DE102012212342B4 - Manipulator or the like - Google Patents

Abstract

Device such as crane, load lifting device, manipulator, working platform, robot, excavator od. Like., Except for use in the metallurgical industry in open-die forging, drop forging, in ring rolling, in heat treatment plants, in slagging processes in steel mills and reduction furnaces, with one, if necessary movable and / or about a vertical axis rotatable, base (2) and having at least two arms, wherein the first arm (4) about a horizontal base axis (3) of the base (2) is pivotally mounted and the second arm (6) about an am free end of the first arm (4) parallel to the base axis (3) extending arm axis (5) is pivotally mounted, wherein the angular position between the arms (4, 6) by a transmission with the angular position of the first arm (4) relative to the base ( 2), whereby the movement of the free end of the second arm (6) is substantially horizontal, wherein the two arms (4, 6) form a swing-through kinematics, wherein the b ei aligned arms, the free end of the second arm (6) of the base (2) is closer than the free end of the first arm (4), and wherein, fixed or movable, another arm, or a hand, or a lifting device, or a tool carrier, or a tool center point, or the. Like. At the free end of the second arm (6) is provided, characterized in that the coupling of the angular positions of the arms (4, 6) with each other by one at the base (2) to an axis (3 ') hingedly mounted first control rod (14), which acts on the transmission.

Description

The present invention relates to a device according to the preamble of claim 1.

There are many prior art devices for one purpose or another, mostly using four-bar linkages, for the sake of clarity only the following are to be referred to:
The CH 380 469 A , Especially suitable for mesh welding machines, uses two interconnected via a coupling plate Gelenkparallelogramme, which are connected by means of a linkage in its angular position. This allows excellent linear motion, but no movement in a different direction. A certain simplification of this kinematics reaches the DE 33 17 443 A1 ,

The US 4 019 256 A discloses a tool carrier, which performs a perfect linear movement by means of two coupled in their pivotal movement joint parallelograms, which have on the coupling axes coincident. In order to be used in other directions, the base of the first parallelogram can be fixed in different directions. Changing the direction of movement without retooling is not possible.

The EP 0 181 490 A1 describes a kind of stork beak or pantograph, in which two Gelenkparallelogramme are connected via a coupling on which they have a common and two independent axes. This allows a coordinated movement of the two parallelograms free movement in the plane. By a special guide and rectilinear horizontal or vertical movement is made possible, wherein in the struts of the parallelograms bending moments are introduced. The drive is a small lever mechanism, through the long lever arms occur on large moments and bending forces, even during purely horizontal, uniform movement are highly variable forces apply, as the kinematic conditions change greatly along the way.

The US Pat. No. 3,995,746 describes a similar device with simpler drive kinematics, which dispenses with an ideal-linear movement, but suffers dynamically but the same problems.

From the EP 0 158 722 A1 a device is known in which three Gelenkparallelogramme one behind the other in this way a common, two separate axes on each coupling, are provided. The control rods, which make of the two first parallelograms multiple "lattices" with multiple couplings, and cooperate with a synchronization linkage to maintain the horizontal movement, enable good linear guides both horizontally and vertically; but with strongly fluctuating forces even with horizontal movement.

A device of the prior art, which has the goal to keep the forces on the different positions of the device as constant as possible, is from the WO 2010/024689 A1 known for a crane. This device uses as the first arm a four-bar linkage, almost a parallelogram, with an actuator that attacks about one third of the length of one of the legs of this and determines the angular position of the first arm by changing the length. It should be noted that this leg is also claimed to bending and must be dimensioned accordingly.

The upper coupling of Gelenkgleichallelogramms, thus the upper end of the first arm carries the second arm articulated with the coupling plate, which performs little rotation due to their location in the four-bar linkage, and provides an actuator, which from the coupling plate to a point approximately after a Quarter of the length of the second arm attacks, whereby this is claimed according to bending. In operation, the two arms are independently pivotable about their respective base point, d. H. that when pivoting the first arm of the second arm maintains its angular position relative to the base, the inertial system, thus can be controlled separately. As a result of the pure pivoting movement of the first arm, however, no displacement of the load articulated at the end of the second arm takes place along an at least substantially straight path, unless very narrow limits in the length ratios in general and in the angular position of the second arm are specifically observed.

With this device, it is indeed possible, albeit with the said disadvantages and only in an angular position (but not otherwise) between the two arms to achieve a very uniform load and force application over the swept by the load area, which is sufficient for a crane, the other, aforementioned claims are not met with this device.

From the WO 2006/090 015 A1 a harvester crane is known in which two arms are pivotally connected in series and mounted on a base, wherein the position of the base arm is not changed by an actuator directly to the base, but against a rocker, which in turn from a attacking on the base Actuator is pivoted about the pivot point of the base arm. This peculiar construction is practical for a harvester, unsuitable everywhere else; and also formed only for an approximate linear guidance in a predetermined direction.

There are in the field of technology, a large number of applications for moving loads of all kinds, including people, tools and the like to be understood, in which it is important to move by means of a low-mass device, the load over the longest possible distances and To require as even force as possible over the entire movement length, or to load the individual components of the device as evenly as possible, or to avoid a vertical component of movement as possible. An additional requirement is to permit the (level) movement of the load along two orthogonal axes and to take precautions which make it possible in a simple manner to perform a movement in one direction independently of the movement in the other direction. without requiring extensive and complex controls with the necessary sensors etc.

From the DE 19 85 719 U a crane is known which has a base with a first arm and a second arm, wherein the first arm is pivotally mounted about a horizontal base axis and the second arm is pivotally mounted about an arm axis extending parallel to the base axis at the free end of the first arm. The angular position between the arms is coupled by a gear with the angular position of the first arm relative to the base, so that the movement of the free end of the second arm is substantially horizontal. The proposed in the known crane gear closes the occurrence of a reversal of the horizontal movement of the free end of the second arm in a Durchschwenkpunkt in which the two arms are arranged in alignment with each other not from.

The present invention has for its object to provide a device that ensures a defined horizontal movement of the free end of the second arm.

The object is solved by the features specified in claim 1.

Preferred embodiments are subject of the dependent claims.

It is a so-called swing-through kinematics used with at least two arms, wherein the first arm, the base arm is rotatably mounted on the base about a base axis and is rotatably mounted at its free end the second arm about an axis parallel to the base axis. By swing-through kinematics is meant that at the free end of the first arm, the second arm is pivotally articulated, but in a plane that allows him to take a position aligned (in side view) with the first arm, the free end of the second arm of Base of the first arm is closer than the free end of the first arm, the angle between the arms is 180 °. In order to avoid bending stresses, the first arm is mostly forked in the region of its free end. The angular positions are positively controlled among each other, preferably by linkage or gear segments.

At the free end of the - usually also bifurcated - second arm a tool carrier, a third arm or the like hinged articulated, the angular position of the third arm relative to the inertial (base) and against the second arm is effected in a manner described below ,

The invention will be explained in more detail below with reference to the drawing.

Show it:

1 : the basic structure of the kinematics according to the invention;

2 a first variant for coupling the movements;

3 : a second variant for coupling the movements;

4 : a representation of the achieved linearization;

5 an embodiment for independently moving an arm;

6 in front and rear view another embodiment;

7 : the achievable horizontal movement;

8th : the achievable vertical movement, each with a first variant of the kinematics;

9 : the achievable vertical movement, each with a second variant of the kinematics;

10 : the achievable vertical movement, each with a second variant of the kinematics;

11 : the achievable vertical movement, each with a third variant of the kinematics;

12 : the achievable vertical movement, each with a third variant of the kinematics;

13 : the application to an excavator;

14 : the application on an excavator.

An inventive basic kinematics is in 1 shown purely schematically. The in their entirety with 1 designated device is based 2 , which, in the technical context, represents an inertial system and, of course, can in turn be rotatable or movable, about a horizontal base axis in the illustration 3 swiveling with her first arm 4 stored.

At the free end of the first arm 4 is to an arm axis 5 , a second arm 6 pivoted. Unlike the above-mentioned PCT publication, the second arm is 6 essentially back towards the base 2 oriented, a so-called swing-through kinematics, for example, by a Aufraabelung of the first arm 4 can be accomplished in the region of its free end without loss of symmetry of the device to the drawing plane and thus without the introduction of undue bending forces and moments.

At the free end of the second arm 6 is about a hand axis 7 one hand 8th pivotally mounted at the free end in turn a load carrier 9 is formed or attached.

By coupling the swivel angle of the first arm 4 around the base and the second arm 6 around the first arm 4 You can at least very well approximated, in the figure horizontally extending movement of the hand axis 7 and the hand 8th and the carrier 9 to reach. Such a coupling of the two pivoting angles is in 2 by means of a gear transmission or in 3 represented by a linkage. It is of course also possible to produce this connection of the two arm angle by slack traction means such as ropes, chains or belts, pulleys and possibly cam-shaped deflecting surfaces (non-linear connection of the torsions).

X

Abstand zwischen Basisachse 3 und Armachse 5

Y

Abstand zwischen Armachse 5 und Handachse 7

vorzunehmen. Zumeist ist bei den anderen Werten von α die Frage der Abweichung nicht so kritisch, beispielsweise, weil bei diesen Werten nur selten gearbeitet wird, weil bei diesen Werten die Hebelsarme der wirkenden Kräfte oder des jeweiligen Antriebes günstiger sind, oder auch aus anderen Gründen.The coupling of the two swivel angles: α, the swivel angle of the first arm 4 from the vertical clockwise around the base axis 3 and β, the swing angle of the second arm 6 from the vertical counterclockwise around the arm axis 5 to achieve as little as possible from the horizontal movement of the hand axis 7 is now for an assumed or selected angle α, in which, for example, the predetermined loads (as not to be changed boundary conditions) are particularly large and therefore a height change should be avoided in this area as possible, due to the existing framework conditions distances:

X

Distance between base axis 3 and arm axis 5

Y

Distance between arm axis 5 and hand axis 7

make. In most cases, the question of deviation is not so critical in the other values of α, for example, because these values are rarely used because at these values the lever arms of the acting forces or the respective drive are more favorable, or for other reasons.

The value for β is obtained under these circumstances: β = acos {[X · cos α - (X - Y)] / Y} and with the necessity, which is practically always given because of the symmetry of the motion, that if α = 0, then β = 0, the translation I = (α + β) / α is thus obtained. If this is not true in isolated cases, it is no problem for the person skilled in planar kinematics, knowing the invention, to determine the respectively appropriate approximation.

The 2 with the gears or toothed segments requires no further explanation, the 3 should, however, be briefly discussed: one in its entirety with 10 designated steering linkage has one at the base 2 around the axis 3 ' articulated first control rod 14 up, on a seesaw 11 which works approximately in the middle of the length of the first arm 4 hingedly connected at one end and hinged at the other end a second control rod 12 that is articulated with an extension 13 of the second arm 6 connected, carries.

The operation of this steering linkage is now the following: The lower part of the first arm 4 , the first tax bar 14 , the distance between the two axes at the base 2 and the one, in the figure right, part of the rocker 11 , form a four-bar linkage, the pivoting of the first arm 4 around the base axis 3 a foot point 15 the seesaw 11 to which the second control rod 12 articulated attacks with respect to the first arm 4 and thus in the form of a composite movement also with respect to the base 2 , pivoted. Through this movement of the foot point 15 the second control rod 12 becomes the second arm 6 around the arm axis 5 pivoted so that the hand axis 7 essentially parallel to the in 3 oblong marked base 2 and thus moved without meaningful height change from left to right in the presentation.

This essentially horizontal movement is off 4 clearly visible, even the large horizontal path, the hand axis 7 with only a relatively small pivoting of the first arm 4 is clearly visible.

Regardless of whether now the coupling of the pivoting of the two hand axes 4 . 6 by a toothing, a steering linkage, by traction means and rollers or a differently designed gear takes place, the angular position of the second arm 6 attacking hand 8th be advantageously determined and influenced in the following manner.

Such a device is from the 5 It should be pointed out that it is also possible here to obtain comparable results by means of suitable traction means such as ropes, belts, chains, etc. and suitable deflection rollers. Im in 5 embodiment shown is the first control rod 14 via its articulation point on the seesaw 11 extended and articulated with a scale 17 connected, rotatable on the arm axis 5 is mounted. From the Libra 17 leads, hinged to her, a second control rod 16 parallel to the second arm 6 and is articulated with a lever 18 connected to the hand axis 7 is pivotally mounted.

The first arm 4 forms with the first control rod 14 a Gelenkparallelogramm, as well as the second arm 6 with the second control arm. This means that the location of the connecting line between the hand axis 7 and the axis between the control arm 16 and lever arm 18 always remains parallel to itself, regardless of the position of the first arm 4 ; so are all with the lever 18 firmly connected objects always in the same angular position with respect to the base 2 ,

To shake hands now 8th With respect to this angular position, it is only necessary to have a variable-length actuator 19 , For example, a hydraulic or pneumatic cylinder-piston unit fitting articulated on the lever 18 provide and with the second end at a pivot point of the hand 8th articulate, as in 5 is shown. In 5 are also due to the change in length of the actuator 19 achieved movements and positions of the hand 8th dash-dotted registered.

The 6 shows now, in two side views once from the front even from behind, a development of the device 5 , Using a robot with a working device or a load carrier 9 , which will be discussed below only on this training, the other components require no further explanation here: It is in addition to the components of the device according to an embodiment, not shown 5 a guide rod 22 from a guide axis 21 on the lever 18 to a plate 20 guided, pivoting on the hand 8th is articulated and also pivotable on the load carrier 9 , Here is the load carrier 9 also pivotable on the hand 8th attached. In the embodiment shown is dispensed with the pivoting of the variant, plate 20 and load carrier 9 are firmly connected or executed in one piece.

Due to the construction it is now possible to use the in 7 and 8th completely independent of each other: 7 shows that during a movement of the first arm 4 around its base axis 3 the load carrier 9 practically without any change in height and without any further actuation of an actuator or a drive the pronounced horizontal movement, the 7 makes clear, passes through.

Likewise shows the 8th in that, while holding the first arm 4 and thus also with fixed second arm 6 only by actuating the actuator 19 the load carrier 9 without significant horizontal change in position, the illustrated height displacement undergoes.

This is particularly important in practice, since it is very essential in a large number of applications to be able to control these two orthogonalized axes as independently as possible, without having to transmit complex path calculations and transmissions of control commands to different drives.

It has been the invention with the initially explained in detail steering linkage 10 described, this may, as from the 9 it can be seen to be replaced by a linkage in which the second arm 6 via a control arm 23 who is also articulated at the base 2 is attached, replaced. Since the other components correspond to the previously described figures, here was only on the control arm 23 and its connection to the second arm received and only these reference numerals have been entered.

The situation with the use of gears or tooth segments show the 11 and 12 ; in turn, only the most essential reference numerals are registered, a naming or designation of the gears themselves is omitted because of their obvious self-explanatory effect, it should only be noted that the first control rod 14 , the second control staff 16 and the scales 17 even with these two embodiments nothing with the position of the arms 4 and 6 have to do with each other, but only the positioning of the hand 8th serve and are therefore also provided in these two embodiments.

The embodiment shown so far represent on the whole a tool carrier or manipulator, the expert can tap into a wide variety of applications with this kinematics beneficial, only to show what different possibilities and orders of magnitude are possible here, show the 13 and 14 the application on an excavator including the associated movement: how out 13 is apparent, a device according to the invention in principle according to the 7 and 8th only with other proportions than excavator carriers provided on a mobile excavator. By operating the drive for the first arm 4 Alone it is possible to get out 13 Obtain visible blade movements, a fact that makes it easier for the excavator operators to work.

The 14 now shows a variant that in 13 already shown but not conspicuous, it is the tax axis 14 ' with the first control rod 14 hinged at the base is not fixed with respect to the base but on a tilt plate 24 provided in turn around the base axis 3 is rotatable, independent of the other drives of the individual kinematic elements.

The 14 shows the dramatic effect of tilting the tilt plate 24 and thus a shift in the tax axis 14 around a circular arc around the base axis 3 It is possible for the excavator operator to operate the drive for the first arm only 4 to create a slope in the angle caused by the corresponding rotation of the tilt plate 24 is predetermined.

In summary, one can conclude that it is not only possible by the plane kinematics according to the invention, all the axes are parallel to each other, to achieve the desired uniform load and driving force without noticeable peaks, but that it is possible by operating only one of Drives to achieve a linearized movement of the load carrier and by operating another drive regardless of an orthogonal movement, which controlling and using the device in all cases where this is not done as in a robot by mathematical path control via a corresponding electronics, but greatly simplified by an operator and thus not only increases comfort but also safety.

The invention thus relates in its core to a planar kinematics, which is particularly suitable for use with cranes, load lifting devices, manipulators, working platforms, robots, and the like, with a base that can be moved and / or rotated about a vertical axis 2 and with at least two arms, the first arm 4 around a horizontal axis 3 is pivotally mounted and the second arm 6 one at the free end of the first arm 4 parallel to the axis 3 extending arm axis 5 is pivotally mounted. It is now planned that the free end of the second arm 6 the base 2 closer than the free end of the first arm 4 as long as the angle between the arms is below 90 °. Furthermore, at least one other arm or a hand or a load lifting device, or a tool carrier, or a tool center point, or the like is provided at the free end of the second arm, fixed or movable.

By "free end" is meant here, and in accordance with technical usage, simply a region of the end of the respectively considered arm, which is farther from the base in the kinematic chain than the other end; Of course, it is not an "end" in the mathematical sense.

Claims (7)

Device such as crane, load lifting device, manipulator, working platform, robot, excavator od. Like., Except for use in the metallurgical industry in open-die forging, drop forging, in ring rolling, in heat treatment plants, in slagging processes in steel mills and reduction furnaces, with one, if necessary movable and / or rotatable about a vertical axis, base ( 2 ) and at least two arms, the first arm ( 4 ) about a horizontal base axis ( 3 ) the base ( 2 ) is pivotally mounted and the second arm ( 6 ) around one at the free end of the first arm ( 4 ) parallel to the base axis ( 3 ) extending arm axis ( 5 ) is pivotally mounted, wherein the angular position between the arms ( 4 . 6 ) by a gear with the angular position of the first arm ( 4 ) with regard to the base ( 2 ), whereby the movement of the free end of the second arm ( 6 ) is carried out substantially horizontally, with the two arms ( 4 . 6 ) form a swing-through kinematics, in which when aligned arms, the free end of the second arm ( 6 ) the base ( 2 ) is closer than the free end of the first arm ( 4 ), and wherein, fixed or movable, another arm, or a hand, or a load lifting device, or a tool carrier, or a tool center point, od. Like. At the free end of the second arm ( 6 ), characterized in that the coupling of the angular positions of the arms ( 4 . 6 ) with one another at the base ( 2 ) about an axis ( 3 ' ) hingedly mounted first control rod ( 14 ), which acts on the transmission. Apparatus according to claim 1, characterized in that the transmission comprises a linkage, or a toothing or pliable traction means with pulleys. Apparatus according to claim 2, characterized in that the linkage a rocker ( 11 ), which is approximately in the middle of the length of the first arm ( 4 ) is pivotally connected at one end and hinged at the other end a second control rod ( 12 ) hinged with an extension ( 13 ) of the second arm ( 6 ), and that the first control rod ( 14 ) on the rocker ( 11 ) acts. Device according to one of claims 1 to 3, characterized in that at the free end of the second arm ( 6 ) a lever ( 18 ) one to the base axis ( 3 ) parallel hand axis ( 7 ) is pivotally mounted. Device according to claim 4, characterized in that the angular position of the lever ( 18 ) with regard to the base ( 2 ) by means of two four-bar linkages ( 4 . 14 ; 6 . 16 ), the two arms and one around the arm axis ( 5 ) rotatable scale ( 17 ) is determined. Device according to claim 4 or 5, characterized in that on the lever ( 18 ), rotatable about an axis, a hand ( 8th ) is mounted, and that their rotation by one on the lever ( 18 ) attacking drive ( 19 ) he follows. Device according to claim 6, characterized in that at the free end of the hand ( 8th ) a load carrier ( 9 ) is rotatably mounted, which by hand ( 8th ) via a four-bar linkage ( 20 . 22 ), so that the load carrier ( 9 ) when twisting the hand ( 8th ) performs no rotation, but a substantially linear, vertical movement.

Images