DE102016108230A1 - Delta robot with telescopic rod - Google Patents

Abstract

Robot apparatus (1), in particular a delta robot with a space movable arm system (2), said arm system comprising a base support (4) and a relative to this base support (4) movable working support (6) and at least two rod-like body (8) with opposite ends (8a, 8b) in each case at least indirectly on the base support (4) and on the working support (6) are pivotally mounted and with another also between the base support (4) and the working support (6) arranged and variable in length Main bar means (10), said main bar means (10) an outer receiving element (12) and at least partially within this outer receiving element (12) arranged rod member (16), said rod member (16) relative to the outer receiving element (12) in a Slidably mounted longitudinally of the rod member is the outer receiving element (12) gegenübe r is the rod member (16) rotatably formed. According to the invention, the robot apparatus includes a roller support mechanism (120) for slidably supporting the rod member (16) against the outer support member (12), and this roller support mechanism (120) has at least two disposed on the outer support member (12) or the rod member (16) rotatably mounted roller bodies (122, 124), and these roller bodies (122, 124) are adapted and intended to unroll against running surfaces, said running surfaces (132, 134) extending in the longitudinal direction (L) and on the rod member (16 ) or on the outer receiving element (12) are arranged.

Description

The present invention relates to a robot device, in particular a so-called delta robot device and in particular a robot device for use in the food or beverage manufacturing industry. Such delta robots are known from the prior art. These delta robots belong to the group of so-called parallel robots. Usually, such robots have three arms that move a unit to be moved in space. By targeted control of these three arms of this moving element can be moved substantially freely in space or in a specific area. Such delta robots are often used in the packaging industry or for picking up goods because they can be moved very quickly.

In addition to the movement arms or motion linkages, these delta robots often also have a central axis, which in particular also serves to transmit rotational movements. This central axis or central rod is an essential element of the device. Also, this central rod is subjected to considerable stress and relatively complex in structure. On the one hand, this central rod must have a length variability and on the other hand, preferably, the elements displaceable relative to each other should not be rotatable relative to each other, so that this central rod in its entirety allows the transmission of rotational movements.

From the EP 1 135 238 B1 is such a delta robot known. This has such a central axis (there referred to as a telescopic axis). In this case, a torsionally rigid sleeve is fixedly arranged on an outer tube, in which the inner axis is slidably mounted. As a concrete embodiment, this document provides a torque ball sleeve. However, the disadvantage of using such a torque ball sleeve is that it is expensive and heavy in design. In addition, this embodiment has high moments of inertia.

The present invention is therefore based on the object, such robotic devices on the one hand cost-effective, on the other hand, but also easier to make in the production. Nevertheless, the sometimes high forces or moments should be able to be transmitted.

These objects are achieved by the subject matter of the independent claims. Advantageous embodiments and further developments are the subject of the dependent claims.

A robotic device according to the invention and in particular a delta robot has, in a first embodiment according to the invention, an arm system movable in space, this arm system having a base carrier and a working carrier movable relative to this base carrier. Furthermore, the robot device has at least two rod-like bodies, which are arranged with opposite ends at least indirectly pivotable on the base support and on the work carrier, and another also also arranged between the base support and the work carrier and variable in length main rod means, said Main rod means a (in particular tubular and / or rod-like trained) outer receiving element and at least partially disposed within this outer receiving element rod member, said rod member is slidably mounted relative to the receiving element in a longitudinal direction of the rod member. Furthermore, the receiving element against the rod member is rotatably formed, i. in particular rotationally fixed with respect to said longitudinal direction of the rod element. In this case, these rod-like body are preferably attached to arms, which in turn are preferably arranged on the base support.

According to the invention, the main rod device has a sleeve body arranged at least rotationally fixed on the receiving element or the rod element, against which the rod element or the receiving element is displaceable in the longitudinal direction, this sleeve body having a sliding surface, with respect to which the rod element or the outer tube slides in the longitudinal direction, wherein preferably a material of the sleeve body is adapted to a material of the rod member or the outer tube such that this (sliding) storage is carried out without lubricant or lubrication between the rod member and the outer receiving element is provided. In the latter case, a lubricant can be supplied to the device, which favors the sliding of the rod member relative to the receiving element. Additional lubrication can further reduce friction and resistance to displacement. It could be used both matched materials and lubrication and both measures are taken together.

Preferably, the robot device has at least one drive in order to move the work carrier relative to the base support. Advantageously, the robot device has at least two and advantageously at least three drives in order to enable a movement of the work carrier. This Employee carrier may preferably have holding or gripping means which are suitable for gripping, for example, piece goods, such as bottles, beverage crates, closures and the like. This may preferably be an active gripping device, ie a gripping device, which is also controllable. In this case, for example, this holding or gripping device have an electric, magnetic or pneumatic drive.

Advantageously, this gripping device is rotatable with respect to at least one predetermined axis of rotation. This may preferably be an axis of rotation which is parallel to or coincides with a longitudinal direction of the main rod device.

In a further advantageous embodiment, drive devices which control or enable the movement of the work carrier in space are also provided, wherein these drive devices are preferably electric, pneumatic or hydraulic drives. Particularly preferred electrical drives are provided.

Thus, for example, the above-mentioned rod-like support can each be arranged on a boom, wherein this boom particularly preferably extends in a radial direction. This boom can be pivotable with respect to a given pivot axis, so as to achieve a movement on the work carrier. The rod-like bodies are - as mentioned above - hinged to the base support or the work carrier. In this case, these rod-like body need not be arranged directly on the base support, but they can be arranged indirectly about about the above-mentioned boom to the base support. Advantageously, these rod-like bodies are pivotable in several directions of pivoting with respect to the work carrier and / or the base support.

The work carrier is, in particular, that element which undertakes the operation actually required, such as moving or transporting piece goods. For this purpose, this carrier is movable in a certain area, for example, to take on a conveyor belt brought up articles and put down elsewhere. The base support is arranged in particular stationary.

In a further advantageous embodiment, at least three such rod-like body are provided, which connect the base support and the work carrier together. Advantageously, in pairs arranged rod-like body are provided, about three pairs of rod-like bodies, each connecting the work carrier with the base support. By this paired or parallel arrangement, a higher resistance to rotation can be ensured even in the transmission of high forces.

The main rod device may be designed as a telescopically formed rod, wherein the rod member is telescopically inserted into the receiving element. Preferably, the main rod means exactly two with respect to each other longitudinally displaceable elements, namely the rod member and the receiving element. In addition, however, also storage elements can be longitudinally displaceable, in particular as the rolling elements described in more detail below.

The present invention is further directed, in a second embodiment according to the invention, to a robotic device, in particular a delta robot having a space movable arm system, said arm system having a base support and a work support movable relative to said base support, and at least two rod-like bodies opposing one another Ends are each arranged pivotably on the base support and on the working support and with another also arranged between the base support and the work carrier and variable in length main rod means, said main rod means an outer receiving element and at least partially within this outer receiving element arranged (and in particular guided and / or stored) rod member, said rod member relative to the outer receiving member in a longitudinal direction of the rod element verschi is stored in particular and wherein the outer receiving element is formed rotatably relative to the rod member.

According to the invention, the robot apparatus comprises a roller bearing mechanism for slidably supporting the rod member with respect to the outer housing member, and this roller bearing mechanism has at least two rotatably mounted roller bodies disposed on the outer housing member or the rod member, and these roller bodies are adapted and designed to roll against running surfaces. wherein these treads extend in the longitudinal direction and are disposed on the rod member or on the outer receiving member.

Also by the use of these roles, a low-wear (and preferably also lubricant-free) storage can be achieved. Here again, it is taken into account that the rollers serve to achieve a longitudinal movement. It is it is possible for these rollers and / or the treads to have hardened surfaces, thus increasing wear resistance and / or minimizing the drag resistance. It is conceivable that the rollers are arranged on the receiving element and the running surfaces on the rod member, but vice versa, however, the rollers may be arranged on the rod member and the running surfaces on the receiving element.

In addition or as an alternative to the roller bearing mechanism described here, in a third embodiment according to the invention the robot device can also have a bearing mechanism for displaceably supporting the rod element relative to the outer receiving element, this bearing mechanism having at least two rotatable rolling elements arranged between the outer receiving element and the rod element Rolling bodies are suitable and intended to unroll respectively opposite first treads and second treads, said treads extending in the longitudinal direction and wherein the first treads are fixedly disposed opposite the receiving member and the second treads are fixedly disposed opposite the rod member.

In this embodiment, therefore, a rolling bearing is proposed for achieving the longitudinal movement. Such bearings have been known for a long time from the prior art, but are usually used for the generation of rotational movements. However, the present rolling bearing is intended in particular also serve to achieve a linear movement and particularly preferably just prevent a rotational movement. Advantageously, the running surfaces extend in said longitudinal direction and are preferably curved (in particular curved in a direction perpendicular to the longitudinal direction). In this direction, the tread may have a circular segment ausgestaltetes profile. In this case, a curvature of these running surfaces can be adapted to a corresponding curvature of the rolling elements. By means of rolling elements thus described, a very low-wear bearing can likewise be achieved. Also, it is possible in this embodiment, the storage lubricant-free or form with lubrication

Preferably, it is also conceivable here that the rolling elements have hardened surfaces. The said running surfaces can also be hardened. It is possible that the treads consist of materials which resemble those of rolling bearings, which serve for the storage of rotational movements. Chromium steels and / or high-alloy steels are preferably used as running surfaces. Also as running surfaces for the reel body such materials can be used. In addition come for the running surfaces and / or for wearers of these treads and materials such as ceramic, glass or plastic into consideration.

The rolling elements and / or roller bodies are preferably made of materials derived from a group of materials containing ceramic, glass or plastic. The combination of the materials used for the rolling bodies or roller bodies on the one hand and for the running surfaces on the other hand can be selected depending on the loads to be expected in each case.

In a further embodiment, the rolling elements are movable relative to the receiving element in its longitudinal direction. Preferably, the rolling elements are movable with respect to the rod member in the longitudinal direction.

In a further advantageous embodiment, the running surfaces of the rolling elements are designed as wire running surfaces. Thus, for example, a wire can be inserted into a corresponding recess of the receiving element and / or the rod element and in this wire, the tread can be formed, for example, incorporated. Thus, for example, the running surfaces can be formed in wire webs. Preferably, this wire running surface is designed such that the rolling elements, such as balls, can roll on it.

Preferably, the rolling bearings are therefore designed as so-called. Drahtwälzlager. Wire rolling bearings are rolling bearings with the special feature that the rolling elements do not run directly on an inner and outer ring, but on tough open races or here on rods or walkways, which are inserted directly into the corresponding recesses or recesses of the enclosing structure and which preferably run in a straight line. As rolling elements are preferably held in a cage balls or rollers.

These rods, which, as I said, advantageously present as running wires, can be inserted and / or pressed into corresponding recesses of the rod member and or the outer receiving element. In this case, the respective recess or groove is preferably designed such that the running surfaces or wires are fixed therein.

In a further advantageous embodiment, the running surfaces are positioned relative to the rolling elements, that by this positioning a rotational movement the rod element is prevented from the receiving element. This means that, for example, contact surfaces between the rolling elements and the running surfaces extend in such a way that said rotational movement of the rod element with respect to the receiving element is prevented. Preferably, the treads are positioned relative to the rolling elements so that they can absorb forces in a circumferential direction of the rod element.

These forces in the circumferential direction of the rod element would be those forces which could cause a rotational movement of the rod element relative to the receiving element. Thus, for example, contact surfaces between the rolling elements and the running surfaces could extend at least in one direction, which are arranged in a radial direction of the rod element or, for example, obliquely thereto, for example at an angle of 45 °. In this way, torques can be transmitted from the rod member to the receiving member.

Under the treads are understood those surfaces against which the rolling elements can run or roll.

In a further advantageous embodiment, the rolling elements are rotationally symmetrical rolling elements, and in particular the rolling elements are selected from a group of rolling elements, which contains spherical rolling elements, ellipsoidal rolling elements, cylindrical rolling elements, frusto-conical rolling elements and the like.

In a further advantageous embodiment, the storage mechanism has a guide device for guiding the rolling elements, wherein this guide device is particularly suitable and intended to hold the rolling elements in a specific positioning with respect to each other and / or with respect to the rod element and / or the receiving element.

In this embodiment, a so-called bearing cage for guiding the rolling elements can be provided. It would be possible that such a bearing cage is formed in one piece and for receiving a plurality of rolling elements (and preferably of all rolling elements) is suitable. It is also possible that this guide device extends in a circumferential direction of the rod member at least partially and particularly preferably completely around this rod member around. In a further advantageous embodiment, said guide means is made of a plastic. Preferably, the rolling elements are rotatable relative to the guide device. Thus, the guide means may for example have a plurality of recesses, which each serve to receive the rolling elements and which preferably surround these rolling elements in a circumferential direction.

In a further advantageous embodiment, this guide device is arranged between the receiving element and the rod element. Preferably, the receiving element is a tubular receiving element, which therefore particularly preferably surrounds the bar element in a circumferential direction substantially completely and preferably completely. This means that at least a portion of the rod element is completely received by the receiving element.

However, it would also be possible that only a portion of the rod element is received by the receiving element. Thus, the receiving element could for example have a U-shaped profile and the rod element can be inserted into this U-shaped profile, in which case the rolling elements or the above-mentioned roller elements between this rod member and the receiving element are arranged. Such U-shaped profiles also allow the transmission of high torques.

In a further advantageous embodiment, the rolling elements and / or the roller bodies are spaced apart in a circumferential direction of the rod element. For example, it is possible that a plurality of rolling elements or roller elements surround the rod body in its circumferential direction, so that it is guided in each case from several sides.

In a further preferred embodiment, the roller bearing mechanism and / or the bearing mechanism at least a third, arranged between the outer receiving element and the rod member roller body or rotatably mounted rolling elements. In this embodiment, the storage of the rod element takes place with respect to the outer receiving element from at least three sides. It is possible that these rolling elements or roller bodies are each arranged on a same with respect to the longitudinal direction perpendicular plane.

Preferably, four such roller body and / or rolling elements may be provided. In a preferred embodiment, the treads may be arranged point-symmetrically with respect to a central axis. This geometric central axis may, for example, be an axis which represents an axis of symmetry of the rod element. In a further advantageous embodiment, at least one rolling element is rotatable with respect to a (geometric) axis, which in a tangential direction of Rod element or runs parallel to such a tangential direction.

In a further advantageous embodiment, a rotation of the rod member relative to the receiving element is substantially prevented by a contact of the rolling elements with the associated treads and or a contact of the roller elements with their associated treads. In this case, a small game between these two elements may be possible.

In a further preferred embodiment, at least one roller body is rotatably mounted with respect to an axis of rotation which extends substantially in a radial direction of the rod element. Essentially, it is understood that the extension direction of this axis of rotation deviates by not more than 20 °, preferably by not more than 15 °, preferably by not more than 10 °, preferably by not more than 5 °, from this radial direction.

It is possible, for example, that the roller body, or a bolt supporting this roller body is screwed to a peripheral wall of the receiving element. This bolt may extend, for example, radially inwardly from a peripheral wall of the receiving element. The roller body is preferably rotatably mounted with respect to this bolt.

In a further advantageous embodiment, the receiving element is designed as a tubular body which at least partially surrounds the rod element.

In a further advantageous embodiment, the storage mechanism or the roller bearing mechanism on further roller body and / or rolling elements (groups), wherein at least two rolling elements are arranged in the longitudinal direction of the rod member one behind the other. In a preferred embodiment, a plurality of groups of roller bodies or rolling elements, wherein the individual roller bodies or rolling bodies are preferably arranged on a plane perpendicular to the longitudinal direction, are arranged one behind the other. In this way, a guide length of the rod member relative to the receiving element can be increased.

For example, it would be possible for groups of several, for example, four rollers, to be arranged one behind the other.

In a further advantageous embodiment, the rod member and / or the receiving element on at least two recesses, which partially receive the rolling elements and thereby preferably within these recesses in each case at least one of the running surfaces is formed. In this case, these recesses are preferably designed such that they are adapted to receive between 10% and 50% of the volume of the rolling element, preferably between 10% and 45% of the volume of the rolling element and more preferably between 20% and 40% of the volume of the rolling element ,

In a further preferred embodiment, the rod element has at least two recesses which at least partially surround the roller bodies and at least one wall of this recess is designed as a running surface for the roller bodies. Preferably, these recesses are suitable and determined between 20% and 100% of the volume of the roller bodies, preferably between 30% and 100% of the volume of the roller bodies, preferably between 50% and 100% of the volume of the roller bodies, preferably between 60% and 100% % of the volume of the reel body, preferably between 70% and 100% of the volume of the reel body, and more preferably between 80% and 95% of the volume of the reel body. Preferably, at least 60% of the outer circumference of the reel body contacts the tread, preferably at least 70%, and preferably at least 80%.

Furthermore, it would also be possible for the receiving element to have corresponding recesses. Preferably, the respective treads are at least partially formed within the recesses.

In a further advantageous embodiment, at least one tread two spaced tread portions. These tread portions can serve to prevent rotation of the rod member in both directions of rotation relative to the peripheral element. Preferably, these running surfaces are arranged point-symmetrically with respect to the longitudinal direction to each other in a plane perpendicular to the longitudinal direction. These treads preferably uniformly surround the rod element in its circumferential direction.

In a further advantageous embodiment, the rod element has a bore. This bore may extend in the longitudinal direction of the rod member. In this case, this bore may have a constant cross-section. In a further advantageous embodiment, the rod element is an extrusion body or a body produced in an extrusion process. For example, the rod-shaped body may be a body made of aluminum.

In a further advantageous embodiment, at least one roller element is arranged by means of a screw on a peripheral wall of the outer receiving element. In this case, this screw body is preferably arranged such that it can be released from the outside. In this way, the roller elements can be easily loaded. In a further advantageous embodiment, the peripheral wall of the receiving element in the circumferential direction may comprise rectilinear sections, such as an overall polygonal cross-section. At these straight surfaces, the roller body can be rotatably arranged. It is possible that these rectilinear sections are connected to each other by further rectilinear sections, but it would also be possible that between these rectilinear sections curved portions are arranged.

In a further advantageous embodiment, at least one reel body is replaceable. Preferably, this roller body can in turn also be rotatably supported by means of bearing elements, such as rolling bearings (for example by means of a bearing pin).

In a further advantageous embodiment, the sleeve body mentioned above in the context of the first embodiment is fastened to the outer receiving element by means of at least two screw-type or bolt-like fastening means, preferably a longitudinal direction of these fastening means extending substantially parallel to the longitudinal direction of the rod element. By this arrangement, a very space-saving design is possible. By substantially parallel is meant that a longitudinal direction of the fastening means deviates by not more than 20 °, preferably not more than 15 ° and preferably not more than 10 ° from the longitudinal direction of the rod element.

In a further advantageous embodiment, the sleeve body has a mounting flange surrounding the rod element for attachment to the outer receiving element or a fastening means arranged on the outer receiving element. For this purpose, the receiving element or the said fastening means may also have a corresponding flange, on which the mounting flange of the sleeve body can lie flat.

In a further advantageous embodiment, the sleeve body has a polygonal inner profile for supporting the rod element. This may, for example, be a quadrangular profile. By such a profile, a substantially rotationally fixed arrangement of the rod element is achieved with respect to the receiving element.

In a further advantageous embodiment, the outer receiving element (which is in particular an outer tube) has a tubular base body and a fastening element arranged on this tubular base body, wherein the sleeve body is in turn attached to this fastening element. In this way, a maintenance or even an exchange of elements is facilitated.

In a further advantageous embodiment, this fastening element has an end section which can be inserted into an end section of the outer receiving element. For this purpose, this fastener may have a varying cross-section. Advantageously, this fastener is inserted by clamping in said end portion. In addition, it would also be possible to make other connections between the fastener and the end portion, such as welding, gluing and the like.

In a further advantageous embodiment, the base body has a constant or in the longitudinal direction of the rod element constant cross-section. In a further advantageous embodiment, one end section of the fastening element is tapered radially relative to a further section of the fastening element. Preferably, the end portion of the fastener forms a mounting flange. Advantageously, the fastening element can be inserted into the sleeve body in the longitudinal direction of the rod element.

In a further advantageous embodiment, at least one section of the sleeve body has a smaller cross-section than a further section of the sleeve body. This means that the sleeve body tapers or widens in a longitudinal direction or counter to the longitudinal direction. Preferably, the sleeve body widens in the direction of that end in which the fastening element is inserted.

In a further advantageous embodiment, the sleeve body is made of a material selected from a group of materials containing plastics or bronze.

In a further preferred embodiment, the rod element and / or the outer tube or the receiving element is made of a material which is selected from a group of materials which contains steel and in particular CK45. Preferably, the sleeve body is made of a weaker material than the rod element. When wear occurs can be changed according to the sleeve body. Preferably, the sleeve body is formed two or more parts. For example, the sleeve body may have two half-shells, which can be connected to each other. In this way, in the case of maintenance, the assembly or disassembly can be facilitated.

In a further advantageous embodiment, there is no direct contact between the rod element and the fastening element.

Further advantages and embodiments will be apparent from the attached drawings:

Show:

1 an illustration of a robot device according to the invention;

2 a representation of in 1 shown robot device from a different perspective;

3 a partially sectioned view of the device 1 to illustrate a first embodiment of the invention;

4 another view of the in 3 embodiment shown;

5 a detailed representation of in 3 shown device;

6 a representation of an end portion of a main rod means for a device according to the invention;

7 another view of the in 6 shown main bar device;

8th an overall view of a main rod means for a device according to the invention;

9 a detailed view of a transition between the rod member and the receiving element;

10 a representation of a device according to the invention in a further embodiment;

11 a sectional view of a storage mechanism for the device according to the invention;

12 a partial view of a storage mechanism according to the invention;

13 a main bar device with the in 12 shown storage mechanism;

14 a representation of a device according to the invention in a further embodiment;

15 a detailed view of the main rod device 14 ;

16 a further detail of the main rod body 14 ;

17 a sectional view of a rolling bearing mechanism;

18 a detailed representation of the in 17 shown rolling bearing mechanism;

19 an illustration of a main rod device with a rolling bearing mechanism; and

20 a sectional view of another rolling bearing mechanism.

1 shows a side view of a robot device according to the invention 1 in a first embodiment. This robot device 1 has a base plate 4 on the opposite (in all directions) movable a worktop 6 is arranged. This is usually in operation this base plate 4 stationary, approximately arranged on a (not shown) carrier. The base plate or the base support 4 is by means of a variety of rod-like bodies 8th with the employer 6 connected. At the employer 6 may be provided (not shown) gripping elements, which can grip, for example, piece goods. At the in 1 shown embodiment are a total of six rod-like body 8th provided by means of which the base carrier 4 at least indirectly with the employer 6 connected is. There are two of these rod-like bodies 8th arranged in pairs and also parallel to each other.

The single rod-like bodies 8th each have opposite ends 8a . 8b on, with the ends 8a each articulated with brackets 18 are connected. The ends 8b The rod-like body are also articulated with the worker 6 connected. By pivoting the individual arms 18 can be a total of the employer 6 be moved to any position in a certain area. For this purpose, here are three drives 5a . 5b and 5c provided by means of which the boom 18 can be pivoted and in this way also the employer 6 can be moved. Specifically, by a corresponding control of the individual arms pivoting of the work carrier 6 but also a movement of the same in space can be achieved. The reference number 2 indicates overall the arm system, which is the essentially free movement in the space of the work wearer 6 allows.

The reference number 10 indicates in its entirety a main rod device, which is also the base carrier 4 with the employer 6 combines. This main rod device has in this case joint elements 92 and 94 , here for example cardan elements. The main rod device is stretchable or compressible in the longitudinal direction L, as explained in more detail below. Furthermore, by means of these cardan joints 92 and 94 also a transmission of rotational movements are made possible. More precisely, it is possible that a rotation first on the joint 94 is transmitted and this in turn via the main rod device 10 on the joint 92 and a working element (not shown). The main bar facility 10 is therefore preferably formed telescopically.

2 shows another view of the in 1 shown device. Again, is the main rod facility 10 illustrated, in which case in particular an outer tube or a receiving element 12 is shown, which is a rod element 16 receives. This rod element 16 is opposite to the outer element 12 slidable in the longitudinal direction L. You can see here again the boom 18 , which about the individual drives 5a . 5b and 5c are pivotally mounted and wherein in order to carry out this pivoting movement in turn a hinge connection 42 is provided.

3 shows a further view of a device according to the invention 1 , In this representation, it is a sectional view, so that within the receiving element 12 located rod element 16 is recognizable. Also, the sleeve element 20 shown, which for slidingly receiving the rod element 16 serves. The reference numerals 62 and 64 refer to joints, by means of which the rod-like bodies 8th at the jibs 18 are arranged. You realize that these joints 62 . 64 enable a pivot about a pivot axis S and also a pivot about a vertical axis Y.

Similar swivels are also through the two joints 66 and 68 at the lower end of the rod-like body allows.

4 shows another illustration of in 3 shown device. In this perspective one recognizes in particular also the three cantilevers 18 which ultimately leads to the movement of the worker 6 contribute in the room. 5 shows a detailed view of the main bar device 10 , Through the cut representation you can see the rod element 16 which is inside the receiving element 12 in the longitudinal direction L is displaceable.

5 shows a detailed representation of in 3 shown device. The receiving element 12 has a base body 32 on, which has a constant cross-section. In this body 32 is a (sleeve-shaped) fastener 34 plugged in. At this fastener 34 is again the sleeve body 20 fastened and in particular by screw connections 22 screwed. For this purpose, the fastening element has an end portion 34a with an extended cross section. This end portion may be in an end portion 12a the outer receiving element are inserted.

These screw connections 22 are accessible by means of a tool here from above. In this way, relatively easily the sleeve body 20 dismantled and replaced. An inner surface of the sleeve body 20 contacts the rod element 16 and leads this. In this case, an inner surface of the sleeve body is preferred 20 so selected that the leadership of the rod element 16 lubricant-free.

6 shows a further illustration of the main rod device 10 , Again, the sleeve body is here again 20 recognizable as well as the fastener 34 as well as the basic body 32 , The reference number 35 refers to another fastener, such as a grub screw, which may also serve to lock the sleeve body here. There are also other fastening devices 37 , such as grub screws recognizable, which the rod element 16 at the joint device 92 Fasten.

7 shows another illustration of in 6 shown view. It can be seen that the fastener 34 has a cross-section here to the top (ie in the direction of the joint) expanding cross-section and this cross-section for attachment of a flange 20a which part of the sleeve body 20 is, serves. Also, the fastener has a corresponding, but hidden in the figure flange.

8th shows a representation of the entire main rod device 10 , where here the rod element 16 relatively far from the receiving element 12 pulled out. Also you recognize the main body again 32 the receiving element and the fastener 34 at which the sleeve body 20 is arranged. By means of the screw connections 22 the sleeve body is releasably attached to the fastening device 34 attached.

9 shows a detailed view of this attachment. In this case, the reference numeral refers 20 again to the sleeve body, the reference numeral 16 on the rod member and the reference numeral 22 on the fastening devices, which may be in particular screws. Advantageously, the rod element has a polygonal cross section.

10 shows a further inventive embodiment of a device according to the invention 1 , The same elements will not be described again here, in particular the employer 6 as well as the basic carrier 4 and the bar devices which correspond to the embodiments described above. The essential difference from the embodiments shown in the above figures is the storage of the rod element here 16 opposite the receiving element 12 , For storage here is a roller mechanism 120 intended. It can be seen that here a plurality of rollers (here three rollers) are arranged one above the other in the longitudinal direction L. Furthermore, these rollers (shown in more detail below) are also circumferentially around the rod member 16 distributed. Furthermore, the individual rollers are preferably at an end portion of the outer receiving element 12 arranged.

11 shows a more detailed illustration to illustrate the roller bearing mechanism 120 , You can see four reel bodies here 122 . 124 . 126 and 128 which in the circumferential direction about the rod element or about an axis of symmetry S1 of this rod element 16 are arranged. These single reel body 122 . 124 . 126 and 128 are rotatably arranged here with respect to a plurality of axes of rotation D1, D2, D3 and D4. The axes of rotation D1 and D3 and the axes of rotation D2 and D4 preferably coincide. Preferably, the axes of rotation D1 and D2 are perpendicular to each other and the axes of rotation D3 and D4 perpendicular to each other.

Here, these axes of rotation in each case run in a radial direction and preferably intersect in the center or the geometric axis of symmetry S. The reference numeral 144 indicates a screw means, by means of which here the roller body 122 at a section 142 the peripheral wall of the receiving element 12 screwed on. It can be seen that the wall section 142 Here is straight, in order to save space as possible, the roller body 122 to be able to order. The reference number 146 refers to another section of the peripheral wall, here between two sections 142 is arranged and the curved runs.

The reference number 132 indicates a tread extending here in the longitudinal direction of the rod element 16 and thus extends perpendicular to the plane of the figure. The reference numerals 134 . 136 and 138 show more such treads. It can be seen that, for example, the treads 132 and 138 a section 16a receive the rod element between them and so a rotational movement of the rod element 16 opposite the receiving element 12 is prevented and the tread 132 extends here in the longitudinal direction of the rod element. The reference numerals 140 refer to in the rod element 16 formed recesses for receiving the reel body or a substantial part of these reel body.

12 shows a further overall view of the main bar device 10 , Again, you recognize the receiving element again 12 and the rod element 16 which is inside the receiving element 12 runs. Also, the individual reel body are shown again, but only a reference number is shown for reasons of clarity. Again, there is a recess 140 shown. It can be seen that a width B of this recess is slightly larger than a cross section of the roller body.

13 shows a further illustration of the main rod device 10 , Here, too, the reel body are shown again, for storage of the rod member 16 serve.

14 shows a further embodiment of the present robotic device 1 , The main difference is again the storage of the rod element 16 opposite the receiving element 12 , which here about a Wälzkörperlagerung 150 he follows.

15 shows a more detailed representation of this Wälzkörperlagerung 150 , You can see here a variety of rolling elements 152 which is between the rod element 16 and the receiving element 12 is arranged and so a longitudinal movement of the rod element 16 opposite the receiving element 12 in the longitudinal direction L allows. When shifting the rod element 16 relative to the receiving element, the rolling elements move in the longitudinal direction L, but at half the speed (compared with the relative speed of movement of the rod member relative to the receiving element.

16 shows a further illustration, which in particular from the displaceability of the rod element 16 relative to the receiving element results.

17 shows a possible embodiment of such Wälzkörperlagerungsmechanismus. It can be seen here that between the receiving element 12 and the rod element 16 four rolling elements 152 . 154 . 156 and 158 are arranged here in the form of balls. These balls allow a longitudinal displacement of the rod element 16 opposite the receiving element 12 in one to the Figure plane vertical direction. The reference numerals 162a and 162b mark running surfaces, opposite which the balls 152 can roll off. Here again, these running surfaces extend in the longitudinal direction or perpendicular to the plane of the figure 17 and are preferably designed as wire treads.

The positioning of these treads 162a and 162b is formed such that a rotation of the rod element 16 opposite the receiving element 12 is prevented. This is achieved by making the surfaces of these treads 162a and 162b opposite the ball 152 or the outer circumference of the ball 152 run obliquely to the radial direction and / or obliquely to the tangential direction. In this way, on the one hand a longitudinal displacement can be made possible, on the other hand, however, forces in the circumferential direction of the rod element 16 be recorded and so a relative rotation can be prevented.

18 explains this fact more precisely. Again, here are the individual areas 162a and 164a shown as running surfaces for the ball 152 serve. The reference number 170 denotes a guide device, such as in particular a bearing cage for receiving the ball 152 , The reference number 180 refers to a formed in the receiving element recess and the reference numeral 181 on a recess formed in the rod member. These recesses 180 . 181 each take up sections of the individual balls. Also, the individual treads are formed within these recesses. Preferably, the treads are 162a , Federation 164a , b in each case completely within the said recesses.

19 again shows an overall view of a main bar device. It can be seen that here several rolling elements or balls 162 . 164 are arranged one behind the other or next to one another in the longitudinal direction. Preferably, all these balls are held here by a common bearing cage. This bearing cage can also be integrally formed as a whole.

20 shows a further possible embodiment of a Wälzkörperlagerung. Here are two first rolling elements 152 , two second rolling elements 154 and two third rolling elements 156 provided on the one hand, in turn, the storage of the rod element 16 opposite the receiving element 12 and its longitudinal displacement (perpendicular to the plane of the figure) allow, on the other hand, however, a rotational movement of the rod member 16 opposite the receiving element 12 prevent. The receiving element 12 here has reinforcing struts 192 on. At the in 20 shown embodiment, it can be both in the receiving element 12 as well as the rod element 16 to act on an extrusion profile. Again, both of the receiving element here 12 as well as from the rod element 16 each perpendicular to the plane of the figure extending recesses 180 . 181 formed, in which the respective treads are arranged. It would also be possible that the running surfaces in one piece with the receiving element 12 or the rod element 16 are formed. In the in the 18 and 20 Rolling bearings shown are preferably wire roller bearings.

The Applicant reserves the right to claim all features disclosed in the application documents as essential to the invention, provided that they are novel individually or in combination with respect to the prior art. It is further pointed out that features have also been described in the individual figures, which in themselves can be advantageous. The person skilled in the art immediately recognizes that a particular feature described in one figure can also be advantageous without taking over further features from this figure. Furthermore, the person skilled in the art recognizes that advantages can also result from a combination of several features shown in individual or in different figures.

LIST OF REFERENCE NUMBERS

1

robotic device

2

arm system

4

Base plate / base support

5a, 5b, 5c

drive

6

Countertop / work support

8th

rod-like body

8a, 8b

End of the rod-like body

10

Main bar means

12

outer receiving element

12a

end

16

bar member

16a

section

18

boom

20

sleeve body

20a

flange

22

Screw / securing means / attachment means

32

(tubular) body

34

Fastener / attachment device

34a

end

35

another fastening element

37

further fastening devices

42

articulation

62, 64, 66, 68

joint

92, 94

joint device

120

Rollers (storage) mechanism

122, 124

Roll (N-body)

126, 128

Roll (N-body)

132

tread

134, 136, 138

another tread

140

recess

142

rectilinear section of the peripheral wall

144

screw

146

Section of the peripheral wall

150

roller bearing

152, 154, 156, 158

 (first) rolling element / ball

162, 164

Rolling element / ball

162a, 162b

(Run) area

164a, 164b

(Run) surface

180, 181

recesses

170

Guide device, bearing cage

192

reinforcing struts

L

longitudinal direction

S, S1

axis of symmetry

Y

vertical axis

D1-D4

Rotary axes of the roller body

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• EP 1135238 B1 [0003]

Claims (13)

Robotic device ( 1 ), in particular delta robot with a space movable arm system ( 2 ), this arm system being a base carrier ( 4 ) and one to this base ( 4 ) movable employer ( 6 ) and at least two rod-like bodies ( 8th ), which with opposite ends ( 8a . 8b ) each at least indirectly to the base carrier ( 4 ) and the employee ( 6 ) are arranged pivotably and with another also between the base carrier ( 4 ) and the employer ( 6 ) and variable in length main rod means ( 10 ), this main rod device ( 10 ) an outer receiving element ( 12 ) and at least partially within this outer receiving element ( 12 ) arranged rod element ( 16 ), said rod element ( 16 ) relative to the outer receiving element ( 12 ) is slidably mounted in a longitudinal direction of the rod member is wherein the outer receiving element ( 12 ) opposite the rod element ( 16 rotatably) is characterized in that the robot device comprises a roller bearing mechanism ( 120 ) to the bar element ( 16 ) against the outer receiving element ( 12 ) and this roller bearing mechanism ( 120 ) at least two on the outer receiving element ( 12 ) or the rod element ( 16 ) arranged rotatably mounted roller body ( 122 . 124 ), and these roller bodies ( 122 . 124 ) are suitable and intended to unroll against running surfaces, these running surfaces ( 132 . 134 ) extend in the longitudinal direction (L) and on the rod element ( 16 ) or on the outer receiving element ( 12 ) are arranged. Robotic device ( 1 ) according to claim 1, characterized in that the roller bodies ( 122 . 124 ) in a circumferential direction of the rod element ( 16 ) are complained to each other. Robotic device ( 1 ) according to at least one of the preceding claims, characterized in that the roller bearing mechanism ( 120 ) at least a third on the outer receiving element ( 12 ) or the rod element ( 16 ) arranged rotatably mounted roller body ( 126 ) having. Robotic device ( 1 ) according to claim 3, characterized in that the at least three roller bodies ( 122 . 124 . 126 ) in the circumferential direction of the rod element ( 16 ) are evenly spaced from each other. Robotic device ( 1 ) according to at least one of the preceding claims, characterized in that the roller bodies ( 122 . 124 ) on the outer receiving element ( 12 ) are rotatably mounted and the running surfaces on the rod element ( 16 ) are formed. Robotic device ( 1 ) according to at least one of the preceding claims, characterized in that at least one roller body ( 122 . 124 ) is rotatably mounted with respect to a rotation axis (D1), which in a radial direction of the rod element ( 16 ) runs. Robotic device ( 1 ) according to at least one of the preceding claims, characterized in that by a contact of the roller body ( 122 . 124 ) with the treads associated therewith ( 132 . 134 ) a rotation of the rod element ( 16 ) relative to the receiving element ( 12 ) is substantially prevented. Robotic device ( 1 ) according to at least one of the preceding claims, characterized in that the rod element ( 16 ) at least two recesses ( 140 ), which surround the roller body at least partially and at least one wall of this recess ( 140 ) is designed as a running surface for the roller body. Robotic device ( 1 ) according to at least one of the preceding claims, characterized in that the receiving element ( 12 ) is formed as a tubular body, the rod element ( 16 ) at least partially surrounds. Robotic device ( 1 ) according to at least one of the preceding claims, characterized in that the rod element ( 16 ) has a bore. Robotic device ( 1 ) according to at least one of the preceding claims, characterized in that the roller bearing mechanism ( 120 ) has further roller body, wherein at least two roller bodies in the longitudinal direction (L) are arranged one behind the other. Robotic device ( 1 ) according to at least one of the preceding claims, characterized in that at least one roller element ( 122 . 124 ) by means of a screw body ( 144 ) on a peripheral wall of the outer receiving element ( 12 ) is arranged. Robotic device ( 1 ) according to at least one of the preceding claims, characterized in that at least one roller body ( 122 . 124 ) is interchangeable.

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