Hermetically closed industrial robot comprising gas guiding structure

Abstract

An industrial robot (10) comprises a base (12); a manipulator (14), the manipulator being movable relative to the base, the manipulator being hermetically closed and comprising a plurality of joints (18a-18f); a plurality of transmissions (42a-42f) inside the manipulator, each transmission being associated with a unique joint; a plurality of motors (44a-44f) inside the manipulator, each motor being arranged to drive the joint via a transmission associated with the joint; an outlet (36) inside the manipulator, distal to a distal transmission (42f) of the plurality of transmissions; a gas line (28) passing between the base and the outlet; and a gas directing structure (64) configured to direct a flow of gas (38) between the outlet and the base inside the manipulator, the gas directing structure comprising, for each joint, at least one channel (62a-62f) arranged to direct the flow of gas through the joint.

Description

Technical Field

[0001] The present invention generally relates to industrial robots. In particular, an industrial robot including a gas guiding structure is provided. Background Art

[0002] Industrial robots are widely used for various purposes. An industrial robot usually comprises a plurality of links and a plurality of joints between the links. By driving the joints, one link can be moved relative to another link. To this end, each joint usually comprises a gearbox and an electric motor arranged to drive the joint via the gearbox. Each set of electric motors and gearboxes is usually positioned externally relative to the housing of the industrial robot. In these cases, the electric motors and gearboxes can be easily accessed, such as for maintenance.

[0003] Some industrial robots include an electric motor and a gearbox inside a housing. This may be desirable, for example, when the industrial robot is operated in a sanitary environment in which the industrial robot should not cause contamination. Examples of such sanitary environments include food, beverage or pharmaceutical handling environments. In such sanitary environments, the industrial robot may also need to withstand harsh washdown environments. Also for this reason, it is advantageous if the electric motor and gearbox are located inside the housing to reduce the risk of corrosion of these components. Industrial robots that include an electric motor and a gearbox inside a housing are previously known.

[0004] JP H 07246587A discloses an industrial robot including a base, an end effector, a plurality of joints and a plurality of connecting rods. The connecting rods form a housing. A plurality of motors and a reducer are arranged inside the housing. An internal air hose passes from the base to the end effector. The air hose includes a branch outlet at each motor. Summary of the invention

[0005] For industrial robots comprising motors and transmissions arranged in an inner region inside a hermetically closed manipulator, there is a risk that the temperature rises faster than in an inner region in a non-hermetically closed manipulator. Such a hermetically closed manipulator therefore places higher demands on the cooling performance of the industrial robot. If the cooling is insufficient, there is a risk that the industrial robot has to be driven at a lower speed and / or has to operate in a cold environment.

[0006] It is an object of the present invention to provide an improved industrial robot. This object is achieved by an industrial robot according to the attached claim 1.

[0007] The present invention is based on the recognition that by providing a hermetically sealed manipulator having a gas guiding structure comprising at least one channel for gas flow associated with each joint and arranged to guide the gas flow through the joint to control the temperature of the transmission of the joint, an industrial robot can be driven quickly while maintaining a target temperature of the transmission despite the manipulator being hermetically sealed. Thus, the performance of the industrial robot can be improved.

[0008] According to a first aspect, an industrial robot is provided, comprising: a base; a manipulator movable relative to the base, the manipulator being hermetically closed and comprising a plurality of joints; a plurality of transmissions inside the manipulator, each transmission being associated with a unique joint; a plurality of motors inside the manipulator, each motor being arranged to drive the joint via the transmission associated with the joint; an outlet inside the manipulator, distal to a distal transmission among the plurality of transmissions; a gas line passing between the base and the outlet; and a gas guiding structure configured to guide a gas flow inside the manipulator between the outlet and the base, the gas guiding structure comprising, for each joint, at least one channel, the at least one channel being arranged to guide a gas flow through the joint.

[0009] By directing the flow of gas through at least one channel associated with the joint, the temperature of the transmission associated with the joint can be controlled. The gas directing structure enables effective climate control of the inner area of ​​the manipulator. In particular, the gas conducting structure is able to cool the transmission very effectively. The cooling allows the industrial robot to be configured as a hygienic robot while still being able to run as fast as other non-hygienic robots.

[0010] The gas guiding structure may be configured to guide the gas flow from the outlet to the susceptor inside the manipulator.As a possible alternative, the gas guiding structure may be configured to guide the gas flow in an opposite direction, ie from the susceptor to the outlet and into the gas line.

[0011] The gas conducting structure also enables efficient heating and dehumidification of internal areas. For example, by providing heated gas flow, industrial robots can operate reliably in extremely cold environments.

[0012] The operating principle of the gas guiding structure enables at least one channel to be optimized for each joint. For example, at least one channel can be designed to provide a relatively low-speed gas flow for a joint that requires a high cooling effect, and vice versa. For each joint, at least one channel can be arranged to conduct the gas flow along the surface of the transmission device associated with the joint. For each joint, the at least one channel can include a plurality of channels.

[0013] The manipulator may include a hermetically closed housing containing an inner region. In this case, the transmission, motor, outlet, gas pipeline and gas guiding structure may be arranged in the housing. A hermetically closed housing means that fluid is prevented from moving between the outer region and the inner region of the manipulator at least to a large extent.

[0014] At the outlet, the gas flow may exit a gas line into the interior area. The gas line may be a hose. The gas line may pass inside the manipulator between the base and the outlet.

[0015] The manipulator may include at least three programmable joints, such as six or seven programmable joints. The manipulator may be a series of manipulators. The base may be fixed to an external structure, such as a floor or a wall.

[0016] Each transmission may be a gearbox. The distal transmission may be a distal-most transmission, i.e., a transmission associated with a distal-most joint of the manipulator. As used herein, the distal direction is the direction along the manipulator toward its end effector, and the proximal direction is the direction along the manipulator toward the base.

[0017] Each motor may be an electric motor. The outlet may be an end opening of a gas line. Each channel may comprise an opening in two or more different parts of the manipulator. Alternatively or additionally, the at least one channel for each joint may comprise a plurality of parallel channels.

[0018] For each joint, each channel may be positioned at a distance from the rotational axis of the joint that is at least 30% of the radial dimension of the joint. For at least one joint, each channel associated with the joint may be positioned at a distance from the rotational axis of the joint that is at least 50% of the radial dimension of the joint. For each joint, the radial dimension is the dimension in the radial direction relative to the rotational axis of the joint.

[0019] The at least one channel may be arranged to direct the flow of gas along an exterior of a transmission associated with the joint.The exterior surface of the transmission of the joint may face away from the axis of rotation of the joint.

[0020] The industrial robot may include an attachment interface. In this case, the outlet may be positioned adjacent the attachment interface at a distal end of a transmission associated with a joint for driving the attachment interface. The attachment interface may be a tool flange.

[0021] The attachment interface may include a collar enclosing the outlet.The collar may be fixed to (such as directly fixed to) an output gear of a transmission associated with a joint for driving the attachment interface.

[0022] The collar may include one or more radial through-holes for guiding the gas flow. The radial through-holes may be radial with respect to the axis of rotation of the joint for driving the attachment interface.

[0023] Each transmission may be hollow. In this case, the gas line may pass through each transmission.

[0024] Each transmission may include a transmission flange. In this case, each transmission flange may include at least one transmission through-hole forming part of at least one channel. Each transmission flange may project radially outwards with respect to the axis of rotation associated with the transmission. The transmission through-holes may be substantially parallel or parallel to the axis of rotation.

[0025] For each joint, the transmission through-holes may be circumferentially distributed around the axis of rotation of the joint. For each joint, some or all of the transmission through-holes may be positioned at the same or substantially the same radial distance from the axis of rotation of the joint. Alternatively or additionally, for each joint, some or all of the transmission through-holes may be positioned in a common plane transverse to the axis of rotation of the joint.

[0026] The industrial robot may include a plurality of links between the joints. In this case, each link may include at least one link through-hole forming part of at least one channel. The link through-holes may be substantially parallel or parallel to the axis of rotation.

[0027] For each joint, the link through-holes may be circumferentially distributed around the axis of rotation of the joint. For each joint, some or all of the link through-holes may be positioned at the same or substantially the same radial distance from the axis of rotation of the joint. Alternatively or additionally, for each joint, some or all of the link through-holes may be positioned in a common plane transverse to the axis of rotation of the joint.

[0028] Each link may include a link flange. In this case, each link flange may include some or all of the at least one link through-hole. Each link flange may project radially inwards with respect to the axis of rotation associated with the transmission. For each joint, the link flange may be fixed to the transmission flange, for example directly fixed to the transmission flange.

[0029] For each pair of motor and transmission associated with a joint, the transmission may be arranged upstream of the motor with respect to the gas flow.

[0030] For at least one joint, the industrial robot may include a temperature sensor associated with the joint.

[0031] The industrial robot may include a gas source configured to deliver pressurized gas into the gas line.

[0032] The industrial robot may be configured to control the gas source based on a temperature measured by the at least one temperature sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Further details, advantages and aspects of the present disclosure will become apparent from the following description taken in conjunction with the accompanying drawings, in which:

[0034] Figure 1 : schematically represents a side view of an industrial robot;

[0035] Figure 2 : schematically represents a cross-sectional side view of an industrial robot;

[0036] Figure 3 : A cross-sectional side view schematically showing a joint of an industrial robot; and

[0037] Figure 4 : Schematically showing a cross-sectional side view of another joint of the industrial robot. DETAILED DESCRIPTION

[0038] An industrial robot including a gas guiding structure will be described below. The same or similar reference numerals will be used to indicate the same or similar structural features.

[0039] Figure 1 Schematically a side view of an industrial robot 10 is shown. The industrial robot 10 is a so-called hygiene robot, here a food handling robot. The industrial robot 10 comprises a base 12. The industrial robot 10 also comprises a manipulator 14 which is movable relative to the base 12.

[0040] A specific and non-limiting example of the manipulator 14 includes: a first link 16a rotatable relative to the base 12 at a first joint 18a, a second link 16b rotatable relative to the first link 16a at a second joint 18b, a third link 16c rotatable relative to the second link 16b at a third joint 18c, a fourth link 16d rotatable relative to the third link 16c at a fourth joint 18d, a fifth link 16e rotatable relative to the fourth link 16d at a fifth joint 18e, and a sixth link 16f rotatable relative to the fifth link 16e at a sixth joint 18f. In the example, the sixth link 16f is a tool flange. Therefore, the reference numeral "16f" is interchangeably used for the sixth link and the tool flange. The tool flange 16f is an example of an attachment interface according to the present invention.

[0041] One, several or all of the joints 18a-18f may also be denoted by reference numeral "18". Alternatively, the manipulator 14 may include fewer or more than six joints 18. One, several or all of the links 16a-16f may also be denoted by reference numeral "16".

[0042] The manipulator 14 further includes an end effector 20 connected to the tool flange 16f. The end effector 20 is exemplified as a clamp in this example. The end effector 20 is connected to the distal end of the manipulator 14. The base 12 is provided at the proximal end of the manipulator 14.

[0043] The manipulator 14 includes a hermetically sealed housing 22. Thus, the manipulator 14 provides a tight enclosure for the internal components. The housing 22 includes the base 12, the connecting rods 16, and the seals between the connecting rods 16. In this specific and non-limiting example, each connecting rod 16 is made of stainless steel. Each connecting rod 16 can be made of plastic or aluminum, for example. The housing 22 separates an outer area 24 outside the manipulator 14 from an inner area inside the manipulator 14.

[0044] The industrial robot 10 also includes a gas source 26. The gas source 26 is configured to supply pressurized gas to an interior region inside the manipulator 14. The gas source 26 of this example is configured to supply pressurized air.

[0045] As shown, the industrial robot 10 further includes a hose 28 for guiding air from the air source 26 into the manipulator 14. The hose 28 is introduced into the base 12 and then further into the housing 22. The hose 28 is an example of a gas line according to the present invention.

[0046] The industrial robot 10 also includes an outlet line 30. The outlet line 30 is configured to direct air out of the interior area. The outlet line 30 here exits the manipulator 14 at the base 12. The gas source 26 and the outlet of the outlet line 30 can be located outside the food processing area, such as in another room relative to the room in which the manipulator 14 operates.

[0047] Figure 2 Schematically shows a cross-sectional side view of an industrial robot 10. Figure 2 2, an interior area 32 inside the manipulator 14 can be seen. In this example, air can only enter the interior area 32 via the hose 28 and can only leave the interior area 32 via the outlet line 30. The industrial robot 10 includes a base outlet opening 34 in the base 12. The air in the interior area 32 in the base 12 enters the outlet line 30 via the base outlet opening 34.

[0048] The hose 28 includes an outlet 36. As shown by the arrow, a gas flow 38 leaves the hose 28 at the outlet 36. The gas flow 38 is exemplified as an air flow here. The outlet 36 is positioned at the distal end of the hose 28 here. In the example, the outlet 36 is positioned in the inner region 32 at the distal end of the most distal joint 18 (here the sixth joint 18f). The hose 28 is guided from the base 12 and continues to pass through the first joint 18a, the second joint 18b, the third joint 18c, the fourth joint 18d, the fifth joint 18e and the sixth joint 18f inside the inner region 32 until the hose 28 reaches the tool flange 16f. The gas flow 38 from the outlet 36 is guided proximally to the base 12 inside the manipulator 14.

[0049] In this specific and non-limiting example, the first link 16a is rotatable relative to the base 12 about a first rotation axis 40a, the second link 16b is rotatable relative to the first link 16a about a second rotation axis 40b, the third link 16c is rotatable relative to the second link 16b about a third rotation axis 40c, the fourth link 16d is rotatable relative to the third link 16c about a fourth rotation axis 40d, the fifth link 16e is rotatable relative to the fourth link 16d about a fifth rotation axis 40e, and the tool flange 16f is rotatable relative to the fifth link 16e about a sixth rotation axis 40f. One, several or all of the rotation axes 40a-40f may also be denoted by reference numeral "40".

[0050] The first joint 18a includes a first gearbox 42a and a first motor 44a, and the first motor 44a is arranged to drive the first joint 18a via the first gearbox 42a. The second joint 18b includes a second gearbox 42b and a second motor 44b, and the second motor 44b is arranged to drive the second joint 18b via the second gearbox 42b. The third joint 18c includes a third gearbox 42c and a third motor 44c, and the third motor 44c is arranged to drive the third joint 18c via the third gearbox 42c. The fourth joint 18d includes a fourth gearbox 42d and a fourth motor 44d, and the fourth motor 44d is arranged to drive the fourth joint 18d via the fourth gearbox 42d. The fifth joint 18e includes a fifth gearbox 42e and a fifth motor 44e, and the fifth motor 44e is arranged to drive the fifth joint 18e via the fifth gearbox 42e. The sixth joint 18f comprises a sixth gear box 42f and a sixth motor 44f, and the sixth motor 44f is arranged to drive the sixth joint 18f via the sixth gear box 42f.

[0051] One, several or all of the gearboxes 42a-42f may also be indicated by reference numeral "42". The gearbox 42 is an example of a transmission device according to the present invention. One, several or all of the motors 44a-44f may also be indicated by reference numeral "44". Each motor 44 is exemplified as an electric motor. Figure 2 As shown, each gearbox 42 and each motor 44 are disposed within the interior region 32 within the housing 22 .

[0052] The manipulator 14 of this specific and non-limiting example also includes a first seal 46a that seals between the first link 16a and the base 12 at the first joint 18a, a second seal 46b that seals between the second link 16b and the first link 16a at the second joint 18b, a third seal 46c that seals between the third link 16c and the second link 16b at the third joint 18c, a fourth seal 46d that seals between the fourth link 16d and the third link 16c at the fourth joint 18d, a fifth seal 46e that seals between the fifth link 16e and the fourth link 16d at the fifth joint 18e, and a sixth seal 46f that seals between the tool flange 16f and the fifth link 16e at the sixth joint 18f. One, several or all of the seals 46a-46f may also be indicated by the reference numeral "46".

[0053] In the manipulator 14 of this specific and non-limiting example, the first gearbox 42a comprises a first transmission flange 48a, the second gearbox 42b comprises a second transmission flange 48b, the third gearbox 42c comprises a third transmission flange 48c, the fourth gearbox 42d comprises a fourth transmission flange 48d, the fifth gearbox 42e comprises a fifth transmission flange 48e, and the sixth gearbox 42f comprises a sixth transmission flange 48f. One, several or all of the transmission flanges 48a-48f may also be denoted by the reference numeral "48". Each transmission flange 48 here protrudes radially outwards relative to the associated rotation axis 40 and is located in a plane transverse to the associated rotation axis 40.

[0054] The first transmission flange 48a includes a plurality of first transmission through holes 50a, the second transmission flange 48b includes a plurality of second transmission through holes 50b, the third transmission flange 48c includes a plurality of third transmission through holes 50c, the fourth transmission flange 48d includes a plurality of fourth transmission through holes 50d, the fifth transmission flange 48e includes a plurality of fifth transmission through holes 50e, and the sixth transmission flange 48f includes a plurality of sixth transmission through holes 50f. One, several or all of the transmission through holes 50a-50f may also be indicated by the reference numeral "50". For each joint 18, the transmission through holes 50 are positioned at the same radial distance from the rotation axis 40 of the joint 18.

[0055] The base 12 comprises a first connecting rod flange 52a, the first connecting rod 16a comprises a second connecting rod flange 52b, the second connecting rod 16b comprises a third connecting rod flange 52c, the third connecting rod 16c comprises a fourth connecting rod flange 52d, the fourth connecting rod 16d comprises a fifth connecting rod flange 52e, and the fifth connecting rod 16e comprises a sixth connecting rod flange 52f. One, several or all of the connecting rod flanges 52a-52f can also be denoted by the reference numeral "52". Each connecting flange 52 here projects radially inwards relative to the associated rotation axis 40 and is located in a plane transverse to the associated rotation axis 40. In addition, each connecting rod flange 52 is directly fixed to the corresponding transmission flange 48.

[0056] The first connecting rod flange 52a includes a plurality of first proximal connecting rod through holes 54a, the second connecting rod flange 52b includes a plurality of second proximal connecting rod through holes 54b, the third connecting rod flange 52c includes a plurality of third proximal connecting rod through holes 54c, the fourth connecting rod flange 52d includes a plurality of fourth proximal connecting rod through holes 54d, the fifth connecting rod flange 52e includes a plurality of fifth proximal connecting rod through holes 54e, and the sixth connecting rod flange 52f includes a plurality of sixth proximal connecting rod through holes 54f. One or more of all the proximal connecting rod through holes 54a-54f may also be represented by the reference numeral "54".

[0057] In the manipulator 14 of this particular and non-limiting example, the first link 16a includes a plurality of first distal link through holes 56a, the second link 16b includes a plurality of second distal link through holes 56b, the third link 16c includes a plurality of third distal link through holes 56c, the fourth link 16d includes a plurality of fourth distal link through holes 56d, and the fifth link 16e includes a plurality of fifth distal link through holes 56e. One, several or all of the distal link through holes 56a-56e may also be indicated by reference numeral "56". For at least some of the joints 18 (here the first to fifth joints 18a-18f), the proximal link through hole 54 is located proximal to the seal 46 associated with the joint 18, and the distal link through hole 56 is located distal to the seal 46 associated with the joint 18. For at least some of the joints 18, the link through holes 54 and 56 are located at the same radial distance from the rotation axis 40 of the joint 18.

[0058] The tool flange 16f of this example includes a collar 58. The collar 58 is cylindrical and concentric with the sixth axis of rotation 40f. The collar 58 includes a plurality of radial through holes 60 (relative to the sixth axis of rotation 40f). The outlet 36 is positioned inside the collar 58. The radial through holes 60 can be said to constitute distal connecting rod through holes relative to the sixth joint 18f.

[0059] The manipulator 14 of this specific and non-limiting example includes a first channel 62a associated with a first joint 18a, a second channel 62b associated with a second joint 18b, a third channel 62c associated with a third joint 18c, a fourth channel 62d associated with a fourth joint 18d, a fifth channel 62e associated with a fifth joint 18e, and a sixth channel 62f associated with a sixth joint 18f. One, several, or all of the channels 62a-62f may also be indicated by reference numeral "62".

[0060] The first passage 62a is arranged to direct the gas flow 38 through the first joint 18a to control the temperature of the first gearbox 42a. The first passage 62a of this example includes the first distal link through hole 56a, the first transmission through hole 50a and the first proximal link through hole 43a.

[0061] The second passage 62a is arranged to direct the gas flow 38 through the second joint 18b to control the temperature of the second gearbox 42b. The second passage 62b of this example includes the second distal link through hole 56b, the second transmission through hole 50b and the second proximal link through hole 54b.

[0062] The third passage 62c is arranged to direct the gas flow 38 through the third joint 18c to control the temperature of the third gearbox 42c. The third passage 62c of this example includes a third distal link through hole 56c, a third transmission through hole 50c and a third proximal link through hole 54c.

[0063] The fourth passage 62d is arranged to direct the gas flow 38 through the fourth joint 18d to control the temperature of the fourth gearbox 42d. The fourth passage 62d of this example includes a fourth distal link through hole 56d, a fourth transmission through hole 50d, and a fourth proximal link through hole 54d.

[0064] The fifth passage 62e is arranged to direct the gas flow 38 through the fifth joint 18e to control the temperature of the fifth gearbox 42e. The fifth passage 62e of this example includes a fifth distal link through hole 56e, a fifth transmission through hole 50e and a fifth proximal link through hole 54e.

[0065] The sixth passage 62f is arranged to guide the gas flow 38 through the sixth joint 18f to control the temperature of the sixth gearbox 42f. The sixth passage 62f of this example includes the radial through hole 60, the sixth transmission through hole 50f and the sixth proximal link through hole 54f.

[0066] The passage 62 forms an example of a gas guiding structure 64 according to the present invention. The hose 28 is guided in the interior region 32 from the base 12 through each gearbox 42 and to the tool flange 16f. The hose 28 is also guided in the interior region 32 from the base 12 through or through each motor 44 and to the tool flange 16f. The gas flow 38 is guided from the outlet 36 through the gas guiding structure 64 and to the base 12 within the interior region 32. For each joint 18, the associated passage 62 is arranged to guide the gas flow 38 through the joint 18 to control the temperature of the gearbox 42 associated with the joint 18.

[0067] In this example, for the sixth joint 18f, the gas flow 38 flows from the outlet 36 through the radial through hole 60, then through the sixth transmission through hole 50f, and then through the sixth proximal link through hole 54f. For each of the remaining joints 18a-18e, the gas flow 38 flows through the distal link through hole 56, then through the transmission through hole 50, and then through the proximal link through hole 54.

[0068] The industrial robot 10 of this example also includes: a first temperature sensor 66a at the first joint 18a, a second temperature sensor 66b at the second joint 18b, a third temperature sensor 66c at the third joint 18c, a fourth temperature sensor 66d at the fourth joint 18d, a fifth temperature sensor 66e at the fifth joint 18e, and a sixth temperature sensor 66f at the sixth joint 18f. One or more of all temperature sensors 66a-66f can also be represented by reference numeral "66". The temperature sensor 66 monitors the temperature in each joint 18. The industrial robot 10 is configured to control the gas source 26 based on the temperature measured by the temperature sensor 66.

[0069] The gearbox 42, motor 44, and temperature sensor 66 are enclosed within the manipulator 14 and housing 22 and protected by the manipulator 14. The gas source 26 may be controlled based on the temperature reading from the temperature sensor 66. In this manner, the gas flow 38 may be controlled to provide desired heating or cooling of components in the interior region 32, for example, to maintain one or more target temperatures in the interior region 32.

[0070] Although the housing 22 made of stainless steel provides improved resistance to corrosive flushing processes, there is a risk that the temperature in the inner region 32 rises rapidly during movement of the manipulator 14, since stainless steel has a relatively low heat transfer coefficient. Excessively high temperatures inside the manipulator 14 can damage components inside the manipulator 14. The gas guide structure 64 according to the invention provides very effective temperature control of the gearbox 42, in particular cooling of the gearbox 42. In contrast to the manipulators of the prior art, the manipulator 14 can be hermetically sealed without necessarily compromising its performance.

[0071] The flushing process also often creates a humid environment for the industrial robot 10. The gas flow 38 through the gas guiding structure 64 helps to dehumidify the air in the inner area 32. In this way, condensation problems can be avoided.

[0072] Figure 3 A cross-sectional side view of the sixth joint 18f is schematically shown. Figure 3 4, it can be seen that the sixth gearbox 42f comprises a sixth output gear 68f for driving the tool flange 16f. The sixth output gear 68f is here directly fixed to the collar 58. Since the tool flange 16f is sealed to the outer region 24, in particular by the sixth seal 46f, the gas flow 38 must move out of the tool flange 16f proximally within the inner region 32.

[0073] like Figure 3As shown, the hose 28 is routed inside the tube 70. In addition to the hose 28, the tube 70 may also route additional lines to the end effector 20, such as power and signal lines 72a, air input lines 72b, and air output lines 72c.

[0074] The sixth transmission through hole 50f and the sixth proximal connecting rod through hole 54f direct the gas flow 38 to the sixth gearbox 42f. The gas flow 38 surrounds the sixth gearbox 42f and provides very effective cooling thereof. The gas flow 38 flows along the outer surface of the sixth gearbox 42f and cools the sixth gearbox 42f. The same gas flow 38 then flows through or passes through the sixth motor 44f and cools the sixth motor 44f.

[0075] Figure 3 The sixth radial dimension 74f of the sixth joint 18f from the sixth rotation axis 40f to the outer surface of the sixth joint 18f (here, the outer surface of the sixth seal 46f) is shown. The sixth distance 76f from the sixth rotation axis 40f to the sixth transmission through hole 50f and the sixth proximal connecting rod through hole 54f is about 65% of the sixth radial dimension 74f.

[0076] Figure 4 A partial cross-sectional side view of the fourth joint 18d is schematically shown. Figure 4 References to the fourth joint 18d in 18A apply accordingly to each of the first joint 18a, the second joint 18b, the third joint 18c and the fifth joint 18e.

[0077] exist Figure 4 , it can be seen that the fourth gearbox 42d comprises a fourth output gear 68d for driving the fourth connecting rod 16d. The fourth output gear 68d is here directly fixed to the fourth connecting rod 16d.

[0078] The fourth transmission through hole 50d and the fourth proximal connecting rod through hole 54d guide the gas flow 38 to the fourth gear box 42d. The gas flow 38 surrounds the fourth gear box 42d and provides very effective cooling thereof. The gas flow 38 flows along the outer surface of the fourth gear box 42d and cools the fourth gear box 42d. The same gas flow 38 then flows through or passes through the fourth motor 44d and cools the fourth motor 44d.

[0079] Figure 4A fourth radial dimension 74d of the fourth joint 18d from the fourth rotation axis 40d to the outer surface of the fourth joint 18d (here the outer surface of the fourth seal 46d) is shown. A fourth distance 76d from the fourth rotation axis 40d to the fourth transmission through hole 50d and the fourth proximal connecting rod through hole 54d is here approximately 65% ​​of the fourth radial dimension 74d. The gas flow 38 through the plurality of parallel fourth channels 62d and at the fourth distance 76d can very effectively cool the fourth gearbox 42d, the fourth distance 76d being at least 30% of the fourth radial dimension 74d.

[0080] like Figure 4 As shown, each set of the fourth distal link through hole 56d, the fourth transmission through hole 50d and the fourth proximal link through hole 54d forms a fourth passage 62d passing through the fourth joint 18d. Therefore, each fourth passage 62d includes openings in three different components, here the fourth link 16d, the fourth gear box 42d and the third link 16c.

[0081] A fourth chamber 78d is provided radially inwardly of the fourth seal 46d. The fourth chamber 78d is annular and concentric with respect to the fourth axis of rotation 40d. The gas flow 38 passes through the fourth chamber 78d. Due to the fourth chamber 78d, the fourth distal connecting rod through hole 56d and the fourth transmission through hole 50d do not have to be rotationally aligned around the fourth axis of rotation 40d to transmit the gas flow 38.

[0082] The gas flow 38 flows through the fourth gearbox 42d and cools the fourth gearbox 42d. The same gas flow 38 then flows through or passes through the fourth motor 44d and cools the fourth motor 44d.

[0083] The gas flow 38 inside the manipulator 14 facilitates heat dissipation from the hot gearbox 42 and motor 44 to the housing 22. The gas flow 38 also keeps the components inside the housing 22 dry and reduces humidity in the interior area 32 to avoid condensation problems.

[0084] In some applications, the industrial robot 10 must operate in a cold environment, such as at a temperature of about -40°C. In this case, the gas flow 38 can be heated before being introduced into the hose 28. When this heated gas flow 38 is directed by the gas directing structure 64, the components in the interior area 32 can be effectively heated, such as before any tasks are performed by the manipulator 14. Therefore, the industrial robot 10 is able to effectively control the temperature in the interior area 32.

[0085] The gas flow 38 does not have to be active. That is, the gas flow 38 can be turned off in certain circumstances. The gas flow 38 can also be turned on to provide cooling if only one of all joints 18 has an excessively high temperature (as measured by the corresponding temperature sensor 66). Thus, according to one variation, the gas flow 38 is activated to cool the gearbox 42 as long as the temperature of at least one joint 18 is above the target temperature.

[0086] The internal climate control provided by the gas conducting structure 64 is a very advantageous feature of the sanitary industrial robot 10, which includes a stainless steel tight housing 22 enclosing key components. The gas conducting structure 64 enables the sanitary industrial robot 10 to operate with the same performance as a non-sanitary robot, despite being hermetically sealed.

[0087] Due to the gas flow 38, the inner area 32 can be kept dry and at a desired temperature. This, for example, reduces the risk of corrosion. Thus, the gas flow 38 helps to extend the service life of the industrial robot 10.

[0088] The specific design of the channel 62 enables very effective cooling of the gearbox 42. The design also enables effective dehumidification of the inner area 32 to avoid condensation problems. In some cases, the outer area 24 is relatively humid. An example of this is when the industrial robot 10 processes vegetables. Due to the hermetically sealed housing 22 and the gas guiding structure 64, the industrial robot 10 can operate in a humid environment with high speed performance and high hygiene performance. For example, corrosion inside the manipulator 14 and any overheating of the gearbox 42 can be avoided.

[0089] Although the present disclosure has been described with reference to exemplary embodiments, it should be understood that the present invention is not limited to the above. For example, it is understood that the size of the components can be changed as needed. Therefore, the present invention is limited only by the scope of the appended claims.

Claims

1. An industrial robot (10), include: Base (12); A manipulator (14) movable relative to the base (12), the manipulator (14) being hermetically sealed and comprising a plurality of joints (18a-18f); a plurality of transmissions (42a-42f) within the manipulator (14), each transmission (42a-42f) being associated with a unique joint (18a-18f); a plurality of motors (44a-44f) within the manipulator (14), each motor (44a-44f) being arranged to drive the joint (18a-18f) via the transmission (42a-42f) associated with the joint (18a-18f); an outlet (36) within the manipulator (14), distal to a distal actuator (42f) among the plurality of actuators (42a-42f); a gas line (28) passing between the base (12) and the outlet (36); and A gas guiding structure (64) is configured to guide a gas flow (38) between the outlet (36) and the base (12) inside the manipulator (14), and for each joint (18a-18f), the gas guiding structure (64) includes at least one channel (62a-62f), and the at least one channel is arranged to guide the gas flow (38) through the joint (18a-18f).

2. The industrial robot (10) according to claim 1, in, For each joint (18a-18f), each channel (62a-62f) is positioned at a distance (76d, 76f) from the rotational axis (40a-40f) of the joint (18a-18f) that is at least 30% of the radial dimension (74d, 74f) of the joint (18a-18f).

3. The industrial robot (10) according to any one of the preceding claims, wherein the at least one channel (62a-62f) is arranged to guide the gas flow (38) along the outside of the transmission (42a-42f) associated with the joint (18a-18f).

4. The industrial robot (10) according to any one of the preceding claims, in, The industrial robot (10) comprises an attachment interface (16f), and wherein the outlet (36) is positioned adjacent the attachment interface (16f) at a distal end of a transmission (42f) associated with a joint (18f) for driving the attachment interface (16f).

5. The industrial robot (10) of claim 4, wherein the attachment interface (16f) comprises a collar (58) closing the outlet (36).

6. The industrial robot (10) of claim 5, wherein the collar (58) includes one or more radial through holes (60) for directing the gas flow (38).

7. The industrial robot (10) according to any one of the preceding claims, wherein each transmission (42a-42f) is hollow, and wherein the gas line (28) passes through each transmission (42a-42f).

8. The industrial robot (10) according to any one of the preceding claims, wherein each transmission (42a-42f) comprises a transmission flange (48a-48f), and wherein each transmission flange (48a-48f) comprises at least one transmission through hole (50a-50f) forming part of the at least one channel (62a-62f).

9. An industrial robot (10) according to any one of the preceding claims, wherein the industrial robot (10) comprises a plurality of links (16a-16e) between the joints (18a-18f), and wherein each link (16a-16e) comprises at least one link through hole (54a-54f, 56a-56e) forming part of the at least one channel (62a-62f).

10. The industrial robot (10) according to claim 9, wherein each link (16a-16e) includes a link flange (52a-52f), and wherein each link flange (52a-52f) includes some or all of the at least one link through hole (54a-54f, 56a-56e).

11. An industrial robot (10) according to any one of the preceding claims, wherein for each pair of motor (44a-44f) and transmission (42a-42f) associated with a joint (18a-18f), the transmission (42a-42f) is arranged upstream of the motor (44a-44f) relative to the gas flow (38).

12. The industrial robot (10) according to any one of the preceding claims, wherein for at least one joint (18a-18f), the industrial robot (10) comprises a temperature sensor (66a-66f) associated with the joint (18a-18f).

13. The industrial robot (10) according to claim 12, in, The industrial robot (10) includes a gas source (26) configured to deliver pressurized gas into the gas line (28).

14. The industrial robot (10) according to claims 12 and 13, wherein the industrial robot (10) is configured to control the gas source (26) based on the temperature measured by the at least one temperature sensor (66a-66f).

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