ROBOT

Technical Field

The present disclosure generally relates to electric connector devices. In particular, an electric connector device comprising a transmission mechanism, a system comprising an electric connector device, and an industrial robot comprising an electric connector device or a system, are provided.

Background

Electric connector devices may be used to transmit data signals between two electronic devices. The electric connector device may comprise a single wire or a plurality of wires that are electrically connected to a secondary device when the electric connector device is mechanically connected to the secondary device. In order to provide this mechanical connection, the electric connector device may comprise two thumb screws for threadingly engaging the secondary device. The thumb screws may be tightened by hand or by using a tool, such as a screwdriver. The tool may for example engage a slit at a distal end of each thumb screw.

US 2013084742 Al discloses a video graphics array, VGA, connector comprising a housing, a pin assembly and two thumb screws for fixing the VGA connector.

Summary

When connecting a plurality of electric connector devices to respective secondary devices and using thumb screws to mechanically secure the electric connector devices, the manual screwing of the thumb screw is tedious. This may for example be the case in a mass production line, e.g., for industrial robots. Moreover, it is very difficult to provide a consistent torque to the thumb screws by hand. If using a tool to tighten the thumb screws, there is a risk of damage to the thumb screws and a risk that the tool damages nearby wires or other equipment. It might also be difficult to reach the thumb screws both for manual tightening and for tightening using a tool. Thus, the process of tightening thumb screws on an electric connector device is slow and unreliable.

Although there exist other concepts to mechanically connect an electric connector device to a secondary device than using one or more screws, a plurality of secondary devices for being engaged by screws of electric connector devices may already have been implemented in an application. It would often be cumbersome and expensive to replace these secondary devices with different secondary devices operating with another mechanical connection concept.

One object of the invention is to provide an improved electric connector device.

A further object of the invention is to provide an improved system.

A further object of the invention is to provide an improved industrial robot.

These objects are achieved by the electric connector device according to appended claim i, the system according to appended claim 12, and the industrial robot according to appended claim 15.

The invention is based on the realization that by providing an electric connector device comprising a push element that can pushed by a finger of a human user to move linearly, and a transmission mechanism configured to transmit a linear movement of the push element to a rotational movement of a screw engaging a secondary device, a process of mechanically connecting the electric connector device to the secondary device is greatly facilitated.

According to a first aspect, there is provided an electric connector device comprising a base structure; a connector for being electrically connected to a secondary device, the connector being fixed with respect to the base structure; a screw rotatable relative to the base structure in a rotational movement for threadingly engaging the secondary device; a push element linearly movable relative to the base structure in a linear movement between a first position and a second position; and a transmission mechanism configured to transmit the linear movement to the rotational movement.

A human user may grab the electric connector device and dock it to the secondary device such that the connector becomes electrically connected to a secondary connector of the secondary device. The user may then push the push element to move linearly to cause the screw to rotate to threadingly engage a threaded opening of the secondary device. Due to the threaded engagement, the electric connector device becomes mechanically locked to the secondary device.

Since the push element may only have to be pushed to move linearly, the push element may be manipulated with a single finger of the user. This makes the screw of the electric connector device easier to manipulate in comparison with a conventional thumb screw that has to be manipulated using at least two fingers. The electric connector device therefore also provides an improved operability in narrow spaces.

The electric connector device can thus replace prior art electric connector devices comprising one or more thumb screws without having to change the secondary device. In this way, the electric connector device may be said to provide backward compatibility. This is valuable in many existing applications since it may not be practically possible to replace all secondary devices. One example of an application is an industrial robot.

The electric connector device may alternatively be referred to as a primary device.

The base structure may comprise, or maybe constituted by, a housing, such as a backshell. One or more connectors for being electrically connected to the secondary device may be fixed with respect to the base structure. The screw may as such threadingly engage the secondary device in the same manner as a conventional thumb screw, but with a greater ease and a reduced risk of damage to the associated components. The screw may comprise a thread for threadingly engaging the secondary device. The thread may be a male thread. The screw may be constrained to a rotational movement.

The first position and the second position may be constituted by an unlocked position and a locked position, respectively. The push element may be constrained to a linear movement.

The electric connector device may further comprise one or more electric wires. Each electric wire may be connected to the connector.

The transmission mechanism may comprise a cam profile and a cam follower arranged to cooperate with the cam profile to transmit the linear movement to the rotational movement. This type of transmission mechanism is durable and cost-efficient. The cam profile may be fixed to the screw and the cam follower may be fixed to the push element, or vice versa. The cam profile may be a helical track.

The cam follower may be a pin. In case the pin is fixed to the push element, the pin may be guided in a slot in the base structure.

Further examples of transmission mechanisms for transforming the linear movement to the rotational movement are however conceivable. According to one example, the transmission mechanism comprises a rack and pinion drive. In this case, the rack may be fixed to the push element, the pinion may be a bevel gear and a further bevel gear may be fixed to the screw.

The push element may be arranged to protrude a first distance from the base structure in the first position, and the push element may be arranged to protrude a second distance from the base structure in the second position. In this case, the first distance may be larger than the second distance. In this way, the position of the push element provides a visual feedback to the user indicating whether the push element is in the first position or in the second position. The first distance may be at least 50 % larger than the second distance.

Moreover, the push element may be significantly more axially displaced in comparison with an axial displacement of a prior art thumb screw. As a result, the user can more easily feel by touch in which position the push element is in. The position of the push element therefore also provides a haptic feedback to the user indicating whether the push element is in the first position or in the second position. This is advantageous when the electric connector device is installed in narrow spaces and the user may not see the push element.

The screw may be rotatable about a rotation axis. In this case, the push element may be linearly movable along the rotation axis.

The electric connector device may further comprise a lock mechanism arranged to lock the push element in the second position. The lock mechanism may be configured to be manually unlocked, e.g., by a finger of a human user.

The lock mechanism may be arranged to lock the push element in the second position by snap-fit. To this end, the lock mechanism may comprise a seat and a latch configured to engage the seat. The latch maybe a tab. The latch maybe provided in the push element and the seat maybe provided in the base structure, or vice versa.

The snap-fit contributes to a design of low complexity. Moreover, the snap-fit provides audible feedback to the user. The audible feedback and the haptic feedback may be useful when the user connects the electric connector device in a narrow space and does not see the push element.

The electric connector device may further comprise a force device arranged to force the push element towards the first position. With this variant, the push element can easily be released to automatically return to the first position. In case the electric connector device of this variant also comprises the lock mechanism, the push element can be released by unlocking the lock mechanism.

The force device may comprise a spring. According to one example, the push element is hollow and the spring is received inside the push element. This contributes to a compact design of the electric connector device. The spring may be a compression spring, such as a compression coil spring. One end of the spring may contact the push element, such as an interior surface of a top portion thereof. The other end of the spring may contact the screw, such as a top portion thereof.

The screw may be a first screw, the rotational movement may be a first rotational movement, the push element may be a first push element, the linear movement may be a first linear movement, and the transmission mechanism may be a first transmission mechanism. In this case, the electric connector device may further comprise a second screw rotatable relative to the base structure in a second rotational movement for threadingly engaging the secondary device; a second push element linearly movable relative to the base structure in a second linear movement between the first position and the second position; and a second transmission mechanism configured to transmit the second linear movement to the second rotational movement. In this variant, the push elements may be independently movable. Alternatively, the push elements may be fixed to each other. In this case, the push elements may for example be interconnected by a bridge.

In a corresponding manner, the electric connector device may comprise a first and second profile, a first and second cam follower, a first and second lock mechanism and/ or a first and second force device. Thus, the components interacting directly or indirectly with the first push element and the first screw may form a first set, and the electric connector device may comprise at least one second set of the same design as the first set.

The connector maybe positioned between the first screw and the second screw. The electric connector device may be a D-subminiature type connector device.

According to a second aspect, there is provided a system comprising the electric connector device according to the first aspect and the secondary device.

The electric connector device may be configured to mate with the secondary device when establishing the electrical connected therebetween. The screw may threadingly engage the secondary device in a mated state of the electric connector device and the secondary device. The electric connector device may be a plug and the secondary device may comprise a socket, or vice versa.

The secondary device may comprise a D-subminiature type connector device.

The secondary device may comprise a printed circuit board, PCB.

According to a third aspect, there is provided an industrial robot comprising an electric connector device according to the first aspect or a system according to the second aspect.

Brief Description of the Drawings

Further details, advantages and aspects of the present disclosure will become apparent from the following description taken in conjunction with the drawings, wherein:

Fig. 1: schematically represents a side view of an industrial robot comprising a system;

Fig. 2: schematically represents a perspective front view of the system comprising an electric connector device and a secondary device;

Fig. 3a: schematically represents a perspective exploded and partial front view of the system;

Fig. 3b: schematically represents a perspective exploded and partial rear view of the system;

Fig. 4: schematically represents a cross-sectional partial side view of the electric connector device;

Fig. 5: schematically represents a perspective front view of the system when the electric connector device is connected to the target device;

Fig. 6: schematically represents a cross-sectional partial side view of the system in Fig. 5; and

Fig. 7: schematically represents further example of a system.

Detailed Description

In the following, an electric connector device comprising a transmission mechanism, a system comprising an electric connector device, and an industrial robot comprising an electric connector device or a system, will be described. The same or similar reference numerals will be used to denote the same or similar structural features.

Fig. 1 schematically represents a side view of an industrial robot 10. The industrial robot 10 of this example comprises a base 12, a manipulator 14 movable relative to the base 12, and an end effector 16 connected at a distal end of the manipulator 14. The base 12 is provided at a proximal end of the manipulator 14. The industrial robot 10 comprises a system 18a. The system 18a comprises an electric connector device 20a and a secondary device 22a. The industrial robot 10 is one of many examples where the system 18a can be implemented. The system 18a may for example be positioned inside a body of the industrial robot 10.

Fig. 2 schematically represents a perspective front view of the system 18a. In Fig. 2, the electric connector device 20a is not connected to the secondary device 22a. The electric connector device 20a forms a primary device with respect to the secondary device 22a.

The electric connector device 20a comprises a primary housing 24. The primary housing 24 is one example of a base structure according to the present disclosure. The primary housing 24 here also forms a backshell. The electric connector device 20a of this example further comprises a first primary connector 26ai and a second primary connector 26a2. One or both primary connectors 26ai and 26a2 may also be referred to with reference numeral "26a". The electric connector device 20a may alternatively comprise only one primary connector 26a or more than two primary connectors 26a.

The electric connector device 20a of this example further comprises a first screw 28a and a second screw 28b. The first screw 28a comprises a male first thread 30a and the second screw 28b comprises a male second thread 30b. The first screw 28a is rotatable relative to the primary housing 24 in a first rotational movement 32a about a first rotation axis 34a. The second screw 28b is rotatable relative to the primary housing 24 in a second rotational movement 32b about a second rotation axis 34b. The first and second rotation axes 34a and 34b are here parallel. The electric connector device 20a may alternatively comprise only one screw 28a and 28b or more than two screws 28a and 28b. Unless stated otherwise, any description given for the first screw 28a or for a component associated with the first screw 28a applies also to the second screw 28b or to a component associated with the second screw 28b, and vice versa. Each primary connector 26a is fixed in the primary housing 24 between the first and second screws 28a and 28b.

The electric connector device 20a of this example further comprises a first push element 36a and a second push element 36b. The first push element 36a is associated with the first screw 28a and the second push element 36b is associated with the second screw 28b. The first push element 36a is linearly movable relative to the primary housing 24 in a first linear movement 38a. The second push element 36b is linearly movable relative to the primary housing 24 in a second linear movement 38b. In this example, the first and second push elements 36a and 36b are independently movable relative to the primary housing 24. The first and second linear movements 38a and 38b are parallel. Moreover, the first linear movement 38a is here concentric with the first rotation axis 34a and the second linear movement 38b is here concentric with the second rotation axis 34b. In Fig. 2, each of the first push element 36a and the second push element 36b is in a first position 40 relative to the primary housing 24. In the first position 40, each of the first push element 36a and the second push element 36b protrudes a first distance 42 from the primary housing 24. The first distance 42 is a relatively large distance that can easily be visually recognized by a human user.

The first push element 36a of this example comprises a first cylindrical body 44a and two first wings 46a (only one is visible in Fig. 2) provided on the first cylindrical body 44a. The first wings 46a engage in respective first grooves 48a in the primary housing 24. In this way, the first push element 36a of this example is constrained to only perform the first linear movement 38a relative to the primary housing 24. Correspondingly, the second push element 36b of this example comprises a second cylindrical body 44b and two second wings 46b (only one is visible in Fig. 2) provided on the second cylindrical body 44b. The second wings 46b engage in respective second grooves 48b in the primary housing 24. In this way, the second push element 36b of this example is constrained to only perform the second linear movement 38b relative to the primary housing 24.

The first push element 36a of this example further comprises a first arm 50a flexibly attached to the first cylindrical body 44a. Correspondingly, the second arm 50b of this example further comprises a second arm 50b flexibly attached to the second cylindrical body 44b.

The first arm 50a of this example comprises a first tab 52a and a first release section 54a. Correspondingly, the second arm 50b of this example comprises a second tab 52b and a second release section 54b. The first and second tabs 52a and 52b are examples of latches.

The primary housing 24 of this example comprises a first seat 56a associated with the first screw 28a and a second seat 56b associated with the second screw 28b. Each of the first and second seats 56a and 56b is here exemplified as an opening. The electric connector device 20a of this example comprises a first lock mechanism 58a and a second lock mechanism 58b. The first lock mechanism 58a is associated with the first screw 28a and the second lock mechanism 58b is associated with the second screw 28b. In the first position 40 of the first and second push elements 36a and 36b, each of the first and second lock mechanisms 58a and 58b is unlocked. The first lock mechanism 58a of this example comprises the first tab 52a and the first seat 56a, and the second lock mechanism 58b of this example comprises the second tab 52b and the second seat 56b. As shown in Fig. 2, the first tab 52a and the second tab 52b are disconnected from the first seat 56a and the second seat 56b, respectively, in the first position 40.

The electric connector device 20a of this example further comprises a first wire 60a electrically connected to the first primary connector 26ai and a second wire 60b electrically connected to the second primary connector 26a2. The first wire 60a and the second wire 60b are arranged in a bundle 62.

The secondary device 22a of this example comprises a printed circuit board, PCB, 64 and a secondary housing 66. The secondary device 22a of this example further comprises two secondary connectors 68ai and 68a2. One or both secondary connectors 68ai and 68a2 may also be referred to with reference numeral "68a". The secondary connectors 68a are electrically connected to the PCB 64. When the electric connector device 20a is mated with the secondary device 22a, the first primary connector 26ai is electrically connected to the first secondary connector 68ai and the second primary connector 26a2 is electrically connected to the second secondary connector 68a2. The secondary housing 66 of this example comprises a female first threaded opening 70a for being threadingly engaged by the first thread 30a and a female second threaded opening 70b for being threadingly engaged by the second thread 30b. The secondary device 22a of this example may therefore be referred to as a screw-to-lock PCB connector.

Fig. 3a schematically represents a perspective exploded and partial front view of the system 18a, and Fig. 3b schematically represents a perspective exploded and partial rear view of the system 18a. With collective reference to Figs. 3a and 3b, more details of the system 18a can be seen.

In this example, the first push element 36a comprises a first living hinge 72a enabling the first arm 50a to move relative to the first cylindrical body 44a. Correspondingly, the second push element 36b comprises a second living hinge 72b enabling the second arm 50b to move relative to the second cylindrical body 44b. The first tab 52a is positioned between the first release section 54a and the first living hinge 72a, and the second tab 52b is positioned between the second release section 54b and the second living hinge 72b.

The electric connector device 20a of this example further comprises a first spring 74a associated with the first screw 28a and a second spring 74b associated with the second screw 28b. Each of the first and second springs 74a and 74b are examples of force devices according to the present disclosure. The first and second springs 74a and 74b are here exemplified as coil springs. As shown in Fig. 3b, each of the first and second cylindrical bodies 44a and 44b are hollow to receive the first spring 74a and the second spring 74b, respectively.

Figs. 3a and 3b further show that the electric connector device 20a of this example comprises a first transmission mechanism 76a associated with the first screw 28a and a second transmission mechanism 76b associated with the second screw 28b. The first transmission mechanism 76a of this example comprises a helical first cam profile 78a provided in the first screw 28a and a first pin 80a arranged to engage the first cam profile 78a. Correspondingly, the second transmission mechanism 76b of this example comprises a helical second cam profile 78b provided in the second screw 28b and a second pin 80b arranged to engage the second cam profile 78b. The first and second pins 80a and 80b are examples of cam followers according to the present disclosure. As shown in Fig. 3b, the primary housing 24 of this example further comprises a first slot 82a associated with the first screw 28a and a second slot 82b associated with the second screw 28b. Although illustrated as separated in the exploded views in Figs. 3a and 3b, the first pin 80a is fixed to the first push element 36a and the second pin 80b is fixed to the second push element 36b. The first pin 80a is here arranged to be fixed in a first through hole 84a in the first push element 36a. The first pin 80a thereby protrudes radially outwards to engage the first slot 82a and radially inwards to engage the first cam profile 78a. Correspondingly, the second pin 80b is here arranged to be fixed in a second through hole 84b in the second push element 36b. The second pin 80b thereby protrudes radially outwards to engage the second slot 82b and radially inwards to engage the second cam profile 78b.

Fig. 3a further shows that the primary housing 24 comprises a first push element opening 86a for receiving the first push element 36a and the first screw 28a, and a second push element opening 86b for receiving the second push element 36b and the second screw 28b. The first grooves 48a and the second grooves 48b are provided in the first push element opening 86a and the second push element opening 86b, respectively.

Fig. 4 schematically represents a cross-sectional partial side view of the electric connector device 20a. In Fig. 4, it can be seen that a first end of the second spring 74b contacts an interior end of the second cylindrical body 44b and a second end of the second spring 74b contacts an end of the second screw 28b.

Also in Fig. 4, the second push element 36b is in the first position 40. The second spring 74b is compressed and forces the second push element 36b away from the primary housing 24 and into the first position 40. The first position 40 is here defined by the second pin 80b reaching an end (an upper end in Fig. 4) of the second slot 82b. The second spring 74b ensures that the second screw 28b does not move along the second rotation axis 34b. The second screw 28b is thus constrained to the second rotational movement 32b. Fig. 5 schematically represents a perspective front view of the system 18a. and Fig. 6 schematically represents a partial cross-sectional partial side view of the system 18a in Fig. 5. With collective reference to Figs. 5 and 6, the electric connector device 20a is now connected to the secondary device 22a. The electric connector device 20a has been mated with the secondary device 22a such that the primary connectors 26a and the secondary connectors 68a become electrically connected. The user has then pushed each of the first and second push elements 36a and 36b to perform the respective first and second linear movements 38a and 38b relative to the primary housing 24 from the first position 40 to a second position 88. The first and second transmission mechanisms 76a and 76b have transmitted the first and second linear movements 38a and 38b to the first rotational movement 32a of the first screw 28a and the second rotational movement 32b of the second screw 28b. In this example, the first and second pins 80a and 80b have moved linearly while travelling in the first and second cam profiles 78a and 78b, respectively, to cause the first and second screws 28a and 28b to rotate. As a consequence, the first and second screws 28a and 28b threadingly engage the first threaded opening 70a and the second threaded opening 70b, respectively. The electric connector device 20a is thereby mechanically fixed to the secondary device 22a. As shown in Fig. 6, the second position 88 is here defined by the second pin 80b reaching an opposite end (a lower end in Fig. 6) of the second slot 82b.

In the second position 88, each of the first push element 36a and the second push element 36b protrudes a second distance 90 from the primary housing 24. The second distance 90 is a relatively small distance. The user can therefore easily both see and feel whether the first and second push elements 36a and 36b are in the first position 40 or in the second position 88. In this example, the second distance 90 is less than half the first distance 42.

When the first and second push elements 36a and 36b have reached the second position 88, the first tab 52a and the second tab 52b snap into the first seat 56a and the second seat 56b, respectively. Each of the first and second lock mechanisms 58a and 58b is thereby locked by snap-fit and prevents the first push element 36a and the second push element 36b, respectively, from being forced by the first spring 74a and the second spring 74b, respectively, back to the first position 40. The first position 40 and the second position 88 are thus an unlocked position and a locked position, respectively, in this example. The snap-fit is audible to the user which maybe advantageous if the user cannot see the electric connector device 20a.

A roller may optionally be provided on each of the first pin 80a and the second pin 80b to reduce frictional forces. Alternatively, or in addition, grease may be added to the first and second transmission mechanisms 76a and 76b.

In order to disconnect the electric connector device 20a from the secondary device 22a, the user may push the first and second release sections 54a and 54b, e.g., by a finger, either simultaneously or one at a time. This will cause deflection of the first and second arms 50a and the 50b and the first and second tabs 52a and 52b will be released from the first and second seats 56a and 56b, respectively. The first and second springs 74a and 74b will then force the first and second push elements 36a and 36b to move from the second position 88 back to the first position 40. Due to the first and second transmission mechanisms 76a and 76b, the movement of the first and second push elements 36a and 36b will cause the first and second screws 28a and 28b to rotate in an opposite direction until these separate from the first and second threaded openings 70a and 70b, respectively. The user may then grab and pull the electric connector device 20a such that the primary connectors 26a and the secondary connectors 68a become electrically disconnected.

Fig. 7 schematically represents further example of a system 18b. Mainly differences with respect to the system 18a will be described. The system 18b comprises an electric connector device 20b and a secondary device 22b. The electric connector device 20b differs from the electric connector device 20a by comprising a primary connector 26b of the D-subminiature type. The electric connector device 20b is thus a D-subminiature type connector device. The secondary device 22b differs from the secondary device 22a by comprising a secondary connector 68b of the D-subminiature type. The secondary device 22b is thus a D-subminiature type secondary device 22b.

While the present disclosure has been described with reference to exemplary embodiments, it will be appreciated that the present invention is not limited to what has been described above. For example, it will be appreciated that the dimensions of the parts may be varied as needed. Accordingly, it is intended that the present invention may be limited only by the scope of the claims appended hereto.