DD240166A1

DD240166A1 - REVOLVER HEAD FOR INDUSTRIAL ROBOT

Info

Publication number: DD240166A1
Application number: DD27965485A
Authority: DD
Inventors: Joerg Mueglitz; Johannes Volmer
Original assignee: Karl Marx Stadt Tech Hochschul
Priority date: 1985-08-14
Filing date: 1985-08-14
Publication date: 1986-10-22

Abstract

Es wird eine Zusatzeinrichtung fuer Industrieroboter beschrieben, die es ermoeglichen, mehrere Greifer gleichzeitig am Flansch eines Industrieroboters zu befestigen und in eine Arbeitsposition zu schwenken, ohne dass es zu einer empfindlichen Einschraenkung der Manoevrierbarkeit des Roboters kommt. Der Revolverkopf besteht aus zwei Dreheinheiten (3); (4), die so aneinander befestigt sind, dass sich ihre Drehachsen in einem Winkel von 90 schneiden und diese mit einer Vertikalen einen Winkel von 45 einschliessen. An den Stirnflaechen der aeusseren Dreheinheit sind Greifertraeger (5); (6) angebracht, die Befestigungsflaechen fuer Greifer aufweisen. Diese stehen in der Arbeitslage senkrecht oder waagerecht im Raum. Beschriebene Anordnung zeigt Figur 1. Vorteilhaft ist beschriebene Anordnung in flexiblen, automatischen Montageeinrichtungen verwendbar. Figur 1An auxiliary device for industrial robots is described, which makes it possible to fasten several grippers at the same time on the flange of an industrial robot and to pivot them into a working position, without causing a sensitive restriction of the maneuverability of the robot. The turret consists of two rotating units (3); (4), which are attached to each other so that their axes of rotation intersect at an angle of 90 and they include an angle of 45 with a vertical. On the front surfaces of the outer rotary unit are gripper carriers (5); (6) attached, the attachment surfaces for grippers have. These are in the working position vertically or horizontally in the room. The arrangement described is shown in FIG. 1. Advantageously, the arrangement described can be used in flexible, automatic assembly devices. FIG. 1

Description

Mit einem Flansch 2 ist der Revolverkopf am Roboterarm 1 befestigt. Im Winkel von 45°C zu einer vertikalen Achse ist am Flansch 2 die erste Dreheinheit 3 befestigt. An deren Stirnseite ist eine zweite Dreheinheit 4 befestigt, derart, daß sich die Drehachsen der beiden Dreheinheiten 3; 4 in einem Winkel von 90° schneiden. Beide Dreheinheiten können um ihre Längsachsen eine gesteuerte Drehbewegung ausführen. An den Stirnseiten der zweiten Dreheinheit sind zwei Greiferträger 5; 6 angeordnet, die durch die gesteuerte Drehbewegung der Dreheinheit 4 gedreht werden. Die Greiferträger 5; 6 besitzen zweijeweils um 45° zur Achsederzweiten Dreheinheit 4 geneigte Befestigungsflächen für die Greifer 7; 8; 9 und 10. Die Befestigungsflächen der Greiferträger 5; 6 befinden sich in Arbeitslage, somit jeweils in vertikalerund horizontaler Lage. Durch eine gesteuerte Drehbewegung um 180° der ersten Dreheinheit 3 aus der Arbeitslage gemäß Figur 1 erfolgt ein Positionsaustausch zwischen den Greifern 7; 10 und den Greifern 8; 9. Durch eine gesteuerte Drehbewegung um 180° der Dreheinheit erfolgt ein Positionsaustausch zwischen den Greifern 7; 8 und 9; 10. Nach diesem Prinzip des Positionsaustausches ist es möglich, die Greifer 7; 8; 9; 10 in eine Arbeitsstellung zu bringen. Dabei gibt es eine horizontale und eine vertikale Arbeitsstellung jedes Greifers, die hinsichtlich des Kollisionsraumes gleichberechtigt sind. Deshalb läßt sich gezeigte Anordnung auch als 90° Schwenkeinheit verwenden.With a flange 2, the turret is attached to the robot arm 1. At an angle of 45 ° C to a vertical axis, the first rotary unit 3 is attached to the flange 2. At the front side of a second rotary unit 4 is fixed, such that the axes of rotation of the two rotary units 3; 4 at an angle of 90 °. Both turning units can perform a controlled rotational movement about their longitudinal axes. At the end faces of the second rotary unit are two gripper carrier 5; 6, which are rotated by the controlled rotational movement of the rotary unit 4. The gripper carrier 5; 6 have two each 45 ° to Achsederzweiten rotary unit 4 inclined mounting surfaces for the gripper 7; 8th; 9 and 10. The attachment surfaces of the gripper carrier 5; 6 are in working position, thus each in a vertical and horizontal position. By a controlled rotational movement by 180 ° of the first rotary unit 3 from the working position shown in Figure 1, a position exchange between the grippers 7; 10 and the grippers 8; 9. By a controlled rotational movement through 180 ° of the rotary unit takes place a position exchange between the grippers 7; 8 and 9; 10. According to this principle of position exchange, it is possible, the gripper 7; 8th; 9; 10 into a working position. There is a horizontal and a vertical working position of each gripper, which are equal in terms of collision space. Therefore, the arrangement shown can also be used as a 90 ° swivel unit.

Claims

-1- £ ΆΜ lob claim for invention:

A turret for industrial robots, characterized in that a first rotary unit (3) is mounted at an angle of 45 ° to a vertical axis with a flange (2) of a robot arm (1); a second rotary unit (4) fixedly mounted on the shaft of the first rotary unit (3) such that both axes of rotation intersect at right angles and at the end of the second rotary unit (4) gripper carrier (5; a controlled rotational movement of the second rotary unit (4) are rotatable and have mounting surfaces for grippers which enclose an angle of 45 ° to the second rotary unit (4). '....

2. turret according to item 1, characterized in that the gripper carrier (5; 6) have two attachment surfaces.

For this 2 pages drawings

Field of application of the invention

The invention relates to a turret, preferably for an industrial robot, in which the mounting flange of the robot arm is kept in a vertical or horizontal position, z. B. articulated robot or portal robot. The turret is particularly suitable for the rapid successive handling of different, preferably small and light parts with grippers and tools in automatic mounting equipment.

Characteristic of the known technical solutions

It is known that turrets are used in machine tool manufacturing. Thus, a turret for a lathe is described in DE-AS 2436220. This consists of two truncated cones of the same opening angle, which are fastened to one another on their base surfaces and are rotatable about their longitudinal axis. On the mantle of the truncated cones tools are arranged. A second axis of rotation is offset from the first axis of rotation arranged such that the tools are on a cone in working position. By rotation about the second axis, it is possible to bring the tools on the lateral surface of the other truncated cone in working position. This technical solution requires a relatively large conical working space.

EP-0094338 describes a turret for an industrial robot. This turret has the well-known in ^, machine tools disc shape, with cones distributed on the circumference grippers. The axis of rotation of the turret forms a defined angle with the outermost axis of rotation of the robot. A disadvantage of this solution is the large footprint of the revolver, which limits the maneuverability of industrial robots. The design of the turret is unsuitable for the use of larger, more complicated grippers or tools. This limits the use of the turret in industrial robots in automatic assembly.

Object of the invention

The aim of the invention is to develop an accessory for industrial robots, which carries a plurality of separately driven gripper and this can pivot in a required working position, without significantly restricting the maneuverability of the industrial robot by the footprint of the turret.

Explanation of the essence of the invention

The object of the invention is to eliminate the disadvantageous acting relatively large collision spaces of the usual disc shape of the turrets. Furthermore, a pivoting of the gripper from a horizontal to a vertical working position using the turret should be feasible, thus allowing a simplification of the wrist construction.

According to the invention, the turret consists of a first rotary unit, which encloses with a vertical axis at an angle of 45 ° and is fastened with a flange on the robot arm. To this first rotary unit, a second rotary unit is arranged, wherein they intersect their two axes of rotation at an angle of 90 °. At the end faces of the second rotary unit, a gripper carrier for attachment of grippers are each arranged, which are rotated by the controlled rotational movement of the 2nd rotary unit. The gripper carrier preferably has two surfaces for attachment of the gripper. In this case, both mounting surfaces form an angle of 90 ° to each other and connect with the axis of the second rotary unit at an angle of 45 °.

This solution according to the invention reduces the space requirement for working with the turret by having two types of collision spaces. When swiveling grippers results in a disc-shaped collision space. In the working position is a cuboid, much smaller collision space before.

embodiment

The invention will be further explained by an embodiment. Showing:

Figure 1: - The schematic structure of the turret in working position
Figure 2: the collision spaces of the turret.