End effector for an industrial robot

Abstract

An end effector (100) for an industrial robot is provided. The end effector includes an end flange (10) and a carrier assembly (20) fixed to the end flange (10). The end flange includes an inner side (12), an outer side (14), and a through hole (16). The inner side (12) includes a first connection interface configured to be connected to a manipulator of the industrial robot, and the outer side includes a second connection interface configured to be connected to a tool (2). The carrier assembly (20) is fixed to the end flange (10) and configured to carry at least one wiring harness (32, 34, 36) for the tool (2), wherein the carrier assembly (20) includes an interface plate (22) disposed in the through hole (16), and the interface plate (22) provides a wiring harness interface for the tool (2). An industrial robot (1) is also provided.

Description

Technical Field

[0001] Embodiments of this disclosure generally relate to an industrial robot, and more specifically, to an end effector for an industrial robot having an improved wiring harness design. Background Technology

[0002] Industrial robots are widely used in industrial fields. Industrial robots typically include a manipulator. An end effector can be fixed to the distal end of the manipulator. A tool is further attached to the end effector. In many applications, such as the food and pharmaceutical industries, high hygiene requirements exist, and industrial robots must operate in a "cleanroom" environment. For example, an IP69k protection rating is required. Wiring harnesses such as power cables, communication cables, and gas conduits need to be housed within the manipulator's housing. The sealing performance at the interface between the end effector and the tool in conventional industrial robots is unsatisfactory. Summary of the Invention

[0003] Exemplary embodiments of this disclosure provide an end effector and an industrial robot including the end effector, which improves space efficiency and sealing performance at the interface between the tool and the end effector.

[0004] In a first aspect of this disclosure, an end effector for an industrial robot is provided. The end effector includes: an end flange including an inner side, an outer side opposite to the inner side, and a through hole extending axially from the inner side to the outer side, the inner side including a first connection interface configured to be connected to a manipulator of the industrial robot, the outer side including a second connection interface configured to be connected to a tool, and a carrier assembly fixed to the end flange and configured to carry at least one wiring harness for the tool, wherein the carrier assembly includes an interface plate disposed in the through hole, and the interface plate provides a wiring harness interface for the tool.

[0005] Because at least one wiring harness used in the tool is carried by a support component rather than by an end flange, modular arrangement of the wiring harness is allowed. The modular design of the end effector improves compactness and space efficiency, and also allows for lower manufacturing and maintenance costs.

[0006] In some embodiments, the carrier assembly may further include a bundling plate for carrying the interface plate and configured to hold a first segment of at least one wire harness. The bundling plate includes at least one first channel for the passage of the at least one wire harness, the first channel extending axially such that the wire harness reaches the interface plate perpendicularly to the end surface of the interface plate. With this arrangement, the wire harness is not at risk of twisting and / or tangling during movement of the manipulator, thus improving the lifespan of the wire harness.

[0007] In some embodiments, the bundling plate may include a third connection interface configured to be secured to the end flange, and the carrier assembly is axially secured to the end flange on the inside via the bundling plate.

[0008] In some embodiments, the end flange may further include a radial flange extending radially from the inner wall surface of the through hole, the radial flange including a first threaded hole for receiving a first fastener for axially securing the bundle plate to the end flange.

[0009] In some embodiments, the interface plate may be axially fixed to the bundling plate on the outside, the bundling plate including a second threaded hole on the outside for receiving a second fastener, the interface plate being connected to the bundling plate via the second fastener.

[0010] In some embodiments, the carrier assembly may further include: a partition made of an elastic material and configured to hold a second segment of at least one wire harness, the partition including at least one second channel for the passage of at least one wire harness; and a clamping device circumferentially surrounding the partition and configured to circumferentially compress the partition to at least partially deform the at least one second channel, such that at least one wire harness is securely held within the partition. This arrangement further reduces the risk of twisting and / or tangling during manipulator movement. Furthermore, the wire harness can be securely held within the end effector.

[0011] In some embodiments, the clamping device may include: a first semi-ring portion disposed on the axial end surface of a bundling plate at an inner side; and a movable second semi-ring portion opposite to the first semi-ring portion, the second semi-ring portion being configured to engage with the first semi-ring portion to form an annular shape for clamping a partition, or to disengage from the first semi-ring portion to release at least one wire harness.

[0012] In some embodiments, the first half-ring portion may include two opposing mounting end portions, each mounting end portion including a first plate portion; the second half-ring portion includes two opposing mounting ends, each mounting end including a second plate portion; and the first half-ring portion is connected to the second half-ring portion via surface contact between the first plate portion and the second plate portion.

[0013] In some embodiments, the first plate portion and the second plate portion may each include a third threaded hole for receiving a third fastener, and the first half-ring portion is connected to the second half-ring portion via the third fastener.

[0014] In some embodiments, the interface board may include a printed circuit board assembly with a spring pin connector configured to be connected on the inside to at least one of a cable for powering the tool and a cable for communicating with the tool, and the spring pin connector configured to be connected on the outside to an electrical pin of the tool interface.

[0015] In some embodiments, the interface board may include a recess configured to receive a printed circuit board assembly.

[0016] In some embodiments, at least one wiring harness may include at least one of a power supply cable, a communication cable, or an air hose for a hydraulic actuator on a tool.

[0017] In some embodiments, at least one wiring harness may include two air hoses, each air hose having an end provided with a sleeve made of a rigid material, and the air hoses being held in place within the interface plate.

[0018] In a second aspect of this disclosure, an industrial robot is provided. The industrial robot includes: a manipulator including a sealed housing; at least one wire harness extending within the sealed housing; and an end effector according to any of the first aspects, the end effector being connected to the manipulator of the industrial robot and configured to provide a wire harness interface for the at least one wire harness.

[0019] It should be understood that the content of this disclosure is not intended to identify key or essential features of the embodiments thereof, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become apparent from the following description. Attached Figure Description

[0020] The above and other objects, features, and advantages of the exemplary embodiments disclosed herein will become more readily understood through the following detailed description taken in conjunction with the accompanying drawings. In the drawings, several exemplary embodiments disclosed herein will be described by way of example, not limitation, in which:

[0021] Figure 1 This is a perspective view of an industrial robot according to an exemplary embodiment of the present disclosure;

[0022] Figure 2 This is an axial perspective overall view of an end effector according to an exemplary embodiment of the present disclosure, viewed from the outside.

[0023] Figure 3 This is an exploded perspective view of an end effector according to an example embodiment of the present disclosure, viewed from the inside.

[0024] Figure 4This is an axial sectional view of an end effector according to an example embodiment of the present disclosure;

[0025] Figure 5 This is an exploded perspective view of the carrier assembly of an end effector according to an example embodiment of the present disclosure, viewed from the inside; and

[0026] Figure 6 This is an exploded perspective view of the carrier component of an end effector according to an example embodiment of the present disclosure, viewed from the outside.

[0027] In all the accompanying drawings, the same or similar reference numerals are used to indicate the same or similar elements. Detailed Implementation

[0028] The principles of this disclosure will now be described with reference to several exemplary embodiments illustrated in the accompanying drawings. Although exemplary embodiments of this disclosure are shown in the drawings, it should be understood that these embodiments are described merely to enable those skilled in the art to better understand and implement this disclosure, and not to limit the scope of this disclosure in any way.

[0029] The terms “comprising” or “including” and variations thereof should be understood as open-ended terms meaning “including, but not limited to”. The term “or” should be understood as “and / or” unless the context explicitly indicates otherwise. The term “based on” should be understood as “at least partially based on”. The term “operable to” means a function, action, movement, or state that can be achieved through operation caused by a user or external mechanism. The terms “one embodiment” and “embodiment” should be understood as “at least one embodiment”. The term “another embodiment” should be understood as “at least one other embodiment”. The terms “first,” “second,” etc., can refer to different or the same objects. Other definitions, whether express or implied, may be included hereinafter. Unless the context explicitly indicates otherwise, the definitions of terms are consistent throughout the description.

[0030] Figure 1 This is an overall view of an industrial robot 100 according to an exemplary embodiment of this disclosure. Figure 1 As shown, the industrial robot 1 is a multi-axis robot and includes a manipulator connected to a base 50. The base 50 can be fixed or movable. The manipulator is formed by multiple joints and multiple structural arms connecting adjacent joints. Each joint includes one or more actuators, including, for example, a motor, gearbox, sensor, etc. An end effector 100 is located at the distal end of the manipulator (in the example shown, the wrist joint). A tool 2, designed to perform various tasks, is further fixed to the end effector 100. By controlling the manipulator, the tool 2 moves within the workspace to perform various industrial tasks.

[0031] In addition to the actuators in the joints, tool 2 requires one or more wiring harnesses, such as cables for power supply, cables for communication, and air hoses for hydraulic actuators. For example, an electric actuator may be mounted on tool 2 and used to control the posture or movement of tool components. A power supply cable is required to power the electric actuators on the tool. In some embodiments, sensors may be mounted on the tool to capture data about the tool or its surrounding environment. A communication cable is required to transmit and / or receive data from the controller of the industrial robot. In some embodiments, a hydraulic actuator may be mounted on the tool. An air hose connected to a compressor air source may be needed to supply and / or receive air from the hydraulic actuators.

[0032] Typically, to meet "cleanroom" requirements, these wiring harnesses should be housed within the industrial robot's casing and protected from environmental exposure. These harnesses usually include a plastic coating. As the manipulator moves within the workspace, friction can generate particles within the harnesses. These particles can be harmful to the environment, failing to meet "cleanroom" requirements. Furthermore, these harnesses can have different segments and can be positioned at various locations on the manipulator. If these harnesses are not properly secured, there is a risk of them twisting and tangling, which can damage the robot. Therefore, the wiring harnesses at the interface between the end effector and the tool must be properly arranged to prevent any harness from being exposed to the environment.

[0033] Figures 2 to 6 An end effector according to an example embodiment of the present disclosure is shown. Figure 2 and Figure 3 An axial perspective overall view of an end effector according to an exemplary embodiment of the present disclosure is shown. Figure 4 An axial sectional view of the end effector is shown. Figure 5 and Figure 6 An exploded perspective view of the carrier components of the end effector is shown.

[0034] like Figures 2 to 4As shown, the end effector 100 includes an end flange 10 and a support assembly 20 fixed to the end flange 10. The end flange 10 is used to support the tool 2. The support assembly 20 is configured to support and bundle wiring harnesses 32, 34, and 36. The end flange 10 includes an inner side 12, an outer side 14 opposite to the inner side 12, and a through hole 16. The inner side 12 is located in the internal portion of the manipulator (e.g., the housing of the manipulator) and is substantially flange-shaped. The inner side 12 may include a flange as a connection interface. The flange may include one or more threaded holes 19. In some embodiments, the end flange may be part of a wrist joint. The wrist joint may include an actuator including a fixed portion and a movable portion driven by a motor, and the end flange may be fixed to the movable portion of the actuator. Thus, the end flange 10 is rotatable relative to the distal end of the manipulator. The outer side 14 is exposed to and accessible to the user. Various interfaces for connecting to the tool, such as electrical connection interfaces, hardwired communication interfaces, air hoses, etc., are exposed at the outer side 14. The outer side 14 may include one or more threaded holes 11 as a connection interface (see...) Figure 2 and Figure 4 Tool 2 can be secured to the end flange 10 by screwing fastener 51 into threaded hole 11. Through hole 16 extends axially through end flange 10. Through hole 16 provides space for modular installation of carrier assembly 20 and also allows harness connection interfaces to be exposed to the user from the outside 14.

[0035] like Figures 2 to 4 As shown, the carrier assembly 20 is configured to carry one or more wire harnesses 32, 34, 36. Wire harnesses 32, 34, 36 are secured to the carrier assembly 20 rather than to the end flange 10. Therefore, the carrier assembly 20 functions as a wire harness bundler. After the wire harnesses 32, 34, 36 are secured to the carrier assembly 20, the carrier assembly 20 is then secured to the end flange 10. In the example shown, wire harnesses 32, 34, 36 include a cable 36 for powering the tool 2, a cable 34 for communication, and two air hoses 32 for a hydraulic actuator on the tool 2. It should be understood that the number of wire harnesses 32, 34, 36 is merely illustrative, and the number of wire harnesses 32, 34, 36 can be any other suitable number.

[0036] The carrier assembly 20 includes an interface board 22 disposed in the through hole 16, and the interface board 22 provides a wiring harness interface for the tool 2. Figure 2As shown, various harness interfaces of harnesses 32, 34, and 36 can be exposed to the user on the outside of interface plate 22. Power cables, communication cables, or hydraulic actuators on the tool can be easily connected to harnesses 32, 34, and 36. By using the interface plate, the harnesses can be implemented in a modular form. This makes the end effector easy to assemble. Furthermore, when a part of the carrier assembly 20 fails, the carrier assembly can be easily replaced without replacing the entire end effector, resulting in low maintenance costs. The carrier assembly 20 also offers advantages in terms of space efficiency. Typically, space on the end flange 10 is precious. By integrating various harness connection interfaces into the interface plate 22, which is placed in the through holes 16, various harness connection interfaces can be arranged in a space-efficient manner.

[0037] In some embodiments, such as Figure 1 , Figure 3 and Figure 4 As shown, the interface board 22 may include a printed circuit board assembly 38. On the inner side, the printed circuit board assembly 38 may be connected, for example, by soldering to a cable 36 for powering the tool 2 and / or a cable 34 for communication. On the outer side, the printed circuit board assembly 38 may include a spring-loaded connector. The pin connectors on the tool 2 may be directly connected to the spring-loaded connector, for example, by press-fit. In some embodiments, such as... Figure 4 As shown, a recess can be provided in the interface board 22, and the printed circuit board component 38 can be disposed within the recess. This can reduce the thickness of the end effector.

[0038] In some embodiments, such as Figure 1 and Figure 4 As shown, the interface plate 22 may include one or more channels for the passage of a wiring harness (e.g., two air hoses 32). The distal ends of the two air hoses 32 may terminate at the outside of the interface plate 22. A pipe connector from a hydraulic actuator on the tool 2 may be directly connected to the distal ends of the two air hoses 32. In some embodiments, the distal ends of the two air hoses 32 may also be provided with sleeves 37 made of a rigid material. The rigid sleeves prevent the air hoses from contracting and allow easy connection to the pipe connectors from the hydraulic actuator on the tool 2. This is advantageous when the air hoses 32 are made of a flexible material. When the air hoses 32 are made of a rigid material, the sleeves 37 may be omitted.

[0039] In some embodiments, such as Figures 3 to 6As shown, the carrier assembly 20 may further include a bundling plate 24 for carrying the interface plate 22 and configured to hold a segment of the wire harnesses 32, 34, and 36. The bundling plate 24 may include one or more channels for the passage of the wire harnesses 32, 34, and 36. These channels extend axially such that the wire harnesses reach the interface plate 22 perpendicularly to its end surface. The channels on the bundling plate 24 may be aligned with holes on the interface plate 22. It is known that the wire harnesses 32, 34, and 36 are typically made of flexible material. During movement of the manipulator, there is a risk that the wire harnesses may twist and become tangled. By providing the bundling plate 24, the orientation of the wire harnesses and the distance between different wire harnesses can be kept stable, thereby reducing the risk of wire harness twisting.

[0040] In some embodiments, such as Figure 1 and Figure 6 As shown, the interface plate 22 can be axially secured to the bundling plate 24 at its outer side 14. The bundling plate 24 may include a threaded hole 245 for receiving a fastener 55. The interface plate 22 may include a through hole 223. The fastener 55 can pass through the through hole 223 and be screwed into the threaded hole 245 to secure the interface plate 22 to the bundling plate 24.

[0041] In some embodiments, the strapping plate 24 can also be used as a means of securing the support assembly 20 to the end flange 10. For example... Figure 3 , Figure 4 and Figure 5 As shown, the end flange 10 also includes a radial flange 18. The radial flange 18 extends radially from the inner wall surface of the through hole 16. The radial flange 18 may include a threaded hole 181 for receiving a fastener 53. The strapping plate 24 may include a through hole 243. The fastener 53 may pass through the through hole 243 and be screwed into the threaded hole 181 to secure the strapping plate 24 to the end flange 10.

[0042] In some embodiments, such as Figures 3 to 6 As shown, the carrier assembly 20 may further include a partition 28 and a clamping device 40. The partition 28 may be configured to hold a segment of the wire harnesses 32, 34, and 36. The partition 28 may include one or more channels for the passage of the wire harnesses 32, 34, and 36. The clamping device 40 is circumferentially surrounding the partition 28. In the example shown, the partition 28 is circular. It should be understood that the partition can be any other suitable shape. The clamping device 40 is configured to compress the partition 28 to securely hold the wire harnesses 32, 34, and 36. The partition 28 may be made of an elastic material. Through the compression of the clamping device 40, the partition 28 is configured to deform, such that the wire harnesses 32, 34, and 36 are securely held in the channels within the partition 28. By providing the partition 28, the risk of wire harness twisting can be further reduced. Furthermore, the wire harnesses 32, 34, and 36 may remain stationary relative to the carrier assembly 20.

[0043] The clamping device 40 can take various forms. In some embodiments, the clamping device 40 may be in the form of a clamping device. Figure 5 and Figure 6 As shown, the clamping device 40 may include a first semi-ring portion 42 and a movable second semi-ring portion 44. The first semi-ring portion 42 may be disposed on the axial end surface of the bundling plate 24. The second semi-ring portion 44 may be movable toward the first semi-ring portion 42. In particular, the second semi-ring portion 44 may be closer to the first semi-ring portion 42 and engage with the first semi-ring portion 42 to form a hoop. A partition 28 may be arranged within the hoop and deformed by clamping forces from the two semi-ring portions 42, 44. The second semi-ring portion 44 may separate from the first semi-ring portion 42 to release the partition 28. When the partition 28 is released, the wire harnesses 32, 34, 36 may be moved, for example, by tension.

[0044] In some embodiments, such as Figure 5 and Figure 6 As shown, the first semi-ring portion 42 may include two opposing mounting ends. At each mounting end, a first flat plate portion 422 is provided. Similarly, the second semi-ring portion 44 may include two opposing mounting ends. At each mounting end, a second flat plate portion 442 is provided. The first semi-ring portion 42 is connected to the second semi-ring portion 44 via surface contact between the first flat plate portion 422 and the second flat plate portion 442.

[0045] In some embodiments, the first plate portion 422 and the second plate portion 442 each include threaded holes 421, 441. The first semi-ring portion 42 is connected to the second semi-ring portion 44 via a third fastener 57. By using this arrangement, the force of clamping the partition 28 can be adjusted.

[0046] It should be understood that in the example shown, tool 2 is described as a component different from end effector 100 for illustrative purposes only, and tool 2 may be formed as part of end effector 100. In the latter case, tool 2, the end flange 10 of the joint, and the carrier assembly 20 may be collectively referred to as end effector 100.

[0047] According to this disclosure, except for the interface portion, the wiring harness is entirely housed within the end effector. This meets the cleanroom requirements for industrial robots, specifically achieving an IP69k rating. Furthermore, due to the special structure of the wiring harness carrying components, there is no risk of twisting and / or tangling during manipulator movement, thus extending the harness's lifespan. The modular design of the end effector improves compactness and space efficiency, and also allows for lower manufacturing and maintenance costs.

[0048] Various embodiments of the invention have been described for illustrative purposes, but these descriptions are not intended to be exhaustive or limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein has been chosen to best explain the principles of the embodiments, their practical application, or technical improvements to technologies found in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. An end effector (100) for an industrial robot, comprising: An end flange (10) includes an inner side (12), an outer side (14) opposite to the inner side (12), and a through hole (16) extending axially from the inner side (12) to the outer side (14). The inner side (12) includes a first connection interface configured to be connected to a manipulator of the industrial robot, and the outer side includes a second connection interface configured to be connected to a tool (2). A carrier assembly (20) is fixed to the end flange (10) and configured to carry at least one wire harness (32, 34, 36) for the tool (2), wherein the carrier assembly (20) includes an interface plate (22) disposed in the through hole (16) and the interface plate (22) provides a wire harness interface for the tool (2).

2. The end effector according to claim 1, wherein the carrier assembly (20) further comprises a bundling plate (24) for carrying the interface plate (22) and configured to hold a first segment of the at least one wire harness (32, 34, 36), and The bundling plate (24) includes at least one first channel for the passage of the at least one wire harness (32, 34, 36), the first channel extending axially such that the wire harness reaches the interface plate (22) perpendicular to the end surface of the interface plate (22).

3. The end effector according to claim 2, wherein the bundling plate (24) includes a third connection interface configured to be secured to the end flange (10), and the carrier assembly (20) is axially secured to the end flange (10) at the inner side (12) via the bundling plate (24).

4. The end effector according to claim 2, wherein the end flange (10) further comprises a radial flange (18) extending radially from the inner wall surface of the through hole (16), and The radial flange (18) includes a first threaded hole (181) for receiving a first fastener (53) for axially securing the bundle plate (24) to the end flange (10).

5. The end effector according to any one of claims 2 to 4, wherein the interface plate (22) is axially fixed to the bundling plate (24) at the outer side (14), the bundling plate (24) including a second threaded hole (245) at the outer side (14) for receiving a second fastener (55), and the interface plate (22) is connected to the bundling plate (24) via the second fastener (55).

6. The end effector according to any one of claims 2 to 5, wherein the carrier assembly (20) further comprises: A partition (28), made of an elastic material and configured to hold a second segment of the at least one wire harness (32, 34, 36), the partition (28) including at least one second channel for the passage of the at least one wire harness (32, 34, 36), and A clamping device (40) is circumferentially surrounding the partition (28) and configured to circumferentially compress the partition (28) to at least partially deform the at least one second channel, such that the at least one wire harness (32, 34, 36) is securely held in the partition (28).

7. The end effector of claim 6, wherein the clamping device (40) comprises: The first half-ring portion (42) is disposed on the axial end surface of the binding plate (24) at the inner side (12); as well as A movable second half-ring portion (44) is opposite to the first half-ring portion (42). The second half-ring portion is configured to engage with the first half-ring portion (42) to form an annular shape for clamping the partition (28), or to disengage from the first half-ring portion (42) to release the at least one wire harness (32, 34, 36).

8. The end effector according to claim 7, wherein the first semi-ring portion (42) includes two opposing mounting ends, each mounting end including a first flat plate portion (422). The second semi-ring portion (44) includes two opposing mounting ends, each mounting end including a second flat plate portion (442); and The first semi-ring portion (42) is connected to the second semi-ring portion (44) via surface contact between the first plate portion (422) and the second plate portion (442).

9. The end effector according to claim 8, wherein the first plate portion (422) and the second plate portion (442) each include a third threaded hole (441) for receiving a third fastener (57), and the first half-ring portion (42) is connected to the second half-ring portion (44) via the third fastener (57).

10. The end effector according to any one of claims 1 to 10, wherein the interface board (22) includes a printed circuit board assembly (388) having a spring pin connector, the printed circuit board assembly being configured at the inner side (12) to be connected to at least one of a cable for powering the tool (2) and a cable for communicating with the tool (2), and the spring pin connector being configured at the outer side (14) to be connected to an electrical pin of the tool interface.

11. The end effector of claim 10, wherein the interface board (22) includes a recess configured to receive the printed circuit board assembly (388).

12. The end effector according to any one of claims 1 to 10, wherein the at least one wiring harness (32, 34, 36) comprises at least one of a power supply cable (36), a communication cable (34), or an air hose (32) for a hydraulic actuator on the tool (2).

13. The end effector according to any one of claims 1 to 10, wherein the at least one wiring harness (32, 34, 36) comprises two air hoses (32), each air hose having an end provided with a sleeve made of a rigid material, and the air hoses (32) being held in place within the interface plate (22).

14. An industrial robot (1), comprising: A manipulator, the manipulator including a sealed housing; At least one wire harness (32, 34, 36) extends within the sealed housing; as well as The end effector according to any one of claims 1 to 13, the end effector being connected to the manipulator of the industrial robot and configured to provide a harness interface for the at least one harness (32, 34, 36).

Images