公开(公告)号：EP1932630A1

公开(公告)日：2008-06-18

申请号：EP06125809.1

申请日：2006-12-11

Applicant: ABB AS

Inventor： Krogedal, Arnulf

IPC: B25J17/02 ,  B25J19/00 ,  B05B13/04 ,  B25J9/16

CPC classification number: B25J19/0029 ,  B25J17/0291

Abstract: A robot wrist with a plurality of rotatable parts (1,2,3) arranged in series with each other arranged to be mounted on a robot arm or automation machine to enable rotary movement of the first wrist part (1) about a first axis, and a second wrist part (2) journalled in the first wrist part. Rotary drive for the sixth axis, tool holder or flange (7) is transferred by a flexible drive member (4) from an input drive means in the proximity of the first wrist part to the tool flange at the distal end of the robot arm. The robot wrist may preferably comprise an inner protection hose. The flexible drive member (4) may be arranged as an inner hose (4).

Abstract translation: 一种机器人手腕，其具有彼此串联布置的多个可旋转部件（1,2,3），布置成安装在机器人手臂或自动化机器上，以使第一腕部部件（1）绕第一轴线旋转运动， 以及第一腕部（2），其连接在所述第一腕部中。 用于第六轴，工具架或法兰（7）的旋转驱动器由柔性驱动构件（4）从第一腕部附近的输入驱动装置传递到机器人手臂的远端处的工具凸缘。 机器人手腕可以优选地包括内部保护软管。 柔性驱动构件（4）可以布置为内软管（4）。

公开(公告)号：EP2679351A1

公开(公告)日：2014-01-01

申请号：EP13183473.1

申请日：2003-06-26

Applicant: ABB AS

Inventor： Krogedal, Arnulf

IPC: B25J17/02 ,  B25J19/00

CPC classification number: B25J19/0029 ,  B25J17/0291 ,  Y10T74/20329

Abstract: A robot wrist comprises a first wrist part (1) configured to be mounted to a robot arm, a second wrist part (2) rotatable in relation to the first wrist part (1) about a first axis of rotation (A 1 ), a third wrist part (3) rotatable in relation to the second wrist part (2) about a second axis of rotation (A 2 ), and a protection hose (4) extending through the robot wrist. The first axis of rotation (A 1 ) intersects with the second axis of rotation (A 2 ) within a boundary wall of the protection hose (4) in at least one position of the robot wrist. Intersection of the first and the second axes of rotation (A 1 , A 2 ) within the boundary wall of the protection hose (4) is achieved by making the second wrist part (2) compact in the longitudinal direction of the protection hose (4), and wide in the radial direction of the same. As a result the protection hose (4) is arranged in a single circular arc in a bent position of the robot wrist, which in its turn results in an improved service life of the protection hose (4).

Abstract translation: 机器人手腕包括构造成安装到机器人臂的第一腕部（1），围绕第一旋转轴线（A 1）相对于第一腕部（1）旋转的第二腕部（2）， 围绕第二旋转轴线（A 2）相对于第二腕部部分（2）旋转的第三手腕部分（3）和延伸穿过机器人手腕的保护软管（4）。 第一旋转轴线（A 1）在机械手腕的至少一个位置处与保护软管（4）的边界壁内的第二旋转轴线（A 2）相交。 在保护软管（4）的边界壁内的第一和第二旋转轴线（A 1，A 2）的交点通过使第二腕部（2）在保护软管（4）的纵向方向上紧凑 ），并且在径向方向上宽。 因此，保护​​软管（4）在机器人手腕的弯曲位置处布置成单个圆弧，这又导致保护软管（4）的使用寿命的改善。

公开(公告)号：EP1857901B1

公开(公告)日：2009-07-22

申请号：EP06010330.6

申请日：2006-05-19

Applicant: ABB AS

Inventor： Krogedal, Arnulf ,  Tjølsen, Jan Inge

IPC: G05B19/404

CPC classification number: G05B19/404 ,  G05B2219/39363 ,  G05B2219/40545 ,  G05B2219/45065 ,  G05B2219/49193

公开(公告)号：EP1857901A1

公开(公告)日：2007-11-21

申请号：EP06010330.6

申请日：2006-05-19

Applicant: ABB AS

Inventor： Krogedal, Arnulf ,  Tjølsen, Jan Inge

IPC: G05B19/404

CPC classification number: G05B19/404 ,  G05B2219/39363 ,  G05B2219/40545 ,  G05B2219/45065 ,  G05B2219/49193

Abstract: A method for controlling a painting system comprising an industrial robot or manipulator arm arranged with a wrist section and carrying a paint applicator arranged on the robot wrist. Paint is applied by the applicator to a substantially circular or elliptical area on said surface, and the centre of the area is defined as a Tool Centre Point. The wrist section is arranged capable of moving and orienting the paint applicator. In the improved method the paint applicator is moved by said manipulator arm so that the Tool Centre Point moves along a planned path so coating a part of said surface. The planned path may comprise one or more bends. The path taken by the robot wrist may be controlled to follow a different path from the path taken by the TCP. A system and a computer program for carrying out the method are also described.

Abstract translation: 一种用于控制涂漆系统的方法，包括布置有腕部并携带设置在机器人手腕上的涂料涂抹器的工业机器人或操纵臂。 施涂器将涂料施加到所述表面上的大致圆形或椭圆形区域，并且该区域的中心被定义为工具中心点。 手腕部分布置成能够移动和定向涂料器。 在改进的方法中，涂料施加器由所述操纵臂移动，使得刀具中心点沿着规划路径移动，从而涂覆所述表面的一部分。 计划的路径可以包括一个或多个弯曲。 可以控制机器人手腕所采取的路径，以遵循与TCP所采取的路径不同的路径。 还描述了用于执行该方法的系统和计算机程序。