DE102008023071A1 - Robot structure element, particularly for packaging machine assigned robot, has outer casing and internal volume, where outer casing is made from hygienic material - Google Patents

Abstract

The robot structure element (1) has an outer casing (2) and an internal volume (3). The outer casing is made from a hygienic material, and is provided with a structure to provide mechanical reinforcement to the internal volume. The hygienic material consists of hygienic metal material.

Description

The The invention relates to a robot structure element, in particular for a Packaging machine associated robots, according to the preamble of Claim 1.

robot are used in industrial technology z. B. for positioning, among other things for assembly, for filling or often used for packaging. Typical such industrial robots are z. B. SCARA- (abbreviation, English: selective compliance assembly robot arm) or delta robot. Delta robots are used in particular when dynamic handling operations are required with high accelerations. In robot structure elements, in particular arm sections, individual struts, housing parts as well as other, in particular moving components and sections is used as a construction material mostly carbon fiber reinforced plastic (CFRP).

adversely is in this state of the art that CFK hygienically not perfect is and in particular has a poor solvent resistance. Kick as well the case that, for example, such a robot structure element due to excessive forces breaks, so can Splinters or other particles of the CFRP structural element under or between get to the moving good. Such particles or splinters are particularly poorly detectable, since mostly in production only Metal detectors available stand. This may therefore possibly lead to the material to be moved, in particular to be packaged, then industrially z. B. for security reasons can not be used anymore.

task The invention is therefore, in particular with regard to the requirements from packaging machines improved robots or improved structural elements to propose by robots.

The Task is starting from a robot structure of the introductory mentioned type by the characterizing features of claim 1 solved.

In the dependent claims are advantageous embodiments and further developments of the invention called and explained.

Accordingly characterized a robot structure element, in particular for a Packaging machine associated robots, with an outer sheath and an internal volume characterized in that the outer shell of a hygienic material is made and the internal volume of a structure for mechanical reinforcement includes.

hygienic means in this context, in particular, that such robot or robot structural elements in the most diverse areas of the Packaging technology, such as the packaging of food, Pharmaceuticals, medical devices or the like, can be used. Generally speaking the robot structure elements have different shapes, e.g. B. a staff or a wall. Furthermore, such structural elements also have different profiles with round, triangular, square or other cross sections.

As an outer layer is in a robot structure element according to the invention given an outer sheath, which consists of a hygienic material. Especially In packaging technology, often highly dynamic handling processes used, among other things, so-called delta robot used come. Often the material to be moved is greatly accelerated with accelerations sometimes significantly more than 5g (g = acceleration due to gravity), from which high forces resulting in the material and in particular the robotic structure elements very heavy use. For this reason, in a robot structure element according to the invention provided in the internal volume structures for mechanical reinforcement.

Especially It is advantageous in one embodiment of the invention as hygienic materials to use hygienic metals. As already mentioned, the robot structure elements are very high loads and signs of wear exposed. in principle can not be ruled out that, for example, a robotic arm, which consists of robot structural elements, breaks, either as a result of material fatigue or be it by a misoperation. When breaking can split off Particles or other small parts under the moving, in particular get to be packaged good. To find out where such things go Splinter parts and particles have arrived, the corresponding must Material of the broken component to be detectable in any way. As a rule, metal detectors are used in corresponding production facilities available. Consequently, you can Particles containing metal, without any special cost be found in a relatively simple way. Furthermore, it can Costs are saved because the to be moved or packaged Well sorted due to the contamination at least only conditionally must become.

A number of metals can generally be used here. In a particularly preferred embodiment of the invention, titanium and / or stainless steel and / or an alloy containing at least one of the two materials titanium or stainless steel are used. Both, like that Probably titanium as well as stainless steel, are known as particularly inert materials and can sometimes in almost all areas with the highest hygienic standards, such. B. in medical technology, are used. The materials may be available as non-magnetic metals, if desired for one embodiment of the invention. In general, metals, in particular titanium and stainless steel are characterized by their high strength, stability and flexural rigidity. Titanium is also a light metal, which reduces the forces generated during robot movements and reduces the risk of breakage, but also reduces the need for the robot to perform less. A weight saving is made possible in such a robot, while at the same time advantages can be formed in the kinematics.

at However, a development of the invention may also be advantageous be to use other hygienic materials. For example these can be plastics. Polymers, in particular For example, polyacetal may be preferred in view of high hygiene requirements (Polyoxymethylene, POM), polyethylene terephthalate (PET), a polymer from the group of polyamides (eg PA6, PA66, PA12 or PA6 G210), polypropylene, Polyethylene (PE) or polycarbonate. Straight POM stands out by its high strength, hardness and stiffness in a wide temperature range; it owns high toughness, abrasion resistance, a low coefficient of friction and high heat resistance. It is also possible the use of ceramics as hygienic materials. When Examples here include titanium dioxide in various crystal structures, such as For example, call anatase or rutile. Furthermore, due to of the permanent Progress in materials science also quite composites as hygienic materials for a development of the invention can be considered. In general can Composites targeted, sometimes with regard to robotics, be equipped with advantageous properties. In general, so can embodiments the invention conceivable such hygienic materials include, which is also a for the respective use have sufficient stability.

A Particularly preferred embodiment of the invention provides as Structure for mechanical reinforcement a foam in front. In particular, solid-state foams are meant here. Such foams are characterized by some particularly advantageous mechanical properties out. You can serve to stiffen the said structural elements and the stability significantly improve. Also a sufficiently large bending moment can be reached. In addition, the foam structure causes gaseous inclusions in the material includes, basically a special weight saving compared to solid material.

by virtue of the use in packaging technology is at a preferred Embodiment of Invention provided a foam of a hygienic material.

Considered one as well still special requirements for a good detectability, so is it's an advantage, an execution to equip the invention with a metal foam. In addition one could Use as metal a light metal, in particular aluminum foam. Aluminum is more corrosion resistant than iron and is also special advantageous for the stiffening of components in lightweight construction.

aluminum foam has a high level of energy absorption capacity and is relatively inexpensive because of its relatively low technical complexity low melting temperature produced.

Around among other things the stability to increase even further it is advantageous in a development of the invention, when the Foam with the outer jacket at least partially enters into a chemical compound.

In similar However, it is also conceivable that in one embodiment the invention components of the foam material at least partially diffusively in the outer jacket penetrate and thus for Solidification and additional stability to care.

Of Further includes in one embodiment the invention, the structure for mechanical reinforcement a the outer jacket on its inside covering lining layer, which the Stiffening and stability of the robot structure element. There are different ones thickness ratios the lining layer opposite the outer jacket conceivable. Furthermore, it is also conceivable in principle that the lining layer Completely fills the inner volume.

One particularly stable robot structural element as an exemplary embodiment The invention can be achieved by the structure of the mechanical reinforcement with a lining layer covering on its inside another layer is provided. Also such a stable structural element can be produced inexpensively with relatively little industrial effort become.

It is preferred that for one embodiment of the invention for use in connection with a packaging machine, a lining layer and / or further layer of a hygienic material is used. A Particularly preferred development of the invention provides that the lining layer is at least several times thicker than the further layer. For example, it would be conceivable to provide a stainless steel or titanium tube as an outer jacket in one embodiment of the invention as a lining layer z. B. POM is provided as a plastic and the further layer is again formed of stainless steel or titanium. Due to the greater thickness of the lining layer, the robot structure element z. B. be designed as mechanically particularly stable form and / or cohesive composite. In principle, all types are included here, such as outer sheath, the structure for mechanical reinforcement or components thereof can be connected to one another. In the above example, there is also the possibility not only to produce the further layer and the outer sheath of the same material but to provide this in the same thickness, in which a further cost advantage may be due.

has For example, such a robot structure element the necessary mechanical properties, so it is not absolutely necessary in the Inner volume further structures provide, which only unnecessarily the Increase weight, without however an additional one To provide an advantage in terms of mechanical stability. Therefore, such training advantageous in the invention, in which at least one part the internal volume is formed as a cavity. Incidentally, this allows one Material savings and can thus reduce manufacturing costs. Nevertheless, you can Profiles with such a structure still excellent bending moments exhibit.

It However, it is also conceivable, the lining layer and / or the another layer in one embodiment of Form invention as foam. Thus, a network could be created be the advantages of a layer system with those of a foam material combines and, for example, an additional suitability for lightweight construction having. In particular, could the further layer should be designed so that it covers the complete fills the remaining interior as foam. Which embodiment or which combinations of exemplary embodiments with different ones Layer systems, foam fillings or combinations thereof, ultimately depends on the requirements the application.

Out practical reasons as well as for cost reasons It is usually wanted, relatively simple geometric structures or body to use, which can also be easily produced or purchased inexpensively can be. Especially in packaging you want to cleanliness in usually avoid edges and such structures, in which like to accumulate deposits. Therefore, it is advantageous if a execution of the robot structural element according to the invention is designed as a tube or hollow cylinder and / or cylinder.

Basically conceivable that the structure for mechanical reinforcement in Inner volume has a different geometric shape. The easiest However, it is usually to design an embodiment of the invention, that the lining layer, the further layer and the cavity respectively are designed as a tube or hollow cylinder or as a cylinder. The associated Records of these geometric shapes are the corresponding longitudinal axes. This embodiment can greatly facilitate the manufacturing process, reduce the costs and for provide a symmetrical weight distribution on the robot.

In Likewise, it is usually advantageous to the embodiment to make the invention so that the outer sheath a pipe or a Hollow cylinder represents.

Especially in the manufacture of the inner volume, it is preferable the structure for mechanical reinforcement in one embodiment form the invention as a hollow cylinder or cylinder. For example the internal volume completely with a metal foam, such. B. an aluminum foam, so For example, the mechanical reinforcement structure is a cylinder, in which In this context, due to the foam gas inclusions and holes were not considered for the description of the geometric structure. Will the embodiment chosen so that For example, a lining layer of plastic and a another layer, which, for example, formed as a comparatively thin metal tube is, is used and is still inside the robot structure element a cavity is present, the structure is for mechanical reinforcement in this case designed as a hollow cylinder.

Especially when using relatively simple geometric structures for Formation of an outer jacket and a structure for mechanical reinforcement, it is conceivable or advantageous in one embodiment the invention that they each have an axis. For example you can get here executions with geometric shapes such as pipes, hollow cylinders, cylinders or generally longitudinal axes at bars to introduce.

Within the structure for mechanical reinforcement, it is advantageous if the respective axes of the lining layer, the further layer and the cavity are arranged co-linear. This can be especially true in manufacturing be beneficial in many ways. Under certain circumstances, components can thereby be more easily machined, inserted into one another, or, for example, a material can be applied uniformly by rotation along the longitudinal axis.

A A particularly preferred development further provides that the axes of the outer jacket and the structure for mechanical reinforcement are arranged colinearly. Also in this embodiment can one enjoy the same advantages of such a regular structure, operate as already described. In particular, appears it is often useful as outer sheath for a run To use pipe. Thus, among other things, one to the corresponding Axis, in particular longitudinal axis rotationally symmetrical structure can be realized.

The Invention and its developments and embodiments allow thus, at the same time inexpensive, but also for various applications well adaptable and designable robot structure elements to disposal to put, especially in packaging technology, as far as this is required, as well as special emphasis on hygiene and stability requirements can be placed.

Embodiment:

In The drawings are exemplary embodiments of the invention and are given below stating more Advantages and details closer explained. In detail show:

1 a schematic cross section through a robot structural element with a foam,

2 a schematic cross section through a robot structural element, which comprises a (hollow) cylindrical structure for mechanical reinforcement,

3 a SCARA robot whose movement arm comprises two rod-shaped robot structure elements according to the invention, as well as

4 a delta robot whose motion arms comprise robotic structure elements according to the invention.

1 shows a cross section through a robot structure element 1 with an outer jacket 2 , which is designed for example as titanium or stainless steel tube. Inside is an aluminum foam as a structure for mechanical reinforcement 3 , This foam fills the interior volume 3 completely off. Particularly advantageous for the stability of the robot structure element 1 it is when the foam is partially diffusive in the outer shell 2 can penetrate.

2 In contrast, shows a further embodiment of a robot structure element 1 , Here is also an outer jacket 2 present, which is designed for example as titanium or stainless steel tube. As a lining layer 4 a hollow cylinder of POM is provided in this example. Then follows as another layer 5 a tube which, for example, like the outer jacket 2 can be designed as titanium or stainless steel pipe. The remaining part of the interior volume is as a cavity 6 trained, but it would also be conceivable, as an embodiment of the invention, this cavity 6 to be filled with a material for further mechanical reinforcement, such. B. with a metal foam. The structure for mechanical reinforcement 3 out 2 thus includes in particular the lining layer 4 as well as the further layer 5 and the rest of the area 6 the inner volume, which z. B. is not filled or provided with a further filling for mechanical reinforcement, such as a metal foam.

3 shows a SCARA robot 7 , Which embodiments of inventive robotic structure elements 1a . 1b used. These robot structure elements 1a . 1b form among other things, the robot arm. This robot arm is driven by rotary drives 8th . 13 , The rotary drive axis, which of the rotary sleeve 9 is covered by a connecting element 10 with the rod designed as a robot structural element 1a Mistake. The over another connecting element 10 with the arm section 1a connected arm section 1b Can via a transmission device 12 which are controlled by the rotating sleeve 9 with the rotary drive 13 connected is. The arm section 1b is also a rod-shaped robot structural element 1b educated. At this robot structure element 1b is a handling tool 11 attached, which requires the robot, for example, for positioning of goods to be packaged. In this embodiment, the handling tool is 11 designed as a sucker. However, it is only one possibility to have such robotic structure elements 1 . 1a . 1b in a SCARA robot 7 use.

A particularly preferred application is in 4 shown. Sometimes the robot arms are a delta robot 14 exposed to even higher mechanical loads, so that also the use of embodiments and developments of the invention in a delta robot 14 , be it z. B. a delta robot 14 with three robot arms or z. B. a robot with only two arms, but also works on a similar or the same delta-robot principle, can advantageously offer, inter alia.

U. a. Here, the robot arms as embodiments of inventive robotic structure elements 1c . 1d be educated. Furthermore, the associated drives 15 , the rotation axis 1e as well as the element to be positioned 16 displayed. Also the rotation axis 1e may be formed as an embodiment of a robot structure element according to the invention. By means of the rotation axis 1e a handling tool can be rotated.

all versions and further developments of the invention is common to a robot structure element according to the preamble of claim 1, the outer sheath of a hygienic Material is made and the internal volume is a structure for includes mechanical reinforcement.

1

Robot structural element

1a

robot arm

1b

robot arm

1c

robot arm

1d

robot arm

1e

axis of rotation

2

outer sheath

3

internal volume

4

lining layer

5

Further layer

6

remaining internal volume

7

SCARA robots

8th

rotary drive

9

rotating sleeve

10

connecting element

11

sucker

12

transmission device

13

rotary drive

14

Delta robot

15

drives

16

to positioning element

Claims (22)

Robot structure element ( 1 . 1a . 1b . 1c . 1d . 1e ), in particular robots associated with a packaging machine ( 7 ), with an outer jacket ( 2 ) and an internal volume ( 3 ), characterized in that the outer jacket ( 2 ) is made of a hygienic material and the internal volume ( 3 ) a structure for mechanical reinforcement ( 3 ). Robot structure element ( 1 . 1a . 1b . 1c . 1d . 1e ) according to claim 1, characterized in that as hygienic materials hygienic metals are present. Robot structure element ( 1 . 1a . 1b . 1c . 1d . 1e ) according to one of the preceding claims, characterized in that there are present as hygienic metals titanium and / or stainless steel and / or an alloy containing at least one of the two materials titanium or stainless steel. Robot structure element ( 1 . 1a . 1b . 1c . 1d . 1e ) according to one of the preceding claims, characterized in that as hygienic materials of at least one of the following plastics, namely polyacetal, polyethylene terephthalate, a polymer from the group of polyamides, polypropylene, polyethylene or polycarbonate, and / or ceramic and / or composites are present , Robot structure element ( 1 . 1a . 1b . 1c . 1d . 1e ) according to one of the preceding claims, characterized in that as a structure for mechanical reinforcement ( 3 ) a foam is provided. Robot structure element ( 1 . 1a . 1b . 1c . 1d . 1e ) according to one of the preceding claims, characterized in that a foam is provided from a hygienic material. Robot structure element ( 1 . 1a . 1b . 1c . 1d . 1e ) according to one of the preceding claims, characterized in that a metal foam, in particular a light metal foam, in particular an aluminum foam, is provided. Robot structure element ( 1 . 1a . 1b . 1c . 1d . 1e ) according to one of the preceding claims, characterized in that the foam with the outer shell ( 2 ) at least partially received a chemical compound. Robot structure element ( 1 . 1a . 1b . 1c . 1d . 1e ) according to any one of the preceding claims, characterized in that the foam at least partially diffusively in the outer shell ( 2 ) has penetrated. Robot structure element ( 1 . 1a . 1b . 1c . 1d . 1e ) according to one of the preceding claims, characterized in that the structure for mechanical reinforcement ( 3 ) one the outer shell ( 2 ) lining layer covering on its inside ( 4 ). Robot structure element ( 1 . 1a . 1b . 1c . 1d . 1e ) according to one of the preceding claims, characterized in that the structure for mechanical reinforcement ( 3 ) a lining layer ( 4 ) on its inside covering further layer ( 5 ). Robot structure element ( 1 . 1a . 1b . 1c . 1d . 1e ) according to one of the preceding claims, characterized in that the lining layer ( 4 ) and / or the further layer ( 5 ) from a hygie Negra material are manufactured / is. Robot structure element ( 1 . 1a . 1b . 1c . 1d . 1e ) according to one of the preceding claims, characterized in that the lining layer ( 4 ) is at least several times thicker than the further layer ( 5 ). Robot structure element ( 1 . 1a . 1b . 1c . 1d . 1e ) according to any one of the preceding claims, characterized in that at least a part of the internal volume as a cavity ( 6 ) is trained. Robot structure element ( 1 . 1a . 1b . 1c . 1d . 1e ) according to one of the preceding claims, characterized in that the lining layer ( 4 ) and / or the further layer ( 5 ) are formed from a foam / is. Robot structure element ( 1 . 1a . 1b . 1c . 1d . 1e ) according to one of the preceding claims, characterized in that the robot structure element ( 1 . 1a . 1b . 1c . 1d . 1e ) is designed as a tube or hollow cylinder and / or cylindrical body. Robot structure element ( 1 . 1a . 1b . 1c . 1d . 1e ) according to one of the preceding claims, characterized in that the lining layer ( 4 ), the further layer ( 5 ) and the cavity ( 6 ) are each formed as a tube or hollow cylinder or as a cylinder with associated axes. Robot structure element ( 1 . 1a . 1b . 1c . 1d . 1e ) according to one of the preceding claims, characterized in that the outer jacket ( 2 ) is designed as a tube and / or hollow cylinder. Robot structure element ( 1 . 1a . 1b . 1c . 1d . 1e ) according to one of the preceding claims, characterized in that the structure for mechanical reinforcement ( 3 ) is designed as a hollow cylinder and / or cylinder. Robot structure element ( 1 . 1a . 1b . 1c . 1d . 1e ) according to one of the preceding claims, characterized in that the outer jacket ( 2 ) and the structure for mechanical reinforcement ( 3 ) each have an axis. Robot structure element ( 1 . 1a . 1b . 1c . 1d . 1e ) according to one of the preceding claims, characterized in that the respective axes of the lining layer ( 4 ), the further layer ( 5 ) and the cavity ( 6 ) are arranged colinearly. Robot structure element ( 1 . 1a . 1b . 1c . 1d . 1e ) according to one of the preceding claims, characterized in that the axes of the outer jacket ( 2 ) and the structure for mechanical reinforcement ( 3 ) are arranged colinearly.