Hollow Wrist 工业机器人的中空手腕

LT 第一次看到 Hollow Wrist 这个词是在 COMAU (柯马)为上海埃森展(2009.06.02-2009.06.05)的海报上,柯马称其中文名称为“中空机械腕”,不过LT从别处看的展会照片来看,COMAU并没有展出这类机器人,这个还有待确认。而在刚刚结束的德国埃森展(2009.09.14-2009.09.19)上,KUKA(库卡)展出了具有Hollow Wrist概念的新型号机器人。

工业机器人的结构设计有跟风的趋势,或者也可以说不同时期不同的设计理念,最早的比如平行四杆机构,后来的3轴直接悬臂结构,用机械弹簧替代气体弹簧,各大品牌都是一窝蜂的跟进,现在看来hollow wrist也是一种趋势。从目前的机器人机构来看,第1、2、4轴已经可以做到中空,电缆和气管等可以从中穿过,但是对于6轴,夹具上电缆气管等只好走外面然后再到工具上,这样,在实际生产中,电缆的布线就是要十分注意讲究,不然在机器人高速运转时,上臂带着管线一起飞舞,电缆和气管就有被甩坏拉坏的可能性。Hollow wrist结构的出现,使第6轴也中空,它能使所有的管线位于机器人手臂内部,最大程度上避免了上种情况,从而简化了编程和布线环节。

COMAU的具有hollow wrist的机器人为Smart NJ4系列,目前NJ4有NJ4 170-2.5  和 NJ4 175-2.2 两个型号,可以直接点击这里下载pdf详细文档,里面有详细的参数介绍,还有鲜活的图片展示。

The third generation of “Hollow wrist” robot family signed Comau Robotics:
the new spot welding reference. Ten years experience in designing hollow wrist robots together with the new parallelogram structure of latest generation of industrial robots: SMART NJ4. The structure of the robot NJ4 “hollow wrist” makes it possible to keep all the welding gun service and power cables inside the robot. It provides agility, penetrability and applicability characteristics that, at present, cannot be found elsewhere on the market.

Technical Features:

  • Integrated dressing from the base to the flange of the robot.
  • Parallelogram structure with no balancing mass.
  • Perfect symmetry of the mechanical structure.
  • Strong, agile and streamlined kinetic structure.
  • Reduction in cycle-time.
  • Low power consumption: energy saving, up to 25% more
  • Possibility of installation both on floor and at ceiling
  • 5 years full warranty on integrated dressing
  • Integrated dressing from the base to the flange.

KUKA是2007年引入hollow wrist的概念的,按照todayrobot的介绍,这个结构是最先应用在 KR 5 arc HW (HW顾名思义就是Hollow Wrist的缩写)这个型号的,在2009.09.14-2009.09.19的德国埃森展上,KUKA展出了同样应用hollow wrist结构的机器人,负载为16Kg的KR 16 arc HW 和 KR 16 L8 arc HW两款型号。具体介绍可看这里

KUKA Roboter presents the absolute specialist for arc welding: the KR 5 arc HW (Hollow Wrist). This new robot type offers several features that put it in a class of its own. The 50 mm opening in the arm and wrist, for example, allows the arc welding dress package to be routed in the protective interior of the arm. This not only shields the dress package from mechanical influences, but also prevents undesirable whiplash motion during reorientation of the robot. Both torsion-type dress packages and infinitely rotating arc welding dress packages are possible. For the user, this means not only improved component accessibility and optimal protection of the dress package, but also simplified offline programming.

有意思的是同样是Hollow Wrist设计概念的机器人,COMAU的产品是定位于点焊,而KUKA的产品是定位于弧焊。明年将在北京展示的第十五届北京埃森展,又会出现什么样的新技术呢?拭目以待。

p.s. 关于更多机器人的中空手腕,请看achencan的帖子:http://robot.5d6d.com/thread-241-1-1.html

2011-10-06 更新 : REIS的中空手腕 RV20-6HM / RV20-10 / RV30-10HM
http://www.reisroboticschina.cn/product/rv20_6hm.htm

4 thoughts on “Hollow Wrist 工业机器人的中空手腕

Leave a Reply

Your email address will not be published. Required fields are marked *

This site uses Akismet to reduce spam. Learn how your comment data is processed.