is considered to be indirectly connected to the wrist unit of the industrial robot via at least one intermediate subsequent module 122, 130, 142, 150, 162, 170.
  • the robot arm 102 includes three exemplary apparatuses according to the present invention, where the first apparatus includes the first, the second and the third module 114, 122, 130, the second apparatus includes the third, the fourth and the fifth module 130, 142, 150, and the third apparatus includes the fifth, the sixth and the seventh module 150, 162, 170.
  • the second member 134 of the third module 130, and the second member 154 of the fifth module 150 each includes a cylindrical elongated member 135, 155, the length of which can be altered to fulfil any specific requirement.
  • At least one tenth of the extension of the motor unit 138, 158, 178 in the direction of the axis of rotation 136, 156, 176 of the motor unit's 138, 158, 178 roll joint type module 130, 150, 170 is situated between said plane of the apparatus and the adjacent roll joint type module 114, 130, 150 of the same apparatus, when the axis of rotation of the motor unit's roll joint type module 130, 150, 170 is substantially collinear with the axis of rotation of the adjacent roll joint type module 114, 130, 150 of the same appa- ratus.
  • the entire motor unit 138, 158, 178 of the roll joint type module 130, 150, 170 is positionable between the adjacent roll joint type module 114, 130, 150 of the same apparatus and a plane in which the axis of rotation 128, 148, 168 of the pitch joint type module 122, 142, 162 of the same apparatus lies, and which plane is substantially perpendicular to the axis of rotation of the adjacent roll joint type module 114, 130, 150 of the same apparatus.
  • each pitch joint type module 122, 142, 162 comprises a motor unit 182, 184, 186 adapted to drive the relative rotation of the first and second members 124, 126, 144, 146, 164, 166 of the respective pitch joint type module 122, 142, 162 and comprising an output shaft rotatable about an axis which is substantially collinear with the axis of rotation 128, 148, 168 of the respective pitch joint type module 122, 142, 162.
  • the seventh module 170, the sixth module 162 and the fifth module 150 are disclosed in more detail, however, the corresponding modules within the other of said apparatuses are considered to have a corresponding structure.
  • the motor unit 178 of the seventh module 170 com- prises an output shaft 188 rotatable about an axis which is substantially collinear with the seventh axis of rotation 176, and the motor unit 178 is adapted to drive the relative rotation of the first and second members 172, 174 of the seventh module 170.
  • the motor unit 178 is adapted to drive the relative rotation of the first and second members 172, 174 of the seventh module 170 via a harmonic drive as- sembly 190 adapted to transmit rotation to the second member 174 of the seventh module 170, and the axis of rotation of said harmonic drive assembly 190 is substantially collinear with the seventh axis of rotation 176.
  • the harmonic drive assembly 190 per se can be designed in any suitable conventional way known to the person skilled in the art.
  • one 126, 146, 166 of the first and second members 124, 126, 144, 146, 164, 166 of each pitch joint type module 122, 142, 162 is positioned between the motor unit 182, 184, 186 of pitch joint type module 122, 142, 162 and the other member 124, 144, 164 of the pitch joint type module 122, 142, 162.
  • the load on the pitch joint type module 122, 142, 162 is reduced, since the first and second members of the pitch joint type module 122, 142, 162 are connected without any intermediate member of substantial extension in the direction of the axis of rotation of the respective pitch joint type module 122, 142, 162.
  • each pitch joint type module 122, 142, 162 corresponds in principal to the structure of the motor units 138, 158, 178 of the roll joint type modules 130, 150, 170 and are also each equipped with a harmonic drive assembly.
  • the seventh module 170 and the harmonic drive assembly 190 are shown in more detail.
  • the schematically shown harmonic drive assembly 190 is designed in a conventional way known to the skilled person and includes a housing 194 which is rigidly affixed the first member 172 of the roll joint type seventh module 170.
  • the housing 194 houses a wave generator 196, a flex spline 198, a cross roller bearing 200, in which the second member 174 of the seventh module 170 is journalled, and a transmission output 202.
  • the housing 194 extends through an opening in the first member 172 of the roll joint type seventh module 170.
  • Each of the above-mentioned exemplary modules is provided with a motor unit combined with a harmonic drive assembly as disclosed in connection with the seventh module 170 in Fig. 3.
  • the first module 114 also includes a motor unit 191 adapted to drive the relative rotation of the first and second members 116, 118 of the first module 114.
  • FIG. 4 is a schematic perspective view of the industrial robot arm of Fig. 1.
  • the second member 174 of the seventh module 170 is provided with mounting means 192, or a mounting unit, or mounting element, for holding at least one tool, for example a gripping tool.
  • the mounting means 192 is in the form of a threaded recess, but the second member 174 can be provided with any suitable mounting means known in prior art.
  • the industrial robot arm 102 comprises a terminal wrist unit which includes the seventh module 170.
  • the tool to be held by the mounting means 192 is powered and controlled by the control system 106 and powered and controlled via suitable conventional means, such as cables, known to the skilled person.
  • the motor units are powered and controlled by the control system via suitable conventional means known to the skilled person, such as cables suitably arranged along the extension of the robot arm, and it is to be understood that the robot arm and its apparatuses can be equipped with sensors and additional equip- ment known to the person skilled in the art, in order to effect a suitable performance of the industrial robot arm, or manipulator, for example as described in EP- A2-0 233 712.
  • the different modules can be designed in various ways, and can be provided with various kinds of protective skins or housings, and additional equipment. Additional modules can also be connected to the industrial robot arm providing the arm with further DOF.

Landscapes

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

Abstract

An apparatus for a robot arm (102) of an industrial robot, comprising: a first module (114; 130; 150) comprising a first and a second member (116, 118; 132, 134; 152, 154) rotatable in relation to each other about a first axis of rotation (120; 136; 156); a second module (122; 142; 162) comprising a first and a second member (124, 126; 144, 146; 164, 166) rotatable in relation to each other about a second axis of rotation (128; 148; 168), the first member (124; 144; 164) of the second module (122; 142; 162) being attached to the second member (118; 134; 154) of the first module (114; 130; 150); and a third module (130; 150; 170) comprising a first and a second member (132, 134; 152, 154; 172, 174) rotatable in relation to each other about a third axis of rotation (136; 156; 176), the first member (132; 152; 172) of the third module (130; 150; 170) being attached to the second member (126; 146; 166) of the second module (122; 142; 162); where the second axis of rotation (128; 148; 168) is substantially perpendicular to the first and the third axis of rotation (120, 136; 136, 156; 156, 176), the second axis of rotation (128; 148; 168) is offset from the first and the third axis of rotation (120, 136; 136, 156; 156, 176) when the first axis of rotation (120; 136; 156) is substantially parallel to the third axis of rotation (136; 156; 176), and the third module (130; 150; 170) comprises a motor unit (138; 158; 178) comprising an output shaft (188) rotatable about an axis which is substantially collinear with the third axis of rotation (136; 156; 176). The motor unit (138; 158; 178) intersects a plane (140; 160; 180) in which the second axis of rotation (128; 148; 168) lies, which plane (140; 160; 180) is substantially perpendicular to the third axis of rotation (136; 156; 176).

Description

AN APPARATUS FOR A ROBOT ARM
Technical Field The present invention relates to an apparatus for a robot arm, or a manipulator arm, of an industrial robot, which apparatus comprises a first module comprising a first and a second member rotatable in relation to each other about a first axis of rotation, the first member being indirectly, or directly, connectable to a base of the industrial robot; a second module comprising a first and a second member rotatable in relation to each other about a second axis of rotation, the first member of the second module being rigidly attached to the second member of the first module; and a third module comprising a first and a second member rotatable in relation to each other about a third axis of rotation, the first member of the third module being rigidly attached to the second member of the second module. The second axis of rotation is substantially perpendicular to the first and the third axis of rotation, the second axis of rotation is offset from the first and the third axis of rotation when the first axis of rotation is substantially parallel to the third axis of rotation, and the third module comprises a motor unit comprising an output shaft rotatable about an axis which is substantially collinear with the third axis of rota- tion, the motor unit being adapted to drive the relative rotation of the first and second members of the third module.
Background of the Invention
Industrial robots, or modular robots, are conventionally designed according to a specific design scheme for how joint actuators, such as electric motor units, and structural elements, such as joint modules, are connected to form a robot arm, or a manipulator. There are various kinds of known modular robot designs and various designs of joints and arm modules in prior art.
EP-A1 -1 930 129 describes an articulated manipulator comprising a plurality of arm bodies in series, and joint parts rotatably connecting two adjacent arm bodies of the plurality of arm bodies, where the joint parts are provided such that rotation axes of the adjacent joint parts intersect each other at right angles. US 4,527,945 discloses a swivelling handle for a robot arm including three reduction gear assemblies, each assuring the control of movement about three axes of rotation, where one of the axes intersects both of the other two.
WO-A1 - 2005/061189 describes a wrist unit for connection to a robot arm of an industrial robot. US 4,766,775 discloses a modular robotic manipulator comprising articulating modules. US 4,900,997 describes a device to guide an object around two axes of rotation. EP-A1 -0 612 591 discloses a motorized rotary joint for robots.
WO-A2-2007/099511 discloses a programmable robot system comprising a robot provided with a number of individual arm sections, where adjacent sections are interconnected by a joint.
EP-A2-0 233 712, upon which the preamble of the appended claim 1 is based, discloses an industrial robot having integrated joint drive modules assembled in series to form an arm. The joint modules are of two basic types, roll joints and pitch joints, and the typical robot arm configuration includes a series of alternating pitch joints and roll joints terminating in a tool at the distal end of the arm. Each joint, or joint module, is independently powered by its own motor which is attached to the joint. Each pitch joint is disposed with its axis of rotation substantially perpendicular to the roll joint axes, and each pitch joint is offset from the lon- gitudinal axis of the robot arm extended with the roll joint axes collinear. Said offset permits the robot arm to be folded back on itself or to be fully extended.
However, the above-mentioned industrial robot designs have various kinds of drawbacks. Some designs result in a bulky arm structure, in one or more directions, which is not as compact as desired. Some designs have limitations in the dynamic performance, e.g. because of high inertia caused by the weight the arm modules or joints of the arm, and have limited joint strokes. This impairs or limits the movement of the robot arm.
The Object of the Invention
The object of the present invention is thus to improve the movement and the dynamic performance of a robot arm.
Summary of the Invention
The above-mentioned object of the present invention is attained by providing an apparatus for a robot arm of an industrial robot, which apparatus comprises a first module comprising a first and a second member rotatable in relation to each other about a first axis of rotation, the first member being indirectly, or directly, connectable to a base of the industrial robot, a second module comprising a first and a second member rotatable in relation to each other about a second axis of rotation, the first member of the second module being rigidly attached to the second member of the first module, and a third module comprising a first and a second member rotatable in relation to each other about a third axis of rotation, the first member of the third module being rigidly attached to the second member of the second module, where the second axis of rotation is substantially perpendicular to the first and the third axis of rotation, the second axis of rotation is offset from the first and the third axis of rotation when the first axis of rotation is substantially parallel to the third axis of rotation, and the third module comprises a motor unit comprising an output shaft rotatable about an axis which is substantially collinear with the third axis of rotation, the motor unit being adapted to drive the relative rotation of the first and second members of the third module, and the motor unit intersects a plane in which the second axis of rotation lies, which plane is substantially perpendicular to the third axis of rotation.
The first module can be categorized as a roll joint module, the second module can be categorized as a pitch joint module, and the third module can be categorized as a roll joint module. By the apparatus of the present invention, the motor unit of the third module is displaced in such a way that the centre of gravity of the third module is displaced in an advantageous way in the direction towards the first module and closer to the second module and the second axis of rotation. By the inventive displacement of the centre of gravity of the third module closer to the second axis of rotation, the inertia associated with the pitch joint stroke of the second module is reduced, and the dynamic performance and movement of the apparatus, and any industrial robot arm including the apparatus, is improved in an efficient way. Further, as a result of the inventive displacement of the motor unit, the extension of the roll joint type third module in the direction of its axis of rotation can be reduced, which also provides a flexibility in the design of the industrial robot arm. Further, when the terminal wrist unit of an industrial robot arm includes the third module of said apparatus, the extension of the third module in the direction of its axis of rotation can be reduced such that the wrist offset is efficiently minimized, providing a radically reduced inertia and consequently radically improved dynamic performance of the wrist unit, and providing a compact and non- bulky wrist unit with improved mobility and flexibility.
Because of the inventive displacement of the motor unit, the above-men- tioned improvements are attained in spite of the feature that the output shaft of the motor unit is rotatable about an axis which is substantially collinear with the third axis of rotation, as defined in the appended claim 1 , which provides a structure which is not complex and is uncomplicated to manufacture, and there is no need for any complex additional equipment, such as additional gears or pinions, which appears in some of the prior art documents listed above, for transmitting rotation from the motor unit to the rotating member of the third module, to achieve the above-mentioned improvements or positive effects.
A member of a module can be rigidly attached, secured, or affixed, to the member of another module by being integrally formed with it, or by being secured to it by welding, or by any other suitable means.
According to an advantageous embodiment of the apparatus according to the present invention, the modules are positionable such that the first axis of rotation is substantially collinear with the third axis of rotation, and the second axis of rotation is offset from the first and the third axis of rotation when the first axis of rotation is substantially collinear with the third axis of rotation. The inventive displacement of the motor unit is further advantageous to embodiments where the modules are connected to each other such that the second axis of rotation is offset from the first and the third axis of rotation when the first axis of rotation is substantially collinear with the third axis of rotation. According to another advantageous embodiment of the apparatus according to the present invention, where the second axis of rotation is offset from the first and the third axis of rotation when the first axis of rotation is substantially collinear with the third axis of rotation, the motor unit intersects a plane in which the second axis of rotation lies, which plane is substantially perpendicular to the first axis of rotation when the first axis of rotation is substantially collinear with the third axis of rotation.
According to a further advantageous embodiment of the apparatus according to the present invention, the motor unit is adapted to drive the relative rotation of the first and second members of the third module via a transmission adapted to transmit rotation to the second member of the third module, and the axis of rotation of said transmission is substantially collinear with the third axis of rotation.
According to another advantageous embodiment of the apparatus according to the present invention, the transmission comprises a harmonic drive assem- bly. However, other kinds of transmission are also possible.
According to still another advantageous embodiment of the apparatus according to the present invention, where the second axis of rotation is offset from the first and the third axis of rotation when the first axis of rotation is substantially collinear with the third axis of rotation, at least one tenth of the extension of the motor unit in the direction of the third axis of rotation is situated between said plane and the first module, when the third axis of rotation is substantially collinear with the first axis of rotation. The inventor has found that embodiments, where at least one tenth of the extension of the motor unit in the direction of the third axis of rotation is situated between said plane and the first module, further improves the movement and the dynamic performance of a robot arm.
According to yet another advantageous embodiment of the apparatus according to the present invention, where the second axis of rotation is offset from the first and the third axis of rotation when the first axis of rotation is substantially collinear with the third axis of rotation, the entire motor unit is positionable between the first module and a plane in which the second axis of rotation lies, and which plane is substantially perpendicular to the first axis of rotation. Hereby, the movement of a robot arm can be further improved, as the third module can rotate to a greater extent about the second axis of rotation. By this, the third module can be folded back to a great extent in an additional direction, and thus provide a greater backward stroke of the pitch joint type second module, with minimal compromise with regard to the compactness of the second module.
According to an advantageous embodiment of the apparatus according to the present invention, where the second axis of rotation is offset from the first and the third axis of rotation when the first axis of rotation is substantially collinear with the third axis of rotation, the extension of the first member of the second module in the direction of the third axis of rotation is greater in relation to the extension of the second member of the second module in the direction of the third axis of rotation, when the third axis of rotation is substantially collinear with the first axis of rotation. Hereby, the movement of a robot arm can be further improved in an efficient way. This difference in extension of the first and second members of the pitch joint type second module enables an efficient displacement of the second axis of rotation in the direction towards the third module and further away from the first module, establishing a space between the second axis or rotation and the first module for ro- tation of the motor unit around the second axis of rotation, providing for that the motor unit to be positionable in an efficient way between the first module and the plane in which the second axis of rotation lies, and which plane is substantially perpendicular to the first axis of rotation.
According to a further advantageous embodiment of the apparatus accord- ing to the present invention, the second module comprises a motor unit adapted to drive the relative rotation of the first and second members of the second module and comprising an output shaft rotatable about an axis which is substantially col- linear with the second axis of rotation, and in that one of the first and second members of the second module is positioned between the motor unit and the other member of the second module. Hereby, the load on the pitch joint type second module is reduced, since the first and second members of the second module are connected without any intermediate member of substantial extension in the direction of the second axis of rotation.
According to still another advantageous embodiment of the apparatus ac- cording to the present invention, the motor unit is in the form of an electric motor. Hereby, the movement and the dynamic performance of a robot arm is further improved.
According to an advantageous embodiment of the apparatus according to the present invention, the second member of the third module is provided with mounting means for holding at least one tool, for example a gripping tool. By this feature, the third module forms part of a wrist unit which terminates a robot arm. By incorporating the inventive displacement of the motor unit into the wrist unit, the extension of the roll joint type third module in the direction of its axis of rotation can be reduced such that the wrist offset is efficiently minimized, providing a radically reduced inertia and consequently radically improved dynamic performance of the wrist unit, and providing a compact and non-bulky wrist unit with improved mobility and flexibility.
The above-mentioned object of the present invention is also attained by providing an industrial robot arm comprising at least one apparatus having the features which are mentioned in any of the claims 1 to 11. The apparatus can include any of the pitch joints of an industrial robot arm, and can thus be incorporated anywhere between the base and the terminal wrist unit of the industrial robot. The robot arm, or manipulator, can have six or seven degrees of freedom, DOF, or any other suitable number of DOF.
According to an advantageous embodiment of the industrial robot arm according to the present invention, the industrial robot arm comprises a plurality of apparatuses each as defined in any of the claims 1 to 11. When including a plurality of apparatuses, the above-mentioned positive effects associated with a single apparatus are manifold with regard to the performance of the industrial robot arm. When two apparatuses are adjacent to each other, the first module of one of the apparatuses can be the third module of the other apparatus, and apparatuses can thus share the same module.
According to a further advantageous embodiment of the industrial robot arm according to the present invention, the industrial robot arm comprises a terminal wrist unit, and the wrist unit includes the third module of said apparatus. The positive effects of incorporating the third module into the wrist unit of an industrial robot arm have been described above.
Further, the above-mentioned object of the present invention is attained by providing an industrial robot having an industrial robot arm which comprises the features mentioned in any of the claims 12 to 14.
Further advantageous embodiments and further advantages of the apparatus, the industrial robot arm and the industrial robot according to the present invention emerge from the detailed description of embodiments.
Brief Description of the Drawings
The present invention will now be described, for exemplary purposes, in more detail by way of embodiments and with reference to the enclosed drawings, in which:
Fig. 1 is a schematic side view of an embodiment of the industrial robot according to the present invention provided with an embodiment of the industrial robot arm according to the present invention, where the industrial robot arm includes three embodiments of the apparatus according to the present invention; Fig. 2 is an enlarged partly cutaway view of a portion of the industrial robot arm of Fig. 1 ;
Fig. 3 is a further enlarged cutaway view of a portion of the industrial robot arm of Fig. 1 ; and Fig. 4 is a schematic perspective view of the industrial robot arm of Fig. 1
Detailed Description of Preferred Embodiments
Fig. 1 schematically shows an industrial robot including an industrial robot arm 102, or a manipulator 102, a base 104 to which the robot arm 102 is connected, and a control system 106 for controlling the robot arm 102. The control system is designed in a conventional way known to the skilled person, and may include a digital computer 108, a data memory 110 and an input unit 112 for input of control parameters, for example in the form of control schemes.
The robot arm 102 is built up of two basic types of modules, roll joint type modules and pitch joint type modules. The robot arm 102 comprises: a roll joint type first module 114 comprising a first member 116 and a second member 118 rotatable in relation to each other about a first axis of rotation 120, the first member 116 being rigidly secured to the base 104 of the industrial robot; a pitch joint type second module 122 comprising a first member 124 and a second member 126 rotatable in relation to each other about a second axis of rotation 128, the first member 124 of the second module 122 being rigidly attached to the second member 118 of the first module 114; and a roll joint type third module 130 comprising a first member 132 and a second member 134 rotatable in relation to each other about a third axis of rotation 136, the first member 132 of the third module 130 being rigidly attached to the second member 126 of the second module 122; where the second axis of rotation 128 is substantially perpendicular to the first and the third axis of rotation 120, 136, the second axis of rotation 128 is offset from the first and the third axis of rotation 120, 136 when the first axis of rotation 120 is substantially collinear with the third axis of rotation 136, and the third module 130 comprises a motor unit 138 comprising an output shaft rotatable about an axis which is substantially collinear with the third axis of rotation 138, the motor unit 138 being adapted to drive the relative rotation of the first and second mem- bers 132, 134 of the third module 130. Further, the motor unit 138 of the third module 130 intersects a plane 140 in which the second axis of rotation 128 lies, and which plane 140 is substantially perpendicular to the third axis of rotation 136 and, when the first axis of rotation 120 is substantially collinear with the third axis of rotation 136, is substantially perpendicular to the first axis of rotation 120. The robot arm 102 further comprises: a pitch joint type fourth module 142 comprising a first member 144 and a second member 146 rotatable in relation to each other about a fourth axis of rotation 148, the first member 144 of the fourth module 142 being rigidly attached, se- cured, or affixed, to the second member 134 of the third module 130; and a roll joint type fifth module 150 comprising a first member 152 and a second member 154 rotatable in relation to each other about a fifth axis of rotation 156, the first member 152 of the fifth module 150 being rigidly attached to the second member 146 of the fourth module 142; where the fourth axis of rotation 148 is substantially perpendicular to the third and the fifth axis of rotation 136, 156, the fourth axis of rotation 148 is offset from the third and the fifth axis of rotation 136, 156 when the third axis of rotation 136 is substantially collinear with the fifth axis of rotation 156, and the fifth module 150 comprises a motor unit 158 comprising an output shaft rotatable about an axis which is substantially collinear with the fifth axis of rotation 156, the motor unit 158 being adapted to drive the relative rotation of the first and second members 152, 154 of the fifth module 150. Further, the motor unit 158 of the fifth module 150 intersects a plane 160 in which the fourth axis of rotation 148 lies, and which plane 160 is substantially perpendicular to the fifth axis of rotation 156 and, when the third axis of rotation 136 is substantially collinear with the fifth axis of rotation 156, is substantially perpendicular to the third axis of rotation 136. The robot arm 102 further comprises: a pitch joint type sixth module 162 comprising a first member 164 and a second member 166 rotatable in relation to each other about a sixth axis of rota- tion 168, the first member 164 of the sixth module 162 being rigidly attached to the second member 154 of the fifth module 150; and a roll joint type seventh module 170 comprising a first member 172 and a second member 174 rotatable in relation to each other about a seventh axis of ro- tation 176, the first member 172 of the seventh module 170 being rigidly attached to the second member 166 of the sixth module 162; where the sixth axis of rotation 168 is substantially perpendicular to the fifth and the seventh axis of rotation 156, 176, the sixth axis of rotation 168 is off- set from the fifth and the seventh axis of rotation 156, 176 when the fifth axis of rotation 156 is substantially collinear with the seventh axis of rotation 176, and the seventh module 170 comprises a motor unit 178 comprising an output shaft ro- tatable about an axis which is substantially collinear with the seventh axis of rotation 176, the motor unit 178 being adapted to drive the relative rotation of the first and second members 172, 174 of the seventh module 170. Further, the motor unit 178 of the seventh module 150 intersects a plane 180 in which the sixth axis of rotation 168 lies, and which plane 180 is substantially perpendicular to the seventh axis of rotation 176 and, when the fifth axis of rotation 156 is substantially collinear with the seventh axis of rotation 176, is substantially perpendicular to the fifth axis of rotation 156.
The first member 124, 132, 144, 152, 164, 172 of each module 122, 130, 142, 150, 162, 170, except the first module 114, is considered to be indirectly connected to the base 104 of the industrial robot via at least one previous intermediate module 114, 122, 130, 142, 150, 162, and the second member 118, 126, 134, 146, 154, 166 of each module 114, 122, 130, 142, 150, 162, except the seventh module 170, is considered to be indirectly connected to the wrist unit of the industrial robot via at least one intermediate subsequent module 122, 130, 142, 150, 162, 170.
The robot arm 102 includes three exemplary apparatuses according to the present invention, where the first apparatus includes the first, the second and the third module 114, 122, 130, the second apparatus includes the third, the fourth and the fifth module 130, 142, 150, and the third apparatus includes the fifth, the sixth and the seventh module 150, 162, 170.
The second member 134 of the third module 130, and the second member 154 of the fifth module 150 each includes a cylindrical elongated member 135, 155, the length of which can be altered to fulfil any specific requirement.
As shown in Fig. 1 , within each of said apparatuses, at least one tenth of the extension of the motor unit 138, 158, 178 in the direction of the axis of rotation 136, 156, 176 of the motor unit's 138, 158, 178 roll joint type module 130, 150, 170 is situated between said plane of the apparatus and the adjacent roll joint type module 114, 130, 150 of the same apparatus, when the axis of rotation of the motor unit's roll joint type module 130, 150, 170 is substantially collinear with the axis of rotation of the adjacent roll joint type module 114, 130, 150 of the same appa- ratus.
When the entire robot arm 102 is stretch out in vertical direction with regard to Fig. 1 , such that the first, the third, the fifth and the seventh axis of rotation 120, 136, 156, 176 are substantially collinear with each other forming a common longitudinal axis, then for each of the second, the fourth and the sixth module, the extension of the first member 124, 144, 164 in the direction of said longitudinal axis is greater in relation to the extension of the second member 126, 146, 166 in the direction of said longitudinal axis. By this structure, within each of said apparatuses, the entire motor unit 138, 158, 178 of the roll joint type module 130, 150, 170 is positionable between the adjacent roll joint type module 114, 130, 150 of the same apparatus and a plane in which the axis of rotation 128, 148, 168 of the pitch joint type module 122, 142, 162 of the same apparatus lies, and which plane is substantially perpendicular to the axis of rotation of the adjacent roll joint type module 114, 130, 150 of the same apparatus.
Further, each pitch joint type module 122, 142, 162 comprises a motor unit 182, 184, 186 adapted to drive the relative rotation of the first and second members 124, 126, 144, 146, 164, 166 of the respective pitch joint type module 122, 142, 162 and comprising an output shaft rotatable about an axis which is substantially collinear with the axis of rotation 128, 148, 168 of the respective pitch joint type module 122, 142, 162. With reference to Fig. 2, the seventh module 170, the sixth module 162 and the fifth module 150 are disclosed in more detail, however, the corresponding modules within the other of said apparatuses are considered to have a corresponding structure.
As mentioned above, the motor unit 178 of the seventh module 170 com- prises an output shaft 188 rotatable about an axis which is substantially collinear with the seventh axis of rotation 176, and the motor unit 178 is adapted to drive the relative rotation of the first and second members 172, 174 of the seventh module 170. The motor unit 178 is adapted to drive the relative rotation of the first and second members 172, 174 of the seventh module 170 via a harmonic drive as- sembly 190 adapted to transmit rotation to the second member 174 of the seventh module 170, and the axis of rotation of said harmonic drive assembly 190 is substantially collinear with the seventh axis of rotation 176. The harmonic drive assembly 190 per se can be designed in any suitable conventional way known to the person skilled in the art.
Within each of said apparatuses, one 126, 146, 166 of the first and second members 124, 126, 144, 146, 164, 166 of each pitch joint type module 122, 142, 162 is positioned between the motor unit 182, 184, 186 of pitch joint type module 122, 142, 162 and the other member 124, 144, 164 of the pitch joint type module 122, 142, 162. Hereby, the load on the pitch joint type module 122, 142, 162 is reduced, since the first and second members of the pitch joint type module 122, 142, 162 are connected without any intermediate member of substantial extension in the direction of the axis of rotation of the respective pitch joint type module 122, 142, 162. The structure of the motor units 182, 184, 186 of each pitch joint type module 122, 142, 162 corresponds in principal to the structure of the motor units 138, 158, 178 of the roll joint type modules 130, 150, 170 and are also each equipped with a harmonic drive assembly.
In Fig. 3, the seventh module 170 and the harmonic drive assembly 190 are shown in more detail. The schematically shown harmonic drive assembly 190 is designed in a conventional way known to the skilled person and includes a housing 194 which is rigidly affixed the first member 172 of the roll joint type seventh module 170. The housing 194 houses a wave generator 196, a flex spline 198, a cross roller bearing 200, in which the second member 174 of the seventh module 170 is journalled, and a transmission output 202. The housing 194 extends through an opening in the first member 172 of the roll joint type seventh module 170. Each of the above-mentioned exemplary modules is provided with a motor unit combined with a harmonic drive assembly as disclosed in connection with the seventh module 170 in Fig. 3.
With reference to Fig. 1 , the first module 114 also includes a motor unit 191 adapted to drive the relative rotation of the first and second members 116, 118 of the first module 114.
Each of the above disclosed motor units of the embodiments is in the form of an electric motor functioning in a manner known to the skilled person. Fig. 4 is a schematic perspective view of the industrial robot arm of Fig. 1. The second member 174 of the seventh module 170 is provided with mounting means 192, or a mounting unit, or mounting element, for holding at least one tool, for example a gripping tool. Here, the mounting means 192 is in the form of a threaded recess, but the second member 174 can be provided with any suitable mounting means known in prior art. The industrial robot arm 102 comprises a terminal wrist unit which includes the seventh module 170. The tool to be held by the mounting means 192 is powered and controlled by the control system 106 and powered and controlled via suitable conventional means, such as cables, known to the skilled person.
The motor units are powered and controlled by the control system via suitable conventional means known to the skilled person, such as cables suitably arranged along the extension of the robot arm, and it is to be understood that the robot arm and its apparatuses can be equipped with sensors and additional equip- ment known to the person skilled in the art, in order to effect a suitable performance of the industrial robot arm, or manipulator, for example as described in EP- A2-0 233 712.
The invention shall not be considered limited to the embodiments illustrated, but can be modified and altered in many ways by one skilled in the art, without departing from the scope of the appended claims. For example, the different modules can be designed in various ways, and can be provided with various kinds of protective skins or housings, and additional equipment. Additional modules can also be connected to the industrial robot arm providing the arm with further DOF.

Claims

1. An apparatus for a robot arm (102) of an industrial robot, the apparatus comprising a first module (114; 130; 150) comprising a first and a second member
(116, 118; 132, 134; 152, 154) rotatable in relation to each other about a first axis of rotation (120; 136; 156), the first member (116; 132; 152) being indirectly, or directly, connectable to a base (104) of the industrial robot, a second module (122; 142; 162) comprising a first and a second member (124, 126; 144, 146; 164, 166) rotatable in relation to each other about a second axis of rotation (128; 148; 168), the first member (124; 144; 164) of the second module (122; 142; 162) being rigidly attached to the second member (118; 134; 154) of the first module (114; 130; 150), and a third module (130; 150; 170) comprising a first and a second member (132, 134; 152, 154; 172, 174) rotatable in relation to each other about a third axis of rotation (136; 156; 176), the first member (132; 152; 172) of the third module (130; 150; 170) being rigidly attached to the second member (126; 146; 166) of the second module (122; 142; 162), where the second axis of rotation (128; 148; 168) is substantially perpen- dicular to the first and the third axis of rotation (120, 136; 136, 156; 156, 176), the second axis of rotation (128; 148; 168) is offset from the first and the third axis of rotation (120, 136; 136, 156; 156, 176) when the first axis of rotation (120; 136; 156) is substantially parallel to the third axis of rotation (136; 156; 176), and the third module (130; 150; 170) comprises a motor unit (138; 158; 178) comprising an output shaft (188) rotatable about an axis which is substantially collinear with the third axis of rotation (136; 156; 176), the motor unit (138; 158; 178) being adapted to drive the relative rotation of the first and second members (132, 134; 152, 154; 172, 174) of the third module (130; 150; 170), characterized in that the motor unit (138; 158; 178) intersects a plane (140; 160; 180) in which the second axis of rotation (128; 148; 168) lies, which plane (140; 160; 180) is substantially perpendicular to the third axis of rotation (136; 156; 176).
2. An apparatus according to claim 1 , characterized in that the modules are positionable such that the first axis of rotation (120; 136; 156) is substantially collinear with the third axis of rotation (136; 156; 176), and in that the second axis of rotation (128; 148; 168) is offset from the first and the third axis of rotation (120, 136; 136, 156; 156, 176) when the first axis of rotation (120; 136; 156) is substantially collinear with the third axis of rotation (136; 156; 176).
3. An apparatus according to claim 2, characterized in that the motor unit (138; 158; 178) intersects a plane (140; 160; 180) in which the second axis of rotation (128; 148; 168) lies, which plane (140; 160; 180) is substantially perpendicular to the first axis of rotation (120; 136; 156) when the first axis of rotation (120; 136; 156) is substantially collinear with the third axis of rotation (136; 156; 176).
4. An apparatus according to claim 2 or 3, characterized in that the at least one tenth of the extension of the motor unit (138; 158; 178) in the direction of the third axis of rotation (136; 156; 176) is situated between said plane (140; 160; 180) and the first module, when the third axis of rotation (136; 156; 176) is substantially collinear with the first axis of rotation (120; 136; 156).
5. An apparatus according to any of the claims 2 to 4, characterized in that the entire motor unit (138; 158; 178) is positionable between the first module
(114; 130; 150) and a plane (140; 180) in which the second axis of rotation (128; 148; 168) lies, and which plane (140; 180) is substantially perpendicular to the first axis of rotation (120; 136; 156).
6. An apparatus according to any of the claims 2 to 5, characterized in that the extension of the first member (124; 144; 164) of the second module (122; 142; 162) in the direction of the third axis of rotation (136; 156; 176) is greater in relation to the extension of the second member (126; 146; 166) of the second module (122; 142; 162) in the direction of the third axis of rotation (136; 156; 176), when the third axis of rotation (136; 156; 176) is substantially collinear with the first axis of rotation (120; 136; 156).
7. An apparatus according to any of the claims 1 to 6, characterized in that the motor unit (138; 158; 178) is adapted to drive the relative rotation of the first and second members (132, 134; 152, 154; 172, 174) of the third module (130; 150; 170) via a transmission adapted to transmit rotation to the second member (134; 154; 174) of the third module (130; 150; 170), and in that the axis of rotation of said transmission is substantially collinear with the third axis of rotation (136; 156; 176).
8. An apparatus according to claim 7, characterized in that the transmission comprises a harmonic drive assembly (190).
9. An apparatus according to any of the claims 1 to 8, characterized in that the second module (122; 142; 162) comprises a motor unit (182; 184; 186) adapted to drive the relative rotation of the first and second members (124, 126; 144, 146; 164, 166) of the second module (122; 142; 162) and comprising an output shaft rotatable about an axis which is substantially collinear with the second axis of rotation (128; 148; 168), and in that one (126; 146; 166) of the first and second members (124, 126; 144, 146; 164, 166) of the second module (122; 142; 162) is positioned between the motor unit (182; 184; 186) and the other member (124; 144; 164) of the second module (122; 142; 162).
10. An apparatus according to any of the claims 1 to 9, characterized in that the motor unit (138, 182; 158, 184; 178, 186) is in the form of an electric motor.
11. An apparatus according to any of the claims 1 to 10, characterized in that the second member (174) of the third module (170) is provided with mounting means (192) for holding at least one tool, for example a gripping tool.
12. An industrial robot arm (102), characterized in that the industrial robot arm (102) comprises at least one apparatus having the features which are men- tioned in any of the claims 1 to 11.
13. An industrial robot arm (102) according to claim 12, characterized in that the industrial robot arm (102) comprises a plurality of apparatuses each as defined in claim 12.
14. An industrial robot arm (102) according to claim 12 or 13, characterized in that the industrial robot arm (102) comprises a terminal wrist unit, and in that the wrist unit includes the third module (170) of said apparatus.
15. An industrial robot comprising an industrial robot arm (102), characterized in that the industrial robot arm (102) comprises the features mentioned in any of the claims 12 to 14.
PCT/EP2009/054430 2009-04-15 2009-04-15 An apparatus for a robot arm WO2010118769A1 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US13/259,509 US8677854B2 (en) 2009-04-15 2009-04-15 Apparatus for a robot arm
EP09779294A EP2419244B1 (en) 2009-04-15 2009-04-15 An apparatus for a robot arm
PCT/EP2009/054430 WO2010118769A1 (en) 2009-04-15 2009-04-15 An apparatus for a robot arm
CN200980158751.3A CN102395449B (en) 2009-04-15 2009-04-15 An apparatus for a robot arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2009/054430 WO2010118769A1 (en) 2009-04-15 2009-04-15 An apparatus for a robot arm

Publications (1)

Publication Number Publication Date
WO2010118769A1 true WO2010118769A1 (en) 2010-10-21

Family

ID=41090315

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2009/054430 WO2010118769A1 (en) 2009-04-15 2009-04-15 An apparatus for a robot arm

Country Status (4)

Country Link
US (1) US8677854B2 (en)
EP (1) EP2419244B1 (en)
CN (1) CN102395449B (en)
WO (1) WO2010118769A1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2319664A1 (en) * 2009-11-10 2011-05-11 Kabushiki Kaisha Yaskawa Denki Robot arm comprising an offset portion
CN102211332A (en) * 2011-05-09 2011-10-12 南京工业大学 Industrial robot
CN104191434A (en) * 2014-08-11 2014-12-10 天津大学 Hollow series-connection mechanical arm

Families Citing this family (43)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20110026935A (en) * 2009-09-09 2011-03-16 삼성전자주식회사 Structure of robot joint and robot having the same
DE102009043405B3 (en) * 2009-09-29 2011-04-07 Kuka Roboter Gmbh Industrial robot with a weight compensation system
US9764481B2 (en) * 2010-06-10 2017-09-19 Carefusion 2200, Inc. Flexible wrist-type element
CN102275158A (en) * 2010-06-10 2011-12-14 鸿富锦精密工业（深圳）有限公司 Robot
CN103503127B (en) * 2011-03-11 2016-05-11 布鲁克斯自动化公司 Base treatment instrument
CN102950593A (en) * 2011-08-25 2013-03-06 鸿富锦精密工业（深圳）有限公司 Robot
US8996174B2 (en) 2012-06-21 2015-03-31 Rethink Robotics, Inc. User interfaces for robot training
US9579806B2 (en) 2012-08-23 2017-02-28 Rethink Robotics, Inc. Robotic power and signal distribution using laminated cable with separator webs
DE202014101342U1 (en) * 2014-03-24 2014-04-09 Igus Gmbh Robotic arm and mounting kit
US10576642B2 (en) * 2014-03-25 2020-03-03 Fuji Corporation Multi-jointed robot arm
KR20150142361A (en) * 2014-06-11 2015-12-22 삼성전자주식회사 Link structure
JP6468804B2 (en) * 2014-10-30 2019-02-13 ライフロボティクス株式会社 Robot arm mechanism
CN107427333A (en) * 2015-03-25 2017-12-01 索尼奥林巴斯医疗解决方案公司 Medical observation device, operation observation device and medical observing system
EP3325233A1 (en) * 2015-07-23 2018-05-30 SRI International Inc. Robotic arm and robotic surgical system
DE102015113467A1 (en) * 2015-08-14 2017-02-16 Sami Haddadin Robotic arm and robot wrist
EP3373836B1 (en) * 2015-11-10 2023-01-04 Eindhoven Medical Robotics B.V. Modular robotic device for precision surgical bone removal and other applications
RU2686220C1 (en) * 2015-11-16 2019-04-24 Шлюмбергер Текнолоджи Б.В. Lower stabilizing lever for drilling unit
US10035261B2 (en) * 2016-06-17 2018-07-31 Schaeffler Technologies AG & Co. KG Actuatable joint for a robotic system having an axial angular contact roller bearing
CN107199557A (en) * 2016-08-31 2017-09-26 工心（上海）科技有限公司 Robot architecture's unit, robot and robot construction method
US10773364B2 (en) * 2017-03-07 2020-09-15 Conbraco Industries, Inc. Pinch clamp removal tool and method
JP1607841S (en) * 2017-07-12 2019-12-23
JP1605288S (en) * 2017-07-18 2019-11-25
JP1605287S (en) * 2017-07-18 2019-11-25
JP1605286S (en) * 2017-07-18 2019-11-25
JP1605285S (en) * 2017-07-18 2019-11-25
JP1605289S (en) * 2017-07-18 2019-11-25
DE202018101462U1 (en) 2018-03-15 2018-04-26 Igus Gmbh Wrist joint for a manipulator and manipulator
JP1615133S (en) * 2018-03-29 2020-03-30
JP1615135S (en) * 2018-03-29 2020-03-30
JP1615136S (en) * 2018-03-29 2020-03-30
JP1615134S (en) * 2018-03-29 2020-03-30
JP1623231S (en) * 2018-04-18 2020-07-13
JP1623232S (en) * 2018-04-18 2020-07-13
CN109382833A (en) * 2018-10-24 2019-02-26 重庆工业职业技术学院 Engineering crusing robot
JP6748179B2 (en) * 2018-11-27 2020-08-26 ライフロボティクス株式会社 Robot arm mechanism
CN109986547A (en) * 2019-03-08 2019-07-09 浙江大学 A kind of four-degree-of-freedom operating device in the confined space
JP7294856B2 (en) * 2019-04-08 2023-06-20 川崎重工業株式会社 robot equipment
WO2021059404A1 (en) * 2019-09-25 2021-04-01 ヤマハ発動機株式会社 Vertical articulated robot and biaxial robot
CN113116531A (en) * 2020-01-10 2021-07-16 重庆金山医疗机器人有限公司 Method for controlling master hand and slave hand of minimally invasive surgery robot
JP7181345B2 (en) * 2020-02-20 2022-11-30 ファナック株式会社 METHOD FOR DIFFERENTIZING SIZE OF OPERATING RANGE OF ROBOT WRIST AND METHOD FOR MANUFACTURING ROBOT
CN112720442B (en) * 2020-12-21 2022-05-24 广州大学 Unit module of reconfigurable mechanical arm
DE102022100609A1 (en) * 2022-01-12 2023-07-13 Dürr Systems Ag Articulated device, in particular for carrying an application device
DE102022100608A1 (en) * 2022-01-12 2023-07-13 Dürr Systems Ag Robot hand, in particular for carrying an application device

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0233712A2 (en) * 1986-02-18 1987-08-26 Robotics Research Corporation Industrial robot with servo
JPH02298482A (en) * 1989-05-10 1990-12-10 Hitachi Ltd Vertical articulated robot
US6250174B1 (en) * 1996-12-17 2001-06-26 Fanuc Ltd. Robot construction
US7513174B2 (en) * 2006-03-01 2009-04-07 Kawasaki Jukogyo Kabushiki Kaisha Industrial robot

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2512727A1 (en) 1981-09-15 1983-03-18 Renault WRIST HANDLE WITH THREE AXIS OF ROTATION FOR INDUSTRIAL ROBOT
DE8310067U1 (en) * 1983-04-06 1985-06-05 Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Robotic joint
US4766775A (en) 1986-05-02 1988-08-30 Hodge Steven W Modular robot manipulator
JPS63185596A (en) * 1987-01-26 1988-08-01 フアナツク株式会社 Cable treater for industrial robot
FR2620837B1 (en) 1987-09-21 1990-11-30 Commissariat Energie Atomique DEVICE FOR ORIENTATION OF AN OBJECT AROUND TWO ROTATION AXES
JPH0832402B2 (en) * 1989-12-28 1996-03-29 川崎重工業株式会社 Industrial robots
US5497674A (en) * 1991-06-04 1996-03-12 Kawasaki Jukogyo Kabushiki Kaisha Industrial robot
US5293107A (en) 1993-02-24 1994-03-08 Fanuc Robotics North America, Inc. Motorized rotary joint and method of constructing a modular robot utilizing same
IT1292275B1 (en) * 1997-04-23 1999-01-29 Comau Spa INDUSTRIAL ROBOT WRIST, AND ROBOT INCLUDING SUCH WRIST.
DE10254836A1 (en) * 2002-11-22 2004-06-17 Windmöller & Hölscher Kg Method and device for regulating the register of a printing press
SE0303539D0 (en) 2003-12-22 2003-12-22 Abb Ab Device for an industrial robot
JP2006055954A (en) * 2004-08-20 2006-03-02 Fanuc Ltd Robot for laser beam machining, and robot system
JP3944208B2 (en) * 2004-12-02 2007-07-11 ファナック株式会社 Robot striatum guide device and robot equipped with striatum guide device
WO2007037131A1 (en) * 2005-09-27 2007-04-05 Kabushiki Kaisha Yaskawa Denki Multi-joint manipulator
WO2007099511A2 (en) 2006-03-03 2007-09-07 Syddansk Universitet Programmable robot and user interface
EP2213425B1 (en) * 2007-11-26 2014-06-25 Kabushiki Kaisha Yaskawa Denki Vertical multi-joint robot
JP4565029B2 (en) * 2008-08-13 2010-10-20 ファナック株式会社 Striated body motion restriction device and robot equipped with the device
JP5457922B2 (en) * 2010-04-14 2014-04-02 株式会社ダイヘン Industrial robot

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0233712A2 (en) * 1986-02-18 1987-08-26 Robotics Research Corporation Industrial robot with servo
JPH02298482A (en) * 1989-05-10 1990-12-10 Hitachi Ltd Vertical articulated robot
US6250174B1 (en) * 1996-12-17 2001-06-26 Fanuc Ltd. Robot construction
US7513174B2 (en) * 2006-03-01 2009-04-07 Kawasaki Jukogyo Kabushiki Kaisha Industrial robot

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2319664A1 (en) * 2009-11-10 2011-05-11 Kabushiki Kaisha Yaskawa Denki Robot arm comprising an offset portion
EP2364821A1 (en) * 2009-11-10 2011-09-14 Kabushiki Kaisha Yaskawa Denki Robot with seven joints
US9764480B2 (en) 2009-11-10 2017-09-19 Kabushiki Kaisha Yaskawa Denki Robot
CN102211332A (en) * 2011-05-09 2011-10-12 南京工业大学 Industrial robot
CN102211332B (en) * 2011-05-09 2013-04-17 南京工业大学 Industrial robot
CN104191434A (en) * 2014-08-11 2014-12-10 天津大学 Hollow series-connection mechanical arm
CN104191434B (en) * 2014-08-11 2016-02-24 天津大学 Hollow cascade machine mechanical arm

Also Published As

Publication number Publication date
EP2419244A1 (en) 2012-02-22
CN102395449A (en) 2012-03-28
US8677854B2 (en) 2014-03-25
CN102395449B (en) 2014-10-29
US20120011956A1 (en) 2012-01-19
EP2419244B1 (en) 2013-03-06

Similar Documents

Publication Publication Date Title
US8677854B2 (en) Apparatus for a robot arm
JP7325895B2 (en) surgical robotic arm
WO2011003451A1 (en) A robot arm system and a robot arm
CA1257887A (en) Outer arm assembly for industrial robot
EP0484284B1 (en) An articulated robot
EP2209595B1 (en) Device for movement between an input member and an output member
US8516920B2 (en) Robot arm assembly
US7971504B2 (en) Articulated manipulator
JP4030011B2 (en) Palm mechanism for robot hand
EP0299551B1 (en) Multi-articulated industrial robot with several degrees of freedom of movement
US20150068348A1 (en) Robot and manufacturing method for robot
EP1970171A1 (en) Articulated robot wrist
US20160193735A1 (en) Industrial Robot With At Least One Drive
WO2007037130A1 (en) Robot
CN213606867U (en) Full-active series medical manipulator
JP6277672B2 (en) robot
JP6535976B2 (en) robot
JP2013086199A (en) Robot
KR102108674B1 (en) Parallel robot having transmission mechanism of rotational motion
KR100520317B1 (en) Robot drive joint control system
JPH0512119B2 (en)
CN113442130B (en) Robot
TWI644766B (en) Joint module and multi-joint modular machine arm
CN117944080A (en) Finger-based joint of manipulator

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 200980158751.3

Country of ref document: CN

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 09779294

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2009779294

Country of ref document: EP

WWE Wipo information: entry into national phase

Ref document number: 13259509

Country of ref document: US

NENP Non-entry into the national phase

Ref country code: DE