EP0000877B1 - Manipulateur pour positionner des pièces ou d'autres charges - Google Patents

Manipulateur pour positionner des pièces ou d'autres charges Download PDF

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Publication number
EP0000877B1
EP0000877B1 EP78100560A EP78100560A EP0000877B1 EP 0000877 B1 EP0000877 B1 EP 0000877B1 EP 78100560 A EP78100560 A EP 78100560A EP 78100560 A EP78100560 A EP 78100560A EP 0000877 B1 EP0000877 B1 EP 0000877B1
Authority
EP
European Patent Office
Prior art keywords
manipulator
ball
lifting device
telescopic component
jib
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.)
Expired
Application number
EP78100560A
Other languages
German (de)
English (en)
Other versions
EP0000877A1 (fr
Inventor
Hans-Th. Grisebach
Rudolf Betzing
Volker Betzing
Klaus Betzing
Ulrich Betzing
Original Assignee
Grisebach Hans-Theodor
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from DE2739136A external-priority patent/DE2739136C2/de
Priority claimed from DE19772742163 external-priority patent/DE2742163A1/de
Priority claimed from DE19772745404 external-priority patent/DE2745404A1/de
Priority claimed from DE19782814228 external-priority patent/DE2814228A1/de
Application filed by Grisebach Hans-Theodor filed Critical Grisebach Hans-Theodor
Publication of EP0000877A1 publication Critical patent/EP0000877A1/fr
Application granted granted Critical
Publication of EP0000877B1 publication Critical patent/EP0000877B1/fr
Expired legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0091—Shock absorbers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/2015—Means specially adapted for stopping actuators in the end position; Position sensing means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/2021—Screw mechanisms with means for avoiding overloading
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
    • F16H25/2204—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with balls
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/2062—Arrangements for driving the actuator
    • F16H2025/2075—Coaxial drive motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/2062—Arrangements for driving the actuator
    • F16H2025/2087—Arrangements for driving the actuator using planetary gears

Definitions

  • the invention relates to a manipulator for positioning workpieces or other loads with the aid of a pivotable cantilever arm.
  • a lifting device is angularly rigid on the cantilever arm and load-holding members are arranged on it.
  • Manipulators of this type are intended to capture workpieces and move them to a predetermined location, e.g. B. from one machine tool to another or from a stack of stock in a processing machine or back.
  • Manipulators should perform such tasks in the broadest possible industrial area.
  • Est is a manipulator according to the preamble of claim 1 known (DE-A-14 56 421), which has a pivotable cantilever arm for positioning workpieces in the foundry operation, on which a lifting device is arranged at an angular stiffness and on this load holding members, as well as means for controllable change in distance the load holding members are provided by the pivot axis of the cantilever arm.
  • the cantilever arm is suspended on a pull linkage which can be pivoted in the vertical plane, the point of application of this pull linkage being displaceable on the cantilever arm and the cantilever arm itself being extendable via a thrust gear.
  • the load-holding members which can be raised and lowered via a rack and pinion gear at the end of the cantilever arm, have setting means for changing the angles and / or spacing positions from the rack, which can be raised and lowered.
  • the cantilever arm and its outer sub-arm pivot relative to it about horizontal axes within a vertical plane.
  • Devices of this type can only be used within a narrow area of application.
  • a manipulator with a cantilever arm extending from a column US-A-4 042 122
  • the cantilever arm can be extended by longitudinal displacement and at the end of which there is an angularly rigid, preferably vertically extending, non-extendable member which is pivotally arranged a load holding member.
  • Telescopic boom arms also have disadvantages with regard to the sensitivity to vibration and the bending stress with larger loads.
  • a so-called carriage manipulator is known from (US-A-3 665 148), in which the cantilever arm is also angularly rigid with respect to the lifting column but can be raised and lowered relative to the latter and carries a welding machine at its end with angular rigidity.
  • This device also lacks universal usability.
  • Load-holding members are known (US Pat. No. 3,247,978) which use a spindle drive to open and close the collets.
  • the combination of two collets on a load holding member is known (US-A-4 015 721).
  • a shaft is rotated via the motor and transmission, on which a carrier of the load-holding members is arranged in the manner of a T-bar, these consisting of two rectified collets arranged at the ends of the carrier.
  • the invention seeks an optimal solution for a manipulator which, within a space as large as possible, for example a hollow cylinder, of the greatest possible vertical height without being disturbed by obstacles located in this space, loads from one point to one others moved and precisely positioned.
  • the pivot axis of the cantilever arm is arranged substantially vertically and this is assigned a joint with controllable brake
  • the lifting device consists of an outer telescopic part that can be slid in relation to the cantilever arm in the direction of the longitudinal axis of the lifting device and at least one axially opposite the outer one Telescopic part displaceable by a ball screw mechanism inner telescopic part there is that at the free end of the lifting device a connection block is rotatably arranged about the longitudinal axis of the lifting device, which has connection surfaces between which and the load-holding members at least one spacer element is arranged, on which the load-holding members are rotatably and / or pivotably arranged and in the spacer element Drive means for these movements are provided.
  • a cantilever arm which can be pivoted about a joint with a vertical axis enables an almost vibration-free and largely bend-free construction.
  • the space captured by the angularly rigid lifting device attached to the end of the cantilever arm is displaceable in height.
  • the load is eccentrically detected and held at a distance from this lifting device so that it can also be moved over obstacles, lowered to them and possibly brought behind or below these obstacles to the positioning location. This will u. a.
  • the adaptation to different load ranges without major design changes with the same simple structure is ensured.
  • the dead weights to be borne by the end of the cantilever arm are low because the drive power for ball screw devices can be made smaller and lighter due to their high efficiency.
  • the design of the lifting device enables a very light construction and this in turn makes it possible to increase the range of the device by extending the extension arm.
  • the load-holding members move relative to a fixed point that can be fixed in space and that is formed by the free end of the lifting device. And all functions can be eil :) '°; sch operate and control.
  • the snap-lock elements which can be designed as collets, are actuated via ball screw gears, whereby a special design of these ball screw gears ensures the possibility of sensitively adjusting the contact pressure of the clamping jaws against the load within a large range.
  • the manipulator 1 according to the invention according to FIG. 1 has a cantilever arm 3 which is pivotably suspended in the joint 7 in the horizontal plane via a vertical pivot axis 6, a controllable brake 8 and a pivot mechanism 32 being associated with this joint.
  • An inner sub-arm 28 is connected to the outer sub-arm 29 via an intermediate joint 26, a swivel mechanism 32 and a controllable brake 8 and the vertical axis 27 also being associated with the intermediate joint.
  • a swivel joint 121 is provided, so that this end, together with the lifting device 4, can pivot propeller-like around the cantilever arm 3.
  • the associated propeller swivel mechanism 35 is embedded in the hollow support of the outer partial arm 29 in order to create free space.
  • the free end 34 of the cantilever arm 3 encloses the lifting device 4, the height of which can be adjusted vertically via an adjusting device 86 (toothing 87, gear 88).
  • the lifting device 4 designed as a ball screw jack carries a drive 89 for rotating a ball screw, via the nut of which the inner telescopic part 11 is relatively displaceable relative to the outer telescopic part 9.
  • connection block 13 is rotatably arranged, to the connection surfaces 14, spacing means 15 are connected, in which the load-holding members 5 are rotatably and / or pivotably mounted and in which drive means 16 are provided for the rotary and / or pivoting movements are.
  • the load holding members 5 can be collets 17 or the like.
  • Figure 2 shows the height displacement of the lifting device 4 by the Ver displacement of the outer telescopic part 9 relative to the cantilever arm 3 or the outer partial arm 29 with the aid of a further ball screw lifting device 25 with drive 89. With the aid of such an additional ball screw lifting device, the lifting speed and the lifting height can be increased considerably.
  • FIG. 3 shows a collet 17 in a simplified representation.
  • the drive motor 74 moves a screw gear 18, which consists of a ball screw 19 and a ball nut 20.
  • the ball screw 19 is rotatably supported within the ball nut 20.
  • the ball nut 20 is connected to the plunger 21 and carries a sliding block 38 which is guided in a non-rotatable manner within the non-circular outer tube 37 and additionally serves as an attenuator for rotational forces.
  • the plunger 21 interchangeably carries, via thread 90, an insert 91 in which plate spring assemblies 23, 24 are arranged such that a plate spring assembly 23 acting in the opening sense counteracts a plate spring assembly 24 acting in the closing sense.
  • the connecting part 83 is clamped between the plate spring assemblies 23, 24 via a flange 92.
  • the connecting part 83 includes, with a fork 93, the ends 81 of the legs 79, which form the collet arms 22 with the free legs 78. These are mounted on the carrier 80 at the intersection points 77.
  • a bearing pin 94 extends through the elongated holes 82.
  • the clamping jaws 84 can be pivoted from an inward position to an outward position by approximately 180 ° and rotatable about ball bearings 85.
  • the clamping path is determined by the torque applied by the ball screw 19 or its drive motor 74. This torque can be finely adjusted electronically.
  • a quiescent current brake 45 acts on the spindle or on the rotor of the electric drive motor 74, and is applied automatically in the event of a power failure.
  • the ball nut 20 holds the plunger 21 when the ball spindle 19 is stationary, so that the bracing of the plate spring assemblies 23, 24 is retained and thus the load is not released in the event of a power failure.
  • Known collets often have the disadvantage that the collets 22 are moved when the workpiece or the load is deformed, and the contact pressure is thereby reduced.
  • a time slider is switched on in the electronic control of the collets 17, with which it is achieved that the motor only switches off when the closed-circuit brake 45 has already been applied, so that it certainly stops when the torque of the motor decreases .
  • the clamping force of the clamping jaws 84 can be adjusted by means of a measuring or adjusting device which is based on the clamping path of the plate spring assemblies.
  • clamping plane 95 adjustable in the area of the clamping opening 76, as shown in FIG. 4, in which the collet arms 22 are fastened to a carrier 80, which in turn is rotatably supported with respect to the non-circular outer tube 37 of the associated screw gear 18 is.
  • the collets 17 can be combined to form a collet unit 75, for example the non-circular outer tubes 37 with which they are connected to a carrier body 96 can overlap.
  • a collet unit 75 for example the non-circular outer tubes 37 with which they are connected to a carrier body 96 can overlap.
  • Such an embodiment is particularly suitable for the rational handling of workpieces in processing machines in order to pick up the finished part and to be able to use the raw part again immediately thereafter.
  • FIG. 6 shows a collet 17 which, as shown for example in FIG. 1, can be arranged in a detailed representation.
  • the clamping plane 95 of the clamping jaws 22 can be rotated about an imaginary longitudinal axis via the handwheel 97 and can be fixed via the disc brake 101.
  • Associated drive means can cause rotation (see arrow) around another axis.
  • the clamping drive for the collet 17 consists of the control panel 98, the line duct 99, the drive motor 74, the gear 100, the power distributor 36 and the bearing 102.
  • FIG. 7 shows an arrangement according to FIG. 5, but with collets as shown in FIG.
  • a cable chain 103 with cable harness 104 bridges the variable distance between the drive means 16 and the outer telescopic part 9.
  • the collet unit 75 is coupled to the axis 114 of the power distributor 36.
  • a drive pinion 110 is seated on the axis 114 and can be pivoted in the vertical plane in the case shown by a tooth rhyme or a chain 115 via the pinion 105 with the aid of further drive means.
  • FIG. 8 supplements the explanations for FIGS. 5 and 6.
  • the current distributor 36 is shown in section.
  • FIG. 9 shows a lifting device 4, as already shown in FIG. 1, in a preferred embodiment.
  • the rotor shaft 49 of an electric motor 46 is connected via a rotor shaft connector 53 to the sun gear of a planetary gear 47, while the planet carrier 106 of the transmission is connected via an intermediate shaft connector 54 to one in the bearing body 55. and pressure-proof intermediate shaft 56 is coupled.
  • This intermediate shaft connector 54 is formed by a plug pin 57 which engages in the intermediate shaft 56 which is mounted on both sides of the shoulder 61.
  • the inner rings 59 of the roller bearing 60 clamp the shoulder 61.
  • the ball screw 48 of the ball screw transmission 10 is inserted into the threaded bushing 58 of the intermediate shaft 56 and is thus mounted in the ball bearings 60 via the latter.
  • the ball screw 48 sits the ball nut 39, which is fixedly connected to a sliding element carrier 69 on which a sliding element 33 made of damping-elastic material is fastened and guided in a form-fitting manner within the outer telescopic part 9.
  • the sliding element carrier 69 is screwed to the internal thread 70 of the inner end 40 of the inner telescopic part 11 and to the ball nut 39.
  • the slide element 33 which is slipped onto the slide element carrier 69 is braced against a disk 71 which is arranged between the slide element carrier 69 and the inner end 40 of the inner telescopic part 11.
  • a circular tube 42 is connected to the connecting thread 41 as an inner telescopic part 11.
  • the ball nut 39 of the lifting device 4 is controlled via the limit switch 52 so that it cannot strike at the ends of its path. However, it is necessary to design end stops as damping pads 66 at both ends of the path.
  • the outer telescopic part 9 is fastened with its foot 64 and screws 65 within a recess 62 within the end face of the bearing body 55 in such a way that the plate 63 is firmly clamped against the bearing body 55.
  • a rubber part 68 which forms a damping cushion 66, is vulcanized onto the plate 63, namely between this and a stop plate 67.
  • a damping cushion 66 is connected to the sliding bushing 107 at the other end of the path of the ball nut 39.
  • This damping cushion 66 also carries a stop plate 67.
  • the free end of the ball screw 48 carries a sliding head 108 with which it is guided within the circular tube 42. This carries at its outer end 43 an internal connection thread 44 with which it can be screwed to connecting parts.
  • the rotor shaft 49 of the electric motor 46 passes through a closed-circuit brake 45 and carries a pinion 109 which drives the limit switch 52 via the drive belt 50, drive wheel 116, the spindle 51.
  • the limit switch is shown rotated by 90 ° in order to explain its function.
  • a slide 111 runs on the spindle 51, which abuts the limit switch contacts 112 in order to switch off the electric motor 46.
  • the position of the limit switch contacts 112 can be adjusted by means of the adjusting screws 113 on which the limit switch contacts 112 are guided.
  • FIG. 10 shows a manipulator 1 which, in contrast to FIG. 1, is not suspended on a wall but on a column 118.
  • the workpiece 2 is clamped in the collet 17 and is moved by the operator into the furnace in the direction of the arrow and placed in it.
  • FIG. 11 differs from the embodiment according to FIG. 1, for example, in that the outer partial arm 29 is mounted overhung below the inner partial arm 28 in order to achieve the largest possible swivel angle and to keep the space below the cantilever arm 3 free.
  • the joints 7 and 26 (floating bearing 31) have associated drives as swivel mechanisms 32.
  • the joint 7 is connected to a lifting mechanism 30 in the column 118, which is designed as a lifting column 120, and can be moved vertically relative to the latter. In some special cases, it may be necessary to provide a swivel mechanism 32 for a slewing ring 119 in order to rotate the lifting column 120 with respect to the foundation.
  • Figure 12 is a supplement to Figure 10, in a view from above.
  • FIG. 13 shows, analogously to the lifting mechanism 30 in FIG. 11, a lifting mechanism 30 between the inner partial arm 28 and the outer partial arm 29, the free end 34 of which in turn has a swivel joint 121 and a propeller swivel mechanism 35.
  • the lifting device 4 is fastened longitudinally displaceably with respect to the free end 34, so that the working level can be adjusted.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)

Claims (19)

1. Manipulateur (1) pour positionner des pièces à usiner (2) ou d'autres charges à l'aide d'un bras pivotant (3) sur lequel est disposé suivant un angle fixe un appareil de levage (4), et sur celui-ci sont prévus des organes de maintien d'une charge (5), ainsi que des moyens pour modifier, d'une manière pouvant être commandée, la distance entre les organes de maintien d'une charge (5) et l'axe de pivotement (6) du bras (3), caractérisé en ce que l'axe de pivotement (6) du bras (3) est diposé sensiblement verticalement et il lui est associé une articulation (7) à frein (8) pouvant être commandé, en ce que l'appareil de levage (4) est constitué d'une partie télescopique extérieure (9) pouvant coulisser par rapport au bras (3) suivant la direction de l'axe longitudinal de l'appareil de levage (4) et d'au moins une partie télescopique intérieure (11) pouvant coulisser axialement par rapport à la partie télescopique extérieure (9) par une transmission à vis et à billes (10), en ce que à l'extrémité libre (12) de l'appareil de levage (4) est monté à rotation, par rapport à l'axe longitudinal de l'appareil de levage (4), un bloc d'assemblage (13) ayant des surfaces d'assemblage entre lesquelles et les organes de maintien de la charge (5) est interposé au moins un élément d'entretoise (15) sur lequel les organes de maintien de la charge (5) sont montés à rotation et/ou à pivotement et des moyens d'entraînement (16) pour ce mouvement sont prévus dans l'élément d'entretoise (15).
2. Manipulateur suivant la revendication 1, caractérisé en ce que les organes de maintien de la charge (5) sont agencés en pinces de serrage (17), pour l'entraînement desquelles est prévu une transmission à vis (18) comportant une broche entraînée et à billes (19) et un écrou à circulation de billes (20), et entre le poussoir (21) de la transmission à vis (18) et les bras (22) des pinces de serrage est prévu un paquet de ressorts Belleville armé au préalable et agissant sur les bras (22) des pinces de serrage dans le sens de l'ouverture (23), ainsi qu'un autre paquet agissant dans le sens de la fermeture (24).
3. Manipulateur suivant l'une des revendications 1 ou 2, caractérisé en ce que la possibilité pour la partie télescopique extérieure (9) de l'appareil de levage (4) de coulisser par rapport au bras (3) est donnée par un autre appareil de levage à broche et à billes (25).
4. Manipulateur suivant une ou plusieurs des revendications 1 à 3, caractérisé en ce que le bras (3) est subdivisé par une articulation intermédiaire (26) à axe (27) vertical en un tronçon de bras intérieur (28) et en un tronçon de bras extérieur (29).
5. Manipulateur suivant une ou plusieurs des revendications 1 à 4, caractérisé en ce que le bras (3) et/ou ses tronçons de bras (28, 29) sont réglables en hauteur par des dispositifs de levage (30).
6. Manipulateur suivant l'une des revendications 4 ou 5, caractérisé en ce que le tronçon de bras extérieur (29) du bras (3) est monté en dessous du tronçon de bras intérieur (28) par l'intermédiaire d'une articulation intermédiaire (26) qui forme un palier flottant (31) auquel est associé un mécanisme de pivotement (32) à frein pouvant être commandé.
7. Manipulateur suivant une ou plusieurs des revendications 1 à 6, caractérisé en ce qu'entre l'appareil de levage (4) disposé à l'extrémité libre (34) du bras (3) et le bras (3) est interposée une commande de pivotement (35).
8. Manipulateur suivant une ou plusieurs des revendications 1 à 7, caractérisé en ce qu'entre les organes de maintien de la charge (5), qui peuvent tourner ou qui peuvent pivoter, et un élément d'entretoise (15) est interposé un répartiteur de courant électrique (36) pour transmettre le courant électrique aux organes de maintien de la charge (5) et/ou à d'autres dispositifs consommateurs de courant électrique.
9. Manipulateur suivant une ou plusieurs des revendications 1 à 8, caractérisé en ce que la partie télescopique extérieure (9) de l'appareil de levage (4) est un tube extérieur qui n'est pas rond, de préférence un tube à quatre arêtes, et en ce que sur les surfaces intérieures de ce tube est guidé un élément glissant (33) en un matériau à élasticité d'amortissement, qui est relié, à son tour, sans possibilité de coulisser axialement, à un écrou à billes (39) et à l'extrémité intérieure (40) de la partie télescopique intérieure (11) au moyen d'un filetage d'assemblage (41), que la partie télescopique intérieure )11-) est un tube rond (42) à l'extrémité extérieure (43)' duquel est prévu un taraudage d'assemblage (44).
10. Manipulateur suivant la revendication 9, caractérisé en ce que donner à la partie télescopique intérieure (11) la possibilité de coulisser par rapport à la partie télescopique extérieure (9), il est prévu un moteur électrique (46) à frein en circuit fermé (45), qui est rendu solidaire en rotation de la broche à billes (48) de la transmission à vis à billes (10) par un engrenage planétaire (47) et dont l'arbre de rotor (49) entraîne la broche (51) d'un interrupteur de fin de course (52) par l'intermédiaire d'une corroie d'entraînement (50).
11. Manipulateur suivant la revendication 10, caractérisé en ce que l'arbre de rotor (49) du moteur électrique (46) est relié avec l'engrenage planétaire (47) par une liaison par emmanchement (53) de l'arbre de rotor et l'engrenage planétaire (47) est accouplé par une liaison par emmanchement d'arbre intermédiaire (54) avec un arbre intermédiaire (56) qui est monté dans un corps de palier (55) sans possibilité d'être tiré ou poussé, qui est interposé entre l'engrenage planétaire (47) et la broche à billes (48), qui est agencé en bout d'arbre d'emmanchement (57) du côté de l'engrenage et en douille filetée (58) du côté opposé et qui présente un prolongement (61) serré entre les bagues intérieures (59) de paliers à roulement (60) disposés dans le corps de palier (55).
12. Manipulateur suivant la revendication 11, caractérisé en ce que du côté broche du corps de palier (55), un évidement (62) reçoit une plaquette (63) et le pied (64) de la partie télescopique extérieure (9) qui est vissé (vis 65) sur le corps de palier (55) et en ce que la plaquette (63) est le support d'un coussin d'amortissement (66) servant de butée pour l'écrou à circulation de billes (39), ce coussin étant constitué d'une pièce en caoutchouc (68) introduite par vulcanisation entre deux plaquettes (plaquette 63, plaquette de butée 67).
13. Manipulateur suivant une ou plusieurs des revendications 9 à 12, caractérisé en ce qu'un support (69) de l'élément glissant est vissé, d'une part, dans le taraudage (70) de l'extrémité intérieure de la partie télescopique intérieure (11) et, d'autre part, dans l'écrou à billes (39) et en ce que l'élément glissant (33) enfilé sur le support (69) est bloqué contre une rondelle (71) disposée entre le support (69) de l'élément glissant et l'extrémité intérieure de la partie télescopique intérieure (11).
14. Manipulateur suivant la revendication 2, caractérisé en ce qu'à la transmission à vis (18) de l'organe de maintien de la charge (5) est associé un frein à courant de repos (45) agissant sur la broche à billes (19), ce frein étant branché de manière à ce que la broche (19) soit déjà freinée avant que le moteur électrique d'entraînement (74) de la transmission à vis (18) ne soit débranché, la réalisation étant telle que, lorsque le moteur électrique d'entraînement (74) est débranché, la tension préalable du paquet de ressorts Belleville agissant dans le sens de la fermeture sur les bras des pinces de serrage (22) est maintenue.
15. Manipulateur suivant la revendication 14, caractérisé en ce que le frein à courant de repos (45) est un frein magnétique à courant de repos qui, à l'aide d'une circuit ou d'une commande et en fonction de la course de compression et/ou de la force de compression des paquets de ressorts Belleville (23, 24), n'est plus alimenté en courant électrique et ainsi se déclenche avant le débranchement du moteur, ce circuit ou cette commande comprenant un élément de temporisation de manière que le moteur ne soit débranché qu'après le déclenchement du frein à courant de repos.
16. Manipulateur suivant une ou plusieurs des revendications 2 à 14, caractérisé en ce que plusieurs organes de maintien d'une charge (5) ou pinces de serrage (17) sont reliés entre eux en une unité de pinces de serrage (75) de manière à ce que leurs ouvertures de serrage (76) soient dirigées dans des directions différentes, les transmissions à vis (18) qui leur sont affectés se chevauchant sur leur longueur.
17. Manipulateur suivant une ou plusieurs des revendications 2 à 16, caractérisé en ce qu'au moins l'une des pinces de serrage (17) peut tourner autour de son axe longitudinal pour le réglage de ses plans de fermeture.
18. Manipulateur suivant une ou plusieurs des revendications 2 à 17, caractérisé en ce qu'une pince de serrage (17) présente deux bras (22) de pince de serrage agencés en leviers coudés, qui, au point de croisement (77) de leurs branches libres (78) avec les branches (79), sont montés sur un support (80) fixé à la transmission à vis (18) de manière à ce que leurs branches (79) dirigées l'une vers l'autre soient à peu près alignées et soient reliées par des trous oblongs percés à leurs extrémités (82) à à la pièce d'assemblage (83) de la transmission à vis (18).
19. Manipulateur suivant la revendication 18, caractérisé en ce que les branches libres (78) des bras de la pince de serrage (22) portent des mâchoires de serrage (84), qui sont montées à rotation sur des paliers à billes (85) et qui peuvent pivoter de 180° par rapport à leurs bras de mâchoires de serrage (22) et/ou être inversées par enfichage.
EP78100560A 1977-08-31 1978-08-01 Manipulateur pour positionner des pièces ou d'autres charges Expired EP0000877B1 (fr)

Applications Claiming Priority (10)

Application Number Priority Date Filing Date Title
DE2739136 1977-08-31
DE2739136A DE2739136C2 (de) 1977-08-31 1977-08-31 Stellgerät mit Spindeltrieb
DE2742163 1977-09-20
DE19772742163 DE2742163A1 (de) 1977-09-20 1977-09-20 Handhabungsgeraet
DE2745404 1977-10-08
DE19772745404 DE2745404A1 (de) 1977-10-08 1977-10-08 Handhabungsgeraet
DE19782814228 DE2814228A1 (de) 1978-04-03 1978-04-03 Antrieb fuer axial- und rotationsbewegungen, insbesondere fuer handhabungsgeraete
DE2814228 1978-04-03
US94348978A 1978-09-18 1978-09-18
US06/209,482 US4428710A (en) 1977-08-31 1980-11-24 Manipulator with a swivel jib

Related Child Applications (3)

Application Number Title Priority Date Filing Date
EP81108902.8 Division-Into 1981-10-26
EP81108994.5 Division-Into 1981-10-27
EP81109672.6 Division-Into 1981-11-13

Publications (2)

Publication Number Publication Date
EP0000877A1 EP0000877A1 (fr) 1979-03-07
EP0000877B1 true EP0000877B1 (fr) 1983-05-18

Family

ID=27544277

Family Applications (3)

Application Number Title Priority Date Filing Date
EP78100560A Expired EP0000877B1 (fr) 1977-08-31 1978-08-01 Manipulateur pour positionner des pièces ou d'autres charges
EP81108994A Withdrawn EP0132442A1 (fr) 1977-08-31 1978-08-01 Appareil de positionnement à entraînement par broche
EP81108902A Withdrawn EP0137050A1 (fr) 1977-08-31 1978-08-01 Appareil de positionnement avec mécanisme d'entraînement à vis et billes

Family Applications After (2)

Application Number Title Priority Date Filing Date
EP81108994A Withdrawn EP0132442A1 (fr) 1977-08-31 1978-08-01 Appareil de positionnement à entraînement par broche
EP81108902A Withdrawn EP0137050A1 (fr) 1977-08-31 1978-08-01 Appareil de positionnement avec mécanisme d'entraînement à vis et billes

Country Status (3)

Country Link
US (1) US4428710A (fr)
EP (3) EP0000877B1 (fr)
BE (1) BE898154A (fr)

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CN103640026A (zh) * 2013-12-20 2014-03-19 辽宁石油化工大学 一种锭子装配机械手
CN103640026B (zh) * 2013-12-20 2016-08-17 辽宁石油化工大学 一种锭子装配机械手
CN104440895A (zh) * 2014-11-13 2015-03-25 苏州经贸职业技术学院 一种带有旋转机构的抓取机械手
CN106865225A (zh) * 2017-02-15 2017-06-20 蓝思智能机器人(长沙)有限公司 一种工件拾取装置
CN109625935A (zh) * 2018-12-17 2019-04-16 苏州比雷艾斯电子科技有限公司 一种自动取料机器转手设备

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EP0000877A1 (fr) 1979-03-07
EP0132442A1 (fr) 1985-02-13
US4428710A (en) 1984-01-31
EP0137050A1 (fr) 1985-04-17
BE898154A (fr) 1984-03-01

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