FI95786B - Method for the operation of a robot - Google Patents

Description

, 95786

The present invention relates to a method of operating a robot, in which a single motor is used to drive several axes of a robot. (The axis is understood to mean the linear movement of the robot's grapple in the X, Y or Z coordinate, and the rotation of the A, B or C axis in the 5 · * 'direction of the X, Y or Z axis of the grapple.)

In today's robotic operating systems, each shaft is driven by its own motor with its own wooden sensors, brakes and pulse counters, but often with only one common inverter, in which case the axes have to be driven one at a time. Shafts A, B and C are commonly used with compressed air, so there are usually only two positions to choose from.

The most demanding applications for turning and rotating the grapple must rely on motor drives. The motors have to be placed on moving machine parts, which increases the weight of the device in order to achieve sufficient rigidity. In addition, expensive robotic cables are needed for power supply and control.

The duration of the robot cables is limited, so the need for robot maintenance is also constant.

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Attempts are also known to solve the above-mentioned problems using a single drive, of which the following patents may be mentioned.

- DE OS 2 831 361 (B 25 J 9/00) - US P 3 575 301 (B 25 J 9/00)

Granted patents have the following limitations.

Patent DE OS 2 831 361 - The return movements of the shafts take place by a spring force, (e.g. Fig. 2, part 14) whereby the force required for the work of the motor increases as the travel length increases.

Due to the spring, it is not possible to rotate the rotating shaft (Fig. 1, part 9) freely.

U.S. Pat. No. 3,575,301 - In the invention, Y and X axes are used with one butter transfer member, a bidirectionally bending belt (Fig. 20, part 69, claim 1, column 29, line 70). Due to one butter transfer element, the force and speed provided by the motor to the different axles cannot be changed according to the needs of the axles.

- The movement of the rotating shaft (Fig. 23, part 375, axis of rotation in the Z-axis) is limited to 180 degrees because it is tied to a belt (Fig. 23 part 650). Continuous rotational movement is also prevented by a toothed rod (Fig. 20, part 391) to the ends of which a rotating belt is attached.

- The kinetic force is transmitted to the rotary belt by a linear actuating member connected to the belt (Fig. 20, part 368).

The length of the linear motion must be equal to the length of the longest axis of motion. This imposes restrictions on the use of the space. The use of a rotating motor on a rotary belt1e requires a frictional transmission, which automatically results in a failure, which cannot be allowed in the use of the robot.

The object of the present invention is to eliminate the above-mentioned drawbacks and to provide a simple method of operating a robot.

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In the robot according to the invention, the motor drives 1-axis axles with brakes, so that by opening the axle brake, the desired axis is moved as the motor rotates. The invention is characterized in that the force is transmitted from the motor to the axes by means of successively connected butter handling devices. The actuating means of the different shafts can be different, whereby the force and the speed of the shafts can be changed in the desired way. limit the travel length of the rotating shafts. Thus, for example, rotating shafts can be used to rotate a drill and a workpiece by moving the drill holes in your workpiece.

In the robot according to the invention, the motor is housed in a fixed frame and drives the Z-axis via a toothed belt and further the X-axis via a second toothed belt, whereby the folding wheel of the second belt is driven by a nut and screw using the Y-axis. The screw, in turn, drives the B-axis or the C-axis via a pair of bevel gears. The movement of each axle is locked by the brake.

The invention will now be described, by way of example, with reference to the accompanying drawing, in which

Figure 1 shows the use of the robot seen from above.

Figure 2 Vertical front view of the Y-axis.

In the drawing, reference numeral 1 denotes a drive motor which / "rotates a pinion 2 and a pulse sensor 3. The motor 1 is fixed to one end of the beam 4 in the direction of the Z-axis.

A carriage 5 moves on top of the beam, which can be locked to the beam 4 by a brake 6. The carriage 5 has folding wheels 7 below and a toothed ratchet wheel 8 with a toothed ratchet wheel 10 on the shaft 9 above the carriage. 1 rotates the toothed belt 13 around the folding wheels 7 and 12 and the toothed belt wheels 2 and 8. The carriage 5 has guides 14 for an X-axis-oriented beam 15 95786 with a toothed pulley 16 at one end and a deflection wheel 17 at the other end. The beam 15 is locked to the carriage 5 by a brake 20. The beam 15 has guides 21 at the end of the pinion 16 on which the Y-axis guides 22 run. With the brake 23, the guides 22 are locked to the guide 21. The gear wheel 16 rotates a nut 24 mounted on the guides 21 by a bearing 25. Inside the nut 24 there is a screw 26 mounted on the guides 22 by bearings 27. At the lower end of the screw 26 is a bevel gear 28 30. The body 32 of the bearing 31 of the C-axis 29 is mounted parallel to the B-axis at the lower end of the guides 22 by the bearing 33. The flange brake 34 prevents movement along the B-axis and the flange brake 35 locks the C-axis. If it is desired to use the C-axis 29 of the robot, the brake 35 is opened and the motor 1 is started. The toothed belt 13 rotates the pulley 16, which rotates the nut 24, via the toothed belt pulleys 8 and 10 and the toothed belt 19. 26. At the lower end of the screw 26, a pair of bevel gears 28 and 30 rotate the C-axis 29. Correspondingly, each shaft is made to move by opening the brake preventing this movement and starting the motor 1.

The various embodiments of the invention may vary within the scope of the claim, depending on the number of transmission elements and the number of motors. Likewise, the order of the axes may vary. For example, the Z-axis can be moved by a screw and nut and the X, Y and C-axis by a toothed belt. Or the Z-axis uses a toothed belt, the X-axis uses a screw and nut, and the Y-and A-axles use a toothed belt. Or the Z and X shafts are driven by a screw and nut using a worm gear and the Y and A shafts by a toothed belt.

Likewise, the invention can be applied to telescopic shafts (e.g.

Y1 and Y2), which must be moved separately. The transmission can also be cut off, for example, so that the Z, X and Y axes are driven by a separate motor and the other motor is driven by axes B and C. In this case, two axles can be used simultaneously.

Claims (1)

5 95786 PAT ENTTIVAATIMUS Suorakulmaisessa koordinatistossa lin linearisesti liikkuvan robotin käyttömenetelmä, jossa moottori (1) käyttää jarruilla (6, 20, 23, 34 ja 35) (2) 2, 13) jolta saadaan käyttövoima siirrettyä (8, 9, 10) seuraavan liikakselin (X) liikuttamiseen, ja etä pyörivä moottori (1) mekaanisesti suorittaa eri akseleiden likemkeet molempiin liikesuuntiin. Method for operating a robot moving linearly in a rectangular coordination in which an engine (1) uses more than one of the robot's axles (Z, X) fitted with brakes (6, 20, 23, 24 and 35). , Y, B and C) by means of interconnected transmission devices (2, 13, 8, 9, 10, 16, 24 and 26), the shaft which one wants to set in motion starts to move when releasing its brake, characterized by transmitting from the rotary motor (1) mechanically a driving force to move the robot's shaft (Z) in motion with the transmission device (2, 13) from which the driving force can be transmitted (8, 9, 10) to set the following moving shaft ( X) in motion, and that the rotary motor (1) mechanically performs the movements of the different shafts in both directions of movement.