EP1232044A2 - Bras de prehension ou de commande - Google Patents

Bras de prehension ou de commande

Info

Publication number
EP1232044A2
EP1232044A2 EP00988588A EP00988588A EP1232044A2 EP 1232044 A2 EP1232044 A2 EP 1232044A2 EP 00988588 A EP00988588 A EP 00988588A EP 00988588 A EP00988588 A EP 00988588A EP 1232044 A2 EP1232044 A2 EP 1232044A2
Authority
EP
European Patent Office
Prior art keywords
gripping
actuating arm
links
link
arm according
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Withdrawn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
EP00988588A
Other languages
German (de)
English (en)
Inventor
Andreas Krug
Thomas Bayer
Karl-Georg Melber
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wittenstein SE
Original Assignee
Wittenstein SE
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
Application filed by Wittenstein SE filed Critical Wittenstein SE
Publication of EP1232044A2 publication Critical patent/EP1232044A2/fr
Withdrawn legal-status Critical Current

Links

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
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1617—Cellular, reconfigurable manipulator, e.g. cebot
    • 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
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • 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
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0012—Constructional details, e.g. manipulator supports, bases making use of synthetic construction materials, e.g. plastics, composites
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33196—Data and power each on a different line to all peripheral, bus

Definitions

  • the invention relates to a gripping or actuating arm according to the preamble of patent claim 1.
  • Gripping or actuating arms of the type mentioned at the outset are preferably used, but in no way exclusively in the field of so-called robot technology.
  • a large number of links are arranged one behind the other in a rotatable or pivotable manner, at least one electromotive rotary or swivel drive being provided between two adjacent links.
  • the number of links, drives and / or axes of rotation or swivel are determined by the desired number of degrees of freedom of movement of the gripping or actuating arm.
  • a gripping or actuating tool is arranged at one end of the gripping or actuating arm, all types of such tools according to the invention being intended to fall under this term. With its end pointing away from the gripping or actuating tool, the gripping or actuating arm is usually fastened to a base, for example a base frame.
  • each drive of each link is connected directly, that is to say via a separate cable, to a control unit which is arranged outside the robot, for example in a control cabinet.
  • Each drive is also equipped with a provided separate power supply line.
  • the cables for both the power supply and the control of the drives are routed in parallel through the entire gripping or actuating arm.
  • the necessary cabling inside the gripping or actuating arm requires a considerable size, in particular a considerable internal volume of the individual links, so that a cabling concept as described above is used for applications in which a certain size cannot be exceeded, for example if such Gripping or actuating arm to support physically disabled people, especially on a wheelchair or the like, is to be used, is practically not applicable.
  • the invention relates to a gripping or actuating arm with at least two links, each of which is relative to one another and / or to a base, for example a basic structure, by means of an electric motor drive.
  • the links are pivoted against one another if the longitudinal axes of the links run essentially transversely to the motor shaft, and the links are rotated relative to one another if the longitudinal axes of the links run parallel to or coaxially with the motor shaft.
  • the drives for performing defined movements of the links can be controlled separately, which includes both the logical control of the drives, for example by a computer program or a joystick, and the motor control itself.
  • a sensor arrangement for example a rotation angle sensor, is provided either indirectly or directly on the motor shaft, for determining the relative position of two adjacent links, the signal of which can be evaluated, for example, by a computer-assisted control unit and used to control the drives.
  • the monitoring, control and regulation can preferably take place in real time.
  • the torque control can be carried out via a field programmable gate array (FPGA).
  • FPGA field programmable gate array
  • the drives are designed according to the invention as drive units, each of which has at least one electric motor, the motor control necessary for actuating the electric motor, possibly a gear, in particular an eccentric or double eccentric gear, and the sensor arrangement.
  • the drives of all the links are also connected in series in the manner of a bus arrangement in such a way that the energy required to actuate the drives and the control signals can be transmitted via the bus arrangement.
  • Both the control signals for example from a computer, can be sent to the engine as well as the sensor signals to, for example, an evaluation and control unit via which the bus arrangement is transmitted.
  • the combination of the electric motor, possibly a gear, the motor control, which according to the prior art is usually arranged outside in the control cabinet, and the sensor arrangement, in each case a compact drive unit, which is preferably arranged in a housing comprising all components, results in addition to a reduction in the space required in the gripping or actuating arm and a reduction in the wiring effort, a high achievable electrical power and functional density.
  • the cabling effort is further reduced, in particular the cable harnesses which have been customary up to now are eliminated or their diameter is at least considerably reduced.
  • Another advantage of the invention is that due to the combination of compact units, the overall assembly effort is comparatively low and there is also a simple and inexpensive service.
  • the number of links in the gripping or actuating arm is in principle arbitrary and ultimately depends essentially on the number of degrees of freedom of movement. At least three, preferably three to seven, links are preferably provided. Due to the bus arrangement, the number of links is practically unlimited with regard to the cabling problem described above in the prior art, since there is basically no wire harness diameter that increases with the number of links. In principle, the energy and the control signals can be transmitted, for example, by any multi-core bus cable, which is guided through all the links essentially over the entire length of the gripping or actuating arm.
  • the permissible rotation or swivel angle between adjacent links is 360 ° and more, it is advantageous or, in particular in the case of an unlimited rotation angle, to provide a transmission of the energy and the control signals which prevent an inadmissible rotation of the bus arrangement or the Avoids bus cables.
  • the energy and the control signals necessary for actuating the drives are therefore transmitted from one link to the adjacent link by means of a rotary leadthrough known per se, for example via slip rings or the like.
  • the energy and the control signals necessary for actuating the drives can be transmitted from one link to the respectively adjacent link without contact, in particular inductively, optically or the like.
  • the energy required for actuating the drives and the control signals are transmitted from one link to the adjacent link by means of a spiral body which is wound from a multi-core ribbon cable section and is wound in this way and is arranged in such a way that the main plane of the spiral body is essentially perpendicular to the rotational or Pivot axis runs between the adjacent links, the two ends of the flat band section being connectable to the bus arrangement of the first or the adjacent link.
  • the permissible angle of rotation essentially depends on the diameter of the spiral body and on the number of turns or windings.
  • the spiral body preferably has at least one, preferably two to ten turns. As a result, permissible rotations of 1080 ° and more can be achieved in a simple and cost-effective manner.
  • connection parts can be attached to the ends of the flat strip section, for example soldered or crimped on.
  • both ends of the flat web section are angled such that the first end points from the spiral body to the first link and the second end from the spiral body to the second link.
  • the bending can be carried out in a simple manner in that the ends are each bent by a folding edge running at an angle of 45 ° to the longitudinal axis of the flat strip section, which results in a total bending of 90 °.
  • the conductors arranged in the flat strip section can also have a round cross section, for example, in any desired manner.
  • the conductors arranged in the flat strip section preferably have an essentially flat rectangular cross section in the region of the windings, at least in sections, which can be achieved, for example, by rolling out round copper conductors.
  • the flat conductor tracks act as a spiral spring, which is or is relaxed.
  • the spiral body resumes the predetermined initial shape when relaxing, which ensures that the desired spiral shape, which excludes a disadvantageous twisting of the flat strip section, is maintained regardless of the angle of rotation.
  • the gripping or actuating arm of the invention can be designed in the usual manner as a cast or welded part, the external shape of the individual links being essentially determined by the mechanical function.
  • the links have a base body designed as a supporting structure and at least one cladding element, the cladding element being releasably attachable to the base body.
  • the cladding element can, for example, be screwed to or attached to the supporting structure.
  • the cladding element can be fastened to the support structure in the manner of a clip connection. On the one hand, this ensures easy access to the interior of each link for assembly or service purposes, and on the other hand the overall visual or aesthetic impression of the gripping or actuating arm can be changed in a simple manner by changing the cladding elements.
  • connection of the cladding element and the support structure can be designed such that the cladding element is automatically released when a predetermined limit load on the connection is exceeded.
  • a pinching of a hand of the user, for example, by jumping off the covering element can thereby be avoided or the consequences of such a pinching can at least be alleviated.
  • the cladding element can preferably consist essentially of soft foam, thereby further reducing the risk of injury.
  • the drives can also be switched off when a predetermined limit load, which can be determined by a corresponding sensor arrangement, is exceeded.
  • the sensor arrangement can initially have sensors that scan in any manner, if necessary also in the manner of a switch or limit switch.
  • non-contact sensors in particular magnetoresistive sensors, for example rotary angle sensors, are preferably used.
  • both the base body designed as a supporting structure and the corresponding cladding element can be designed to be adjustable in length and / or width. This can be done, for example, in that adjacent longitudinal or transverse beams can be telescopically pushed or pulled into one another, or the supporting structure consists of separate longitudinal and / or transverse beam sections connected to one another, so that the supporting structure can be changed in length and / or width by inserting or omitting individual sections is. This allows a modular concept with adaptation to a wide variety of gripping or actuating areas to be covered in a simple manner.
  • FIG. 2 shows the gripping or actuating arm according to FIG. 1 in a side view in a broken view
  • FIG. 3 shows the gripping or actuating arm according to FIGS. 1 and 2 in a broken representation rotated by 90 degrees compared to FIG. 2;
  • FIGS. 1 to 3 shows a schematic block diagram representation of the serial bus arrangement of the links of the gripping or actuating arm according to FIGS. 1 to 3;
  • FIG. 6 shows a schematic perspective illustration of a spiral body wound from a ribbon cable section for the transmission of energy and / or control signals between two adjacent links which can be rotated or pivoted relative to one another;
  • Fig. 7 shows the spiral body of FIG. 6 in a side view.
  • the gripping or actuating arm 10 shown in FIG. 1 has six links 7, 8, 9, 11, 12 and 13, each of which is articulated to one another. With the axially outer end of the link 13, the gripping or actuating arm 10 is connected to a base (not shown), for example a frame of a wheelchair or the like. On the axial The outer end of the link 7 is a gripper 14, shown schematically in FIGS. 2 and 3.
  • the links 7, 8, 9, 1 1, 12 and 13 can be pivoted or rotated relative to one another via the axes 1, 2, 3, 4, 5 and 6.
  • the link 12 is rotated about the axis of rotation 6 with respect to the link 13, which is fixedly and non-rotatably attached to the base, and thus the entire gripping arm 10; 1, the rotational movement is indicated by the arrow F6, wherein, of course, rotation can take place in both possible directions of rotation.
  • the two links 8 and 9 are rotated relative to one another about the axis of rotation 3 (rotary movement arrow F3) and the gripper 14 is rotated relative to the link 7 about the axis of rotation 1 (direction of rotation arrow F l).
  • the axes 2, 4 and 5 are designed as pivot axes and are substantially perpendicular to the axes 1, 3 and 6, which are essentially aligned.
  • the two links 7 and 8 are pivoted about the pivot axis 2
  • the two links 9 and 11 are pivoted about the pivot axis 4
  • the two links 11 and 12 are pivoted about the pivot axis 5.
  • a drive unit 14, 15, 16, 17, 18 and 19 is arranged in the area of each axis 1, 2, 3, 4, 5 and 6 and is used to carry out the respective rotary or pivoting movement.
  • the drive units each include an electric motor, the motor control, a gearbox and a sensor arrangement for determining the position of the drives or the position of the links to one another.
  • the drive unit 14 arranged in the link 7 has the individual components gear 20, electric motor 21 including control, sensors 22 and a brake 23 in a linear arrangement.
  • the drive unit is here fixed in place and rotatably in a manner not shown on the support structure of the link 7.
  • a fastening possibility for the gripper 14 is provided, so that the gripper 14 can be rotated or rotated by actuating the electric motor 21.
  • the drive unit 15 arranged in the link 8 likewise has a transmission 24, an electric motor 25 including a control, a sensor system 26 and a brake 27.
  • two subunits are formed, each of which has the components electric motor 25 and transmission 24 or sensor system 26 and brake 27 in a linear arrangement.
  • the two subunits are arranged essentially parallel to one another next to one another on a housing-like frame 28 and are coupled to one another via a gear, here a belt drive 29.
  • the drive unit is fixed to the supporting structure of the link 8, not shown, in a rotationally and stationary manner.
  • a bracket-like coupling member 30 is non-rotatably flanged with its first end, which is connected at its second end to the support structure of the link 7, not shown.
  • the gearbox 24 swivels the second end of the coupling member 30 and thus the link 7 relative to the link 8.
  • an adapter 31 attached to the support structure, with which the link 8 transmits torque to the link 9 (cf. in particular FIG. 3), more precisely to the mechanical output of the drive unit 16 , can be coupled.
  • all drive units 14, 15, 16, 17, 1 8 and 19 are electrically connected in series in the manner of a bus arrangement. Both the power supply to the drives and the transmission of the sensor or control signals take place, for example to or from an external computer via this bus arrangement.
  • 4 shows the bus arrangement schematically in the manner of a block diagram, the number of control lines and power supply lines being of course not limited to two in practice.
  • the transmission of the control or sensor signals as well as the power supply of the drives between two adjacent links, be they links that can be rotated or pivoted relative to one another, takes place in the exemplary embodiment shown here via a multi-core ribbon cable section, the number of lines and arrangement of which essentially corresponds to the bus structure , As can be seen from FIGS. 6 and 7, the ribbon cable section 32 is wound into a spiral body 33 with an inner end 34 and an outer end 35. In the embodiment shown, three turns are provided.
  • connection elements can be integrally formed on the spiral body 33 or be part of this spiral body or else consist of separate connection elements, for example connection plates in the manner of soldering tabs, which are attached to the ends of the ribbon cable section 32 in a detachable or non-detachable manner.
  • the ends 34 and 35 or the corresponding connection elements are conductively connected to the corresponding bus cable sections of the two adjacent links to be coupled, the end 33 being connected to the bus cable section of the first of the two Links and the end 34 is connected to the bus cable section of the second link such that the spiral body is arranged substantially perpendicular to the corresponding axis of rotation or pivot with its main or radial plane, the axis also essentially through the center of the area of the main or radial surface of the spiral body runs.
  • the ends 34 and 35 of the Ribbon section 32 are also substantially fixed in place on the respective link. If the two links are now rotated relative to one another, the spiral body is wound or wound more tightly depending on the direction of rotation, and depending on the number of turns, angles of rotation of up to 1080 ° and more can be easily reached without breaking or damaging the cable connection.
  • the conductors arranged in the ribbon cable section 32 have a flat rectangular cross section produced by rolling in the region between the two ends 34 and 35, the longer side of the rectangle running perpendicular to the main or radial plane of the spiral body 33. This in particular improves the spring-back behavior of the spiral body during winding.
  • the link 11 has a longitudinal support-like supporting structure 36 in a lightweight construction, for example made of light metal or plastic, to which the drive units 17 and 18 are fastened.
  • Cladding elements 37 and 38 or 39 and 40 are fastened to this support structure 36 in a manner not shown, for example detachably clipped on.
  • the support structure can also be formed by the drive unit itself, in particular in the case of short links, in which case the cladding elements can then be fastened directly to the respective drive unit.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un bras de préhension ou de commande comprenant au moins deux composants susceptibles de se déplacer, chacun l'un par rapport à l'autre et/ou par rapport à une base, au moyen d'un entraînement par moteur électrique, de manière à tourner et/ou à pivoter, les entraînements effectuant les déplacements des composants pouvant être commandés séparément, cependant qu'il est en outre prévu des moyens détecteurs permettant de déterminer la position relative des deux composants adjacents. L'invention est caractérisée en ce que les moyens d'entraînement sont réalisés sous forme d'unités d'entraînement présentant chacune au moins un moteur électrique, des moyens requis pour la commande de ce moteur, cas échéant, une transmission, et les moyens détecteurs. En outre, les moyens d'entraînement de tous les composants sont montés en série, à la manière d'un montage de bus, de telle façon que l'énergie requise pour la commande des moyens d'entraînement, ainsi que les signaux de commande, puissent être transmis via ledit montage de bus.
EP00988588A 1999-11-22 2000-11-15 Bras de prehension ou de commande Withdrawn EP1232044A2 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19956176 1999-11-22
DE1999156176 DE19956176A1 (de) 1999-11-22 1999-11-22 Greif- oder Betätigungsarm
PCT/DE2000/003961 WO2001038047A2 (fr) 1999-11-22 2000-11-15 Bras de prehension ou de commande

Publications (1)

Publication Number Publication Date
EP1232044A2 true EP1232044A2 (fr) 2002-08-21

Family

ID=7929946

Family Applications (1)

Application Number Title Priority Date Filing Date
EP00988588A Withdrawn EP1232044A2 (fr) 1999-11-22 2000-11-15 Bras de prehension ou de commande

Country Status (5)

Country Link
EP (1) EP1232044A2 (fr)
JP (1) JP2003516866A (fr)
AU (1) AU2502201A (fr)
DE (1) DE19956176A1 (fr)
WO (1) WO2001038047A2 (fr)

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Publication number Priority date Publication date Assignee Title
FR2850600B1 (fr) * 2003-02-04 2006-01-13 Staubli Sa Ets Robot multi-axes equipe d'un systeme de commande
JP2007512596A (ja) * 2003-12-01 2007-05-17 ニューサウス イノヴェーションズ ピーティワイ リミテッド 相互依存ユニットから形成されたシステムを制御する方法
US8176809B2 (en) * 2008-12-10 2012-05-15 GM Global Technology Operations LLC Planar torsion spring
US8442684B2 (en) * 2009-09-22 2013-05-14 GM Global Technology Operations LLC Integrated high-speed torque control system for a robotic joint
CN102781632B (zh) * 2010-03-02 2015-06-03 Abb研究有限公司 机器人手腕
JP5370225B2 (ja) 2010-03-18 2013-12-18 株式会社デンソーウェーブ ロボットのアーム連結装置
JP5540981B2 (ja) * 2010-08-09 2014-07-02 株式会社デンソーウェーブ 多関節ロボット
DE102015017220B3 (de) 2015-08-14 2021-09-16 Franka Emika Gmbh Robotersystem
DE102015012961B4 (de) 2015-10-08 2022-05-05 Kastanienbaum GmbH Robotersystem
DE102015012959B4 (de) 2015-10-08 2019-01-17 Franka Emika Gmbh Robotersystem und Verfahren zur Steuerung eines Robotersystems
DE102015012962A1 (de) 2015-10-08 2017-04-13 Sami Haddadin Robotersystem
DE102016004788A1 (de) 2016-04-20 2017-10-26 Kastanienbaum GmbH Verfahren zur Herstellung eines Roboters und Vorrichtung zur Durchführung dieses Verfahrens
DE102016004787B4 (de) 2016-04-20 2023-02-02 Franka Emika Gmbh Antriebsvorrichtung für einen Roboter und Verfahren zu ihrer Herstellung
LU93046B1 (de) * 2016-04-27 2017-11-07 Ovalo Gmbh Motorisiertes Gelenk für einen programmierbaren Bewegungsautomaten
DE102017115442A1 (de) * 2017-07-10 2019-01-10 Hartmut Ilch Industrieroboter und Verfahren zur Herstellung eines Industrieroboters
DE102018206019B4 (de) * 2018-04-19 2021-01-21 Kuka Deutschland Gmbh Robotersystem und Verfahren zum Betreiben des Robotersystems

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Also Published As

Publication number Publication date
AU2502201A (en) 2001-06-04
JP2003516866A (ja) 2003-05-20
DE19956176A1 (de) 2001-10-18
WO2001038047A3 (fr) 2002-04-11
WO2001038047A2 (fr) 2001-05-31

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