CS230797B1 - Industrial robot drive equipment - Google Patents

Abstract

The device is equipped with a swivel stand driven rotary engine. Revolving stand carrying lower swinging arm it is rolling on the outer periphery of the frame by radial-axial bearing. Through the hole this bearing passes straight hydraulic motor connected to arm arm. Piston rod of this rectilinear hydraulic motor it is equipped with a rotary distribution for supply energy to another linear hydraulic motor connected to the upper arm.

Description

BACKGROUND OF THE INVENTION The invention relates to an apparatus for driving an industrial robot by means of linear hydraulic motors, provided with a rotary stand driven by a rotary motor.

The kinematic chains of articulated robots usually contain a lever drive by means of which the linear movement of the drive unit, which may be a linear motor or a rotary motor in combination with a motion screw and nut, is converted into a swing of the arm mounted in the joint.

In one known industrial robot drive solution, a rotary frame driven by a rotary motor is mounted in the machine frame. The pivot stand carries a swinging lower arm in which the upper arm is pivoted. The device is equipped with a linear hydraulic motor, which is mounted on a rotary stand and its piston rod is connected to the swinging lower arm. Another linear hydraulic motor is mounted on the swinging lower arm and its piston rod is connected to the upper arm of the industrial robot.

Such and other similar drive arrangements of an industrial robot present difficulties with movable feeds to both linear hydraulic motors. Both hydraulic motors increase the size of moving masses as well as the height of the entire industrial robot.

According to the invention, the above-mentioned drawbacks are overcome by a device for driving an articulated-type industrial robot by means of linear hydraulic motors provided with a rotary stand driven by a rotary motor. It is based on the fact that the rotatable support supporting the lower swinging arm is mounted on the outer periphery of the frame by means of a radial-axial bearing, whose opening is directly through a 230 797 line hydraulic motor connected to the arm lever. According to a further feature of the invention, the linear hydraulic motor, with its lower end provided with a ball joint, whose center lies on the axis of the radial-axial bearing, is mounted in the bottom of the frame and connected by its piston rod via ball joint to the arm. Finally, according to the last aspect of the invention, the piston rod of the linear hydraulic motor is provided with a rotary distribution for supplying energy to another linear hydraulic motor connected to the upper arm.

The basic advantage of the industrial robot drive device is that the first linear hydraulic motor does not rotate when rotating the rotary stand, but only oscillates within a small range, reducing the inertia forces, deformations of its feeds and overall machine height. All hoses leading to both linear hydraulic motors and from the rotary manifold are subject to bending only in any combination of movements of the entire device.

The device according to the invention is described in more detail below by way of example with reference to the accompanying drawing, in which a partial sectional view of the device is schematically shown.

The pivot stand 2 supporting the lower rocker arm 3 is driven by a rotary motor 5 via a gear transmission and is rollingly mounted in the frame 1 by means of a large diameter radial-axial bearing. A linear hydraulic motor 6, tilting the lower rocker arm 3 over the lever 10, passes through the bearing bore and is supported by the lower end via a ball joint 8 in the bottom of frame 1. The piston rod is connected via ball joint 9 to lever 10. The axis of rotation about the pivot stand 2 with respect to the frame 1 passes through the center of the joint 8 and the position of the center S of the swinging arm 3 is chosen in relation to the length of the lever 10 in such a way. The power supplies to the further linear hydraulic motor 7, which tilts the upper arm 4, are guided through a rotary manifold 11 located at the end of the piston rod of the rotary hydraulic motor 6.

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This placement of the linear hydraulic motor 6 in the frame 1 reduces the overall construction height of the entire mechanism. The linear motor 6 does not rotate when the rotary stand 2 is rotated, but only oscillates within a small range, which is advantageous in terms of inertia forces and minor deformations of its supply hoses. All hoses κ to the two linear hydraulic motors 6 and 7 and from the rotary manifold 11 are subjected to bending only in any combination of movements of the mechanism.

Claims (3)

SCOPE OF THE INVENTION 230 797 1 «Device for driving an industrial robot articulated type using linear hydraulic motors provided with a rotatable rack, driven by a rotary motor, wherein the rotatable rack / _2/5 carrying lower swingarm / 3 / is a roller mounted on the outer periphery of the frame / 1 / through a thrust-thrust bearing, through the opening of which a linear hydraulic motor (6) passes, connected to the lever (10) of the arm (3). Device for propulsion of an industrial robot according to claim 1, characterized in that the linear hydraulic motor (6) is mounted in the bottom of the frame (1) with its lower end provided with a ball joint (8) and connected with its piston rod via a ball joint (9) with a lever. 10), wherein the center of the spherical ball (8) lies on the axis (o) of the radial-axial bearing. Device for propulsion of an industrial robot according to Claims 1 and 2, characterized in that the piston rod of the linear hydraulic motor (6) is provided with a rotary distribution (11) for supplying energy to the next linear hydraulic motor (7) connected to the upper arm (4).