DE4137894A1 - Articulated joint for machine part - consists of four connected parts of which two are at angle to other two - Google Patents

Articulated joint for machine part - consists of four connected parts of which two are at angle to other two

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Publication number
DE4137894A1
DE4137894A1 DE4137894A DE4137894A DE4137894A1 DE 4137894 A1 DE4137894 A1 DE 4137894A1 DE 4137894 A DE4137894 A DE 4137894A DE 4137894 A DE4137894 A DE 4137894A DE 4137894 A1 DE4137894 A1 DE 4137894A1
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DE
Germany
Prior art keywords
axis
angle
joint according
joint
machine
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE4137894A
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German (de)
Inventor
Stefan Roth
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Individual
Original Assignee
Individual
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Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to DE4137894A priority Critical patent/DE4137894A1/en
Publication of DE4137894A1 publication Critical patent/DE4137894A1/en
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • B25J17/0291—Three-dimensional joints having axes crossing at an oblique angle, i.e. other than 90 degrees

Abstract

The articulated joint for a machine part comprises four elements, the first (1) with an axis (1.1), the second (2) fits on the first and rotates about its axis (1.1). The second part (2) has an upper flat surface (2.4) at an angle of forty five degrees to the axis (1.1) and the same angle to the seating (1.2) of the second part (2) on the first (1). A third part (3) sits on the upper surface (2.4) of the second (2) and has an axis (2.1) which intersects the axis (1.1) at a point (5). A fourth part (4) sits on the upper flat surface (3.3) of the third (3) and revolves on it. The first part (1) is fixed to a machine part and the second part (2) revolves on it, while the third part (3) revolves at twice the speed in the opposite direction. The fourth part (4) revolves in the opposite direction and at the same speed as the second part (2). ADVANTAGE - Can adapt to any angle of a related surface.

Description

1. Bezeichnung1. Name Gelenk für MaschinenteilJoint for machine part 2. Stand der Technik2. State of the art

Gelenke, die in horizontaler oder in vertikaler Richtung angeordnet sind, sind bekannt. Bei Werkzeugmaschinen, oder Handhabungssystemen, oder ähnlichen Maschinenelemen­ ten, oder Fahrzeugteilen ist diese Anordnung die Regel. Um eine Beweglichkeit zwischen horizontalen oder vertika­ len Achsen zu erreichen, werden schon verschiedene Ge­ lenke eingesetzt. Es gibt Kugelköpfe, Wellengelenke, Rundgelenke, die in Schwenkachsen oder an Drehtellern eingebaut sind. Gelenke, die sich um ihre Mittelachsen schwenken um damit einen Winkel zu einer Bezugsfläche einzustellen sind ebenfalls bekannt. Durch den Einzug von CNC gesteuerten Maschinen werden im Handhabungs-, aber auch im Werkzeugmaschinensektor oftmals kombinierte Dreh-, Kipp-Achsen eingesetzt (Schwenkrundtische, Dreh­ greifer), die durch das hier beschriebene Maschinenteil ersetzt werden konnen.Joints that are horizontal or vertical are arranged are known. For machine tools, or handling systems, or similar machine elements ten or vehicle parts, this arrangement is the rule. To move between horizontal or vertical To reach len axes, different ge steering used. There are ball heads, universal joints, Round joints in swivel axes or on turntables are installed. Joints that center around their axes pivot by an angle to a reference surface to set are also known. By moving in CNC controlled machines are used in handling, however often combined in the machine tool sector Rotary, tilt axes used (swivel rotary tables, rotary gripper) caused by the machine part described here can be replaced.

3. Aufgabe3rd task

Demnach sollen die Anordnung der beweglichen Teile des Gelenkes, aber auch die verschiedenen Drehrichtungen, der verschiedenen Bauteile gewährleisten, daß alle beliebigen Winkel zu einer Bezugsfläche eingestellt werden können, wobei eine große Starrheit bei einer relativ kleinen Bau­ weise erreicht werden soll.Accordingly, the arrangement of the moving parts of the Joint, but also the different directions of rotation, the various components ensure that any Angles to a reference surface can be set being a great rigidity with a relatively small construction to be achieved wisely.

4. Technische Lösung4. Technical solution

Gemäß der Erfindung werden um mit dem Gelenk einen Winkel einzustellen, bewegliche Achsen zueinander verdreht. According to the invention, there is an angle with the joint adjust, movable axes rotated to each other.  

Hauptmerkmal ist daß eine Achse (2.1) einen Winkel von 45° zu den anderen Achsen (1.1/3.1) (Fig. 1) aufweist. Durch das Drehen (3.2) des dritten Teils (3) zum zweiten Teil (2), auf der zweiten Achse (2.1) wird ein Winkel "A" erzeugt, (Fig. 2). Um diesen Winkel "A", in die gleiche Richtung, wie die Bezugsfläche "B" zu richten dreht (2.2) sich das zweite Teil (2) zum ersten Teil (1) entgegen der Drehrichtung (3.2) des dritten Teils (3) (Fig. 2). Das dritte Teil (3) dreht (3.2) sich doppelt so schnell wie das zweite Teil (2) und in gegenläufiger Richtung, womit gewährleistet wird, daß die Winkelfläche "C" des vierten Teils (4) immer in gleicher Richtung "D" zur Bezugsfläche "B", steht. Um die Bezugskante "E" des Werkstücks (5) im­ mer parallel zur Bezugsfläche "B" zu richten, dreht (4.2) das vierte Teil (4) entgegen dem dritten Teil (3) und so schnell wie das zweite Teil (2).The main feature is that one axis ( 2.1 ) has an angle of 45 ° to the other axes ( 1.1 / 3.1 ) ( Fig. 1). By rotating ( 3.2 ) the third part ( 3 ) to the second part ( 2 ) on the second axis ( 2.1 ) an angle "A" is generated ( Fig. 2). In order to direct this angle "A" in the same direction as the reference surface "B" (2.2) the second part ( 2 ) rotates towards the first part ( 1 ) against the direction of rotation ( 3.2 ) of the third part ( 3 ) ( Fig. 2). The third part ( 3 ) rotates ( 3.2 ) twice as fast as the second part ( 2 ) and in the opposite direction, which ensures that the angular surface "C" of the fourth part ( 4 ) always in the same direction "D" Reference surface "B". In order to always align the reference edge "E" of the workpiece ( 5 ) parallel to the reference surface "B", ( 4.2 ) rotates the fourth part ( 4 ) against the third part ( 3 ) and as fast as the second part ( 2 ).

5. Anwendungsgebiet5. Area of application

Das Maschinengelenk eignet sich aufgrund seiner hohen Integrität, aber auch wegen seiner Starrheit und relativ leichten Bauweise zum Einbau in Drehtellern von Handha­ bungssystemen (Fig. 4), aber auch zum Einbau in Schwenk­ rundtischen (Fig. 5). Es ist aber auch denkbar, daß es in anderen Maschinenteilen, zum Beispiel mit verstellbaren Achsen, angewandt werden kann.The machine joint is suitable due to its high integrity, but also because of its rigidity and relatively light construction for installation in turntables of handling systems ( Fig. 4), but also for installation in swivel rotary tables ( Fig. 5). But it is also conceivable that it can be used in other machine parts, for example with adjustable axes.

Claims (9)

1. Gelenk für ein Maschinenteil mit zueinander drehbaren Teilen, dadurch gekennzeichnet, daß
  • - ein erstes Teil (1) eine Achse (1.1) hat,
  • - ein zweites Teil (2) auf dem ersten Teil (1) gelagert (1.2) ist, und sich relativ zum ersten Teil (1) um die Achse (1.1) des ersten Teils dreht, wobei das zweite Teil (2) eine obere ebene Fläche (2.4) aufweist welche obere Fläche (2.4) einen Winkel von 45° zur Achse des ersten Teils (1.1) und einen Winkel von 45° zur Lagerung des zweiten Teils (1.2) aufweist,
  • - ein drittes Teil (3) auf der oberen Fläche (2.4) des zweiten Teils (2) drehbar (3.4) gelagert ist und eine Achse (2.1) hat, die senkrecht zur oberen ebenen Fläche des zweiten Teils steht und die die Achse (1.1) des er­ sten Teils (1) an einem Drehpunkt (5) schneidet, wobei die Achse des ersten Teils (1.1) , die Achse des dritten Teils (2.1) und die obere ebene Fläche des zweiten Teils (2.4) sich im Drehpunkt (5) schneiden und wobei das dritte Teil (3) eine obere ebene Fläche (3.3) aufweist, die einen Winkel von 45° zur Achse des dritten Teils (2.1) und einen Winkel von 45° zur Lagerung des dritten Teils (2.4) definiert,
  • - ein viertes Teil (4) auf der oberen ebenen Fläche (3.3) des dritten Teils (3) drehbar gelagert ist,
  • - das erste Teil (1) mit einem Maschinenteil fest verbunden ist und das zweite Teil (2) sich um das erste Teil (1) dreht,
  • - das dritte Teil (3) sich gegenüber dem zweiten Teil (2) dreht mit der zweifachen Drehzahl und in der gegenläufigen Richtung (3.2), wie das zweite Teil (2) gegenüber dem ersten Teil (1),
  • - und das vierte Teil (4) sich gegenüber dem dritten Teil (3) in der gegenläufigen Richtung (4.2) und so schnell wie das zweite Teil (2) dreht.
1. Hinge for a machine part with mutually rotatable parts, characterized in that
  • - a first part ( 1 ) has an axis ( 1.1 ),
  • - A second part ( 2 ) on the first part ( 1 ) is mounted ( 1.2 ), and rotates relative to the first part ( 1 ) about the axis ( 1.1 ) of the first part, the second part ( 2 ) being an upper plane Surface ( 2.4 ) has which upper surface ( 2.4 ) has an angle of 45 ° to the axis of the first part ( 1.1 ) and an angle of 45 ° to the mounting of the second part ( 1.2 ),
  • - A third part ( 3 ) on the upper surface ( 2.4 ) of the second part ( 2 ) is rotatably (3.4) and has an axis ( 2.1 ) which is perpendicular to the upper flat surface of the second part and the axis ( 1.1 ) of the first part ( 1 ) at a pivot point ( 5 ), the axis of the first part ( 1.1 ), the axis of the third part ( 2.1 ) and the upper flat surface of the second part ( 2.4 ) intersecting at the pivot point ( 5 ) cut and the third part ( 3 ) has an upper flat surface ( 3.3 ) which defines an angle of 45 ° to the axis of the third part ( 2.1 ) and an angle of 45 ° to the mounting of the third part ( 2.4 ),
  • a fourth part ( 4 ) is rotatably mounted on the upper flat surface ( 3.3 ) of the third part ( 3 ),
  • - The first part ( 1 ) is firmly connected to a machine part and the second part ( 2 ) rotates around the first part ( 1 ),
  • - The third part ( 3 ) relative to the second part ( 2 ) rotates at twice the speed and in the opposite direction ( 3.2 ) as the second part ( 2 ) with respect to the first part ( 1 ),
  • - And the fourth part ( 4 ) relative to the third part ( 3 ) in the opposite direction ( 4.2 ) and as fast as the second part ( 2 ) rotates.
2. Gelenk gemäß Anspruch 1 dadurch gekennzeichnet, daß das dritte Teil (3) über einen Antrieb (6 ) von dem zweiten Teil (2) bewegt wird.2. Joint according to claim 1, characterized in that the third part ( 3 ) via a drive ( 6 ) is moved by the second part ( 2 ). 3. Gelenk gemäß Anspruch 1 oder 2 dadurch gekennzeichnet, daß das zweite Teil (2) über einen Antrieb (7) von dem ersten Teil (1) angetrieben wird.3. Joint according to claim 1 or 2, characterized in that the second part ( 2 ) via a drive ( 7 ) from the first part ( 1 ) is driven. 4. Gelenk gemäß Anspruch 1, 2 oder 3 dadurch gekennzeichnet, daß das vierte Teil (4) über einen Antrieb (8) von dem dritten Teil (3) angetrieben wird.4. Joint according to claim 1, 2 or 3, characterized in that the fourth part ( 4 ) via a drive ( 8 ) is driven by the third part ( 3 ). 5. Gelenk gemäß Anspruch 1, 2 oder 3 dadurch gekennzeichnet, daß das vierte Teil (4) über einen separaten Antrieb an­ getrieben wird.5. Joint according to claim 1, 2 or 3, characterized in that the fourth part ( 4 ) is driven by a separate drive. 6. Gelenk gemäß Anspruch 1, 2, 3, 4 oder 5 dadurch gekenn­ zeichnet, daß das Gelenk als Teil eines schwenkbaren Kreisteiltisches ausgeführt wird.6. Joint according to claim 1, 2, 3, 4 or 5 characterized thereby records that the joint as part of a pivotable Circular dividing table is running. 7. Gelenk gemäß Anspruch 1, 2, 3, 4 oder 5 dadurch gekenn­ zeichnet, daß das Gelenk in einen schwenkbaren Kreisteiltisch von CNC gesteuerten Werkzeugmaschinen in­ tegriert wird. 7. joint according to claim 1, 2, 3, 4 or 5 characterized thereby records that the joint in a pivotable Circular dividing table of CNC controlled machine tools in is tegrated.   8. Gelenk gemäß Anspruch 1, 2, 3, 4 oder 5 dadurch gekenn­ zeichnet, daß das Gelenk als Drehkippachse in einem Hand­ habungssystem integriert wird.8. Joint according to claim 1, 2, 3, 4 or 5 characterized thereby records that the joint as a tilt and turn axis in one hand system is integrated. 9. Gelenk gemäß Anspruch 1, 2, 3, 4 oder 5 dadurch gekennzeichnet, daß das Gelenk bei anderen Maschinentei­ len oder Fahrzeugteilen verwendet wird.9. Joint according to claim 1, 2, 3, 4 or 5 thereby characterized that the joint in other machine parts len or vehicle parts is used.
DE4137894A 1991-11-18 1991-11-18 Articulated joint for machine part - consists of four connected parts of which two are at angle to other two Withdrawn DE4137894A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE4137894A DE4137894A1 (en) 1991-11-18 1991-11-18 Articulated joint for machine part - consists of four connected parts of which two are at angle to other two

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE4137894A DE4137894A1 (en) 1991-11-18 1991-11-18 Articulated joint for machine part - consists of four connected parts of which two are at angle to other two

Publications (1)

Publication Number Publication Date
DE4137894A1 true DE4137894A1 (en) 1992-05-27

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Application Number Title Priority Date Filing Date
DE4137894A Withdrawn DE4137894A1 (en) 1991-11-18 1991-11-18 Articulated joint for machine part - consists of four connected parts of which two are at angle to other two

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140165771A1 (en) * 2012-12-13 2014-06-19 Kuka Roboter Gmbh Robot arm

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU422580A2 (en) * 1972-05-04 1974-04-05 В. Д. Абезгауз MECHANISM OF THE HINGE OF MANIPULATORS P TB
DE2651429A1 (en) * 1976-11-11 1978-05-18 Philips Patentverwaltung Fixture for holding and revolving workpiece during etching - provides gas tight seal through revolving and tumbling drive mechanism
SU611757A1 (en) * 1974-11-26 1978-05-29 Одесское специальное конструкторское бюро специальных станков Apparatus for positioning, displacing and rotating round work
DE2745932A1 (en) * 1976-12-23 1978-06-29 Cincinnati Milacron Inc MANIPULATOR
DE2752236A1 (en) * 1977-05-18 1978-12-21 Bisiach & Carru TOOL HEAD FOR MACHINERY MACHINES, IN PARTICULAR FOR WELDING TONGS
DE2927485A1 (en) * 1979-07-07 1981-01-22 Daimler Benz Ag Three axis linkage for manipulators or robots - has pivot axes inclined relative to each other at pref. 45 degrees
EP0123433A1 (en) * 1983-03-26 1984-10-31 Weaveplan Limited Articulated assembly of members
DE3431033A1 (en) * 1983-09-01 1985-03-21 ASEA AB, Västeraas ROBOT WRIST
SU1256961A1 (en) * 1985-02-11 1986-09-15 Предприятие П/Я Р-6930 Manipulator hand

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU422580A2 (en) * 1972-05-04 1974-04-05 В. Д. Абезгауз MECHANISM OF THE HINGE OF MANIPULATORS P TB
SU611757A1 (en) * 1974-11-26 1978-05-29 Одесское специальное конструкторское бюро специальных станков Apparatus for positioning, displacing and rotating round work
DE2651429A1 (en) * 1976-11-11 1978-05-18 Philips Patentverwaltung Fixture for holding and revolving workpiece during etching - provides gas tight seal through revolving and tumbling drive mechanism
DE2745932A1 (en) * 1976-12-23 1978-06-29 Cincinnati Milacron Inc MANIPULATOR
DE2752236A1 (en) * 1977-05-18 1978-12-21 Bisiach & Carru TOOL HEAD FOR MACHINERY MACHINES, IN PARTICULAR FOR WELDING TONGS
DE2927485A1 (en) * 1979-07-07 1981-01-22 Daimler Benz Ag Three axis linkage for manipulators or robots - has pivot axes inclined relative to each other at pref. 45 degrees
EP0123433A1 (en) * 1983-03-26 1984-10-31 Weaveplan Limited Articulated assembly of members
DE3431033A1 (en) * 1983-09-01 1985-03-21 ASEA AB, Västeraas ROBOT WRIST
SU1256961A1 (en) * 1985-02-11 1986-09-15 Предприятие П/Я Р-6930 Manipulator hand

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140165771A1 (en) * 2012-12-13 2014-06-19 Kuka Roboter Gmbh Robot arm
US9120229B2 (en) * 2012-12-13 2015-09-01 Kuka Roboter Gmbh Robot arm

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