KR20200002781U - Robot - Google Patents

Abstract

The present invention relates to a robot comprising a support structure and a movable robot arm 3 supported by the support structure 2. The robot arm 3 includes a telescopic arm member 18, and the telescopic arm member extends along an imaginary main shaft 22 and includes a post structure 23 connected to the support structure 2. The telescopic arm member 18 includes an telescopic unit 28, and the telescopic unit is driven for a working rotational motion 42 around the main axis of rotation 32 relative to the post structure 23 by a rotational drive device. It is possible, and the main rotational shaft 32 extends in the axial direction of the main shaft 22. The expansion unit 28 includes a slide unit 37, and an assembly interface 26 is disposed on the slide unit. The slide unit 37 is driveable for a linear stretching motion 52 in the axial direction of the main shaft 22 relative to the post structure 23 by a linear drive device 53 of the stretching arm member 18.

Description

Robot {ROBOT}

The present invention relates to a robot including a support structure and a movable robot arm supported by the support structure, wherein the robot arm includes an arm member extending along a virtual main axis, and the arm member is a post structure connected to the support structure And the arm member includes an assembly interface formed for fixing the additional robot component in the front shaft end region.

From DE 10 2010 013 617 B4 a robot of the technical field described above is known, which comprises a robot arm which is rotatable using an electric motor. The arm member of the robot arm provides an assembly interface, and as an additional robot part, an end device, such as a grip device, is attached to this assembly interface.

The task underlying the present invention is to provide a robot that is simply configured and provides a wide working area when the mobility is variable.

In order to solve this problem, the arm member is formed of a telescopic arm member including a telescopic unit, and the telescopic unit is rotated around the main axis of rotation relative to the post structure by a rotation driving device of the telescopic arm member. It can be driven for movement, and the main axis of rotation extends in the axial direction of the main axis, and the telescopic unit includes a slide unit, and an assembly interface is disposed on this slide unit, and this slide unit is supported by the linear drive device of the telescopic arm member. It can be driven for linear reciprocating stretch motion in the axial direction of the main axis relative to the structure.

In the robot provided in this way, the movable robot arm of the robot provides an elastic arm member, the elastic arm member includes an assembly interface, and the assembly interface rotates and moves linearly with respect to the supporting structure and the strut structure connected to it. It is possible. This possibility of linear and rotational movement extends to additional robotic parts that are assembled to the assembly interface, which in particular refer to end effectors or end device supports that are formed for the detachable assembly of the end devices. The end device is, for example, a grip device. The telescopic arm member includes an telescopic unit, and an assembly interface is disposed on a slide unit belonging to this telescopic unit, and this slide unit may be driven for a linear telescopic motion by a linear driving device, and the movement direction of the telescopic motion is telescopic It coincides with the axial direction of the main axis of the arm member. In addition, the elastic arm member is formed to be rotatable around a rotational shaft extending in the same direction as the main axis in which the expansion and contraction unit as such an expansion and contraction arm member is rotatable, and this rotation axis is referred to as a main rotation axis for better classification. By means of the rotational drive device of the elastic arm member, the elastic unit can be driven for a working rotational motion around the main axis of rotation. Since the assembly interface is arranged on the slide unit belonging to the telescopic unit, the assembly interface is accompanied by this working rotational motion. The telescopic and working rotational movements can be carried out independently of each other, so that there are a wide variety of possibilities for the positioning of the assembly interface and of the end device that is attached indirectly or directly to such an assembly interface. Due to the elasticity of the elastic arm member, a very large working area of the robot arm is obtained.

Advantageous refinements of the present invention are deduced from the dependent claims.

Preferably, the expansion unit includes a base unit that is disposed not movable in the axial direction relative to the post structure. Since the expansion unit is rotatably supported in the column structure through the base unit, the expansion unit may perform a work rotational motion relative to the column structure. The slide unit is disposed not rotatable in the base unit, so that the slide unit and the working rotational movement from the base unit are always performed together. In order to be able to perform the stretching movement relative to the base unit, the slide unit is supported to be linearly movable in the base unit. The working rotational motion is caused by the rotational drive device. The stretching motion is caused by a linear drive. The rotary drive and linear drive can be operated independently of each other in a suitable manner. In order to control the rotary drive device and the linear drive device in relation to the driving manner of such a device, the robot comprises an electronic control device in a suitable manner.

In a suitable manner, the base unit comprises a rear rotating bearing portion and a front rotating bearing portion, both of which rotating bearing portions are arranged spaced apart from each other in the axial direction of the main shaft. In order to implement the working rotational motion of the telescopic unit, the base unit is rotatably supported in the post structure using each of the rotating bearing portions on both sides. A linear guide part of the base unit is extended between the rear rotation bearing part and the front rotation bearing part, and in the linear guide part, the slide unit is supported to be linearly movable in order to be able to perform stretching motion. A suitable linear guide device is provided for linearly movable support.

The telescopic arm member comprises a rear shaft end region, in which it is advantageous that the rotation drive device is fixed to the post structure. The rear shaft end region of the telescopic arm member is located in a direction opposite to the front shaft end region of the telescopic arm member in the axial direction. The rotation drive device is connected with the base unit according to the driving scheme to generate the main rotational motion, and furthermore is connected within the region of the rear rotational bearing part. The connection according to the driving method may be a direct connection or a transmission connection. The transmission connection can be implemented, for example, using a gear drive or a timing belt.

The linear drive is formed in a suitable manner as a component of the expansion unit. The linear drive device includes a first linear drive component that is fixed to the base unit of the expansion unit. Further, the linear drive device includes a second linear drive component capable of being driven for a linear drive motion relative to the first linear drive component. The second linear drive component is fixed to a component of the slide unit, which component comprises an assembly interface for additional robot components. When the stretching unit performs a work rotational motion, the linear drive device is directly accompanied by this work rotational movement.

The slide unit may be configured in one stage, wherein the slide unit includes only a single slide, and such a single slide may be reciprocated relatively linearly with respect to the base unit within the range of the stretching motion. However, for a longer stroke, it is advantageous that the slide unit is formed to be stretchable in two stages. In this case, the slide unit includes an outer slide and an inner slide, wherein the inner slide is supported to be linearly movable on the base unit, and the outer slide is supported to be linearly movable on the inner slide. In this case, the assembly interface is placed on the outer slide. The inner slide represents a fastening member between the base unit and the outer slide.

The assembly interface can be variably and continuously positioned at different stroke positions along the main axis by means of a telescopic movement. In each stroke position of the assembly interface, in the axial direction of the main axis, the outer slide and the inner slide are superimposed on the one hand, and the inner slide and the base unit are superimposed on the other hand. This gives a very stable batch.

The inner slide is formed in a block shape in a suitable manner. Preferably, the inner slide is penetrated by a hollow in the axial direction, through which a linear drive device can extend and extend. The linear drive may extend axially through the inner slide and may abut the base unit on one axial side of the inner slide and the outer slide on the other axial side of the inner slide.

In a suitable manner, the outer slide is profiled substantially U-shaped. Through this, the outer slide includes a trough-shaped recess at the longitudinal side, and the inner slide is immersed in the trough-shaped recess. In this way, the inner slide is enclosed in a tab manner in the axial overlapping area by the outer slide.

The slide unit can be moved between the entry position and the exit position by the stretching motion. There may be any intermediate positions between both of these positions. The slide unit extends at the same axial height as the linear drive in a suitable manner at the entry position of this unit, wherein the linear drive is at least partially surrounded outside the radius by the slide unit. In this way, the telescopic arm member can comprise a very short construction length.

Preferably, the linear drive device is a pneumatic linear drive device. These devices operate using compressed air. Pneumatic linear drives can be driven energy-efficiently. In addition, high speed and acceleration are possible during stretch movement. Meanwhile, basically, the linear drive device may be an electric linear drive device.

In the pneumatic design, the linear drive is preferably formed of a pneumatic cylinder operable with compressed air. This pneumatic cylinder comprises a first linear drive component that is fixed to the base unit of the telescopic unit, and this first linear drive component comprises a cylinder housing. Further, the pneumatic cylinder comprises a second linear drive component, which second linear drive component can be pneumatically driven for a linear drive motion relative to the first linear drive component. The second linear drive component comprises a drive assembly comprising a drive piston and a piston rod. The drive piston is disposed within the cylinder housing, in which position the drive piston separates the two drive chambers from each other. The piston rod protrudes from the cylinder housing and is fixed to the component of the slide unit comprising the assembly interface. In order to cause the slide unit to stretch and contract, compressed air can be supplied under control to both drive chambers. The piston rod is fixed to the outer slide in the slide unit that is formed to be stretchable in two stages.

In order to be able to control the pneumatic linear drive with compressed air, this pneumatic linear drive is connected to two air channels. Each air channel is suitable for supplying and exhausting compressed air. The air channels extend within the telescopic unit, so that the air channels accompany the working rotational motion of the telescopic unit. Nevertheless, the pneumatic coupling device can be controlled pneumatically from the outside, independent of the working rotational motion. In this connection, the air channels extend into the coupling shaft of the telescopic unit arranged coaxially with respect to the main axis, in which the air channels terminate circumferentially. The coupling shaft belongs to a pneumatic coupling device. Further, the pneumatic coupling device includes a coupling sleeve mounted on the coupling shaft, and the coupling shaft is relatively rotatable with respect to the coupling sleeve. The coupling sleeve comprises compressed air connections, which are suitable for connecting external compressed air tubes and are in constant communication with each one of the air channels in the coupling shaft regardless of the working rotational motion of the telescopic unit. In this way, even when the coupling u shaft rotates with the telescopic unit, the coupling sleeve can be kept non-rotatable with the compressed air tubes connected thereto. The coupling shaft is fixedly connected with the base unit of the expansion unit in a suitable manner.

The rotational drive for generating the working rotational motion is an electric rotational drive in a suitable manner. Such electric rotary drive devices include, for example, electric step motors or electric servo motors. Basically, the rotary drive can also be implemented as a pneumatic rotary drive.

It is very advantageous for the telescopic arm member to be formed using hybrid drive technology, in which a pneumatic linear drive is provided to generate the telescopic motion, and an electric rotary drive is provided to generate the working rotary motion.

In a suitable manner, the post structure of the telescopic arm member is formed in a tubular shape. This enables a slim structure of the telescopic arm member. The telescopic unit extends inside the tubular post structure. Preferably, the telescopic unit is received substantially completely inside the tubular post structure at the entry position of the slide unit.

In order to detect the rotational position of the assembly interface, the telescopic arm member is provided with a suitable sensing device in a suitable manner. The sensing device is in particular configured such that it can detect the relative rotational position between the telescopic unit and the post structure. Preferably, the sensing device comprises an encoder that is assigned to the rotation drive device. The rotational position data transmitted by the encoder may be supplied to the electronic control device to control rotational position determination of the slide unit and the assembly interface mounted thereto.

The telescopic arm member comprises a position sensing device, which position sensing device is advantageously configured to sense the axial stroke position occupied by the assembly interface relative to the post structure. In order to position control the linear positioning of the slide unit and the assembly interface mounted thereto, the positional data calculated by the position sensing device can be used by the electronic control device.

A preferred position sensing device comprises a guide housing in which an elongated slot is formed, which guide housing is externally mounted to the post structure so as to extend parallel to the main axis. A linearly movable rotor is located in the guide housing, and a driver extending through the long slot of the guide housing is mounted on the rotor. The driver is fixedly connected with a coupling rod disposed outside of the guide housing, and the coupling rod is mounted on a component of the slide unit having an assembly interface. The rotor includes a permanent magnet, and the permanent magnet moves along with the rotor along a path section referred to as a position sensing section during the stretching movement of the slide unit. In the guide housing, a position sensor extending along the position detection section of the permanent magnet is disposed outside, and the position sensor responds to the permanent magnet in a non-contact manner. In this way, the stroke position of the assembly interface and hence the stroke position of the end device fixed to the assembly interface can also be detected continuously and directly and non-contactly.

The support structure of the robot includes a support portion and a support arm pivotably supported on the support portion in a suitable manner. The support arm is rotatable around a horizontal axis of rotation in a suitable manner in relation to the abutment. The telescopic arm member is spaced apart from the support portion using the post structure of the telescopic member and is rotatably supported by the support arm. The axis of rotation for this rotational movement is likewise extended horizontally in a suitable manner.

In a preferred mode of formation, the robotic arm comprises only a single arm member, and furthermore comprises only the telescopic arm member. In this case, the end device is disposed directly at the assembly interface, or the end device support is connected and disposed in the middle. The end device support may define at least one additional degree of rotational freedom such that the end device attached thereto may additionally pivot relative to the assembly interface, for example.

The robotic arm may alternatively have end devices that are different from each other depending on the selected application mode. Possible ways of forming end devices are, for example, grip devices, measuring devices or welding devices.

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings. The drawings are as follows.

1 is a side view showing a preferred embodiment of a robot according to the present invention comprising a supporting structure, which is only schematically implied.
FIG. 2 is a rear view of the robot arm observed in the line of sight along arrow II of FIG. 1.
Fig. 3 is an isometric detail view of the robot arm according to part III of Fig. 1 with the slide unit entered.
4 is a view showing the robot arm according to FIG. 3 in a state in which the slide unit is advanced.
5 is a cross-sectional view of the robot arm partially cut longitudinally while the slide unit is advanced again.
Fig. 6 is a cross-sectional view of the robot arm along the cut line VI-VI of Fig. 5;
FIG. 7 is a longitudinal cross-sectional view of the robot arm along the cutting line VII-VII according to FIG. 10 in an alignment rotated 180 degrees compared to FIG. 1, and the part marked with a dashed-dotted line is separately enlarged again.
Fig. 8 is a longitudinal sectional view of a robot arm similar to Fig. 7 in an intermediate position in which the slide unit is only partially advanced.
9 is a longitudinal sectional view of a robot arm similar to FIGS. 7 and 8 in a state in which the slide unit is advanced.
10 is another longitudinal cross-sectional view of the robot arm along the cutting line XX of FIG. 7 in a state in which the slide unit is entered.
FIG. 11 is a view showing the assembly according to FIG. 10 at the extended position of the slide unit, and the portion marked with a dashed-dotted line is expanded and simulated separately.

The robot indicated by the reference number 1 comprises a support structure 2 which is only schematically implied and a robot arm 3 fixed to the support structure 2. Using the support structure 2, the robot arm 3 can move in a plurality of degrees of freedom.

Exemplarily, the support structure 2 includes a support part 4 and a support arm 5 that is rotatably supported on the support part 4. The support arm 5 protrudes upward starting from the support 4. The base 4 is fixed to the floor 6.

The support arm 5 is relatively rotatable with respect to the support portion 4 around the first rotation shaft 7. The robot arm 3 is supported by the support arm 5 so as to be rotatable around the second rotational shaft 8. In this embodiment, both rotation shafts 7 and 8 extend horizontally and parallel to each other. The rotational movement 12 of the support arm 5 relative to the abutment 4 indicated by a double arrow can be caused by the first drive device 13 indicated by a broken line. Likewise by means of a second driving device 14 indicated by a broken line, the robot arm 3 can be driven around the second axis of rotation 8 for a rotational movement 15 indicated by a double arrow.

Preferably, the support structure 2 is formed such that the robot arm 3 is also rotatable around the third vertical axis of rotation 9. The associated rotational motion (16) is indicated by the double arrows. The third rotation shaft 9 includes a base 4a in which the base 4 is fixed to the floor 6, and the rotation 4b of the base 4 is rotatably supported. In this case, the support arm 5 is supported by the rotating part 4b while defining the first rotating shaft 7. The third driving device 17 assigned to the support part 4 is implied by a broken line, through which a rotational motion 16 may be generated around the third rotational shaft 9.

The manner in which the shown supporting structure 2 is formed is very advantageous. However, support structures 2 of different designs are likewise possible.

The robot arm 3 includes an arm member, which is referred to as an expandable arm member 18 with a built-in stretching function. The elastic arm member 18 includes an imaginary main axis 22 indicated by a dashed line, and this main axis indicates the longitudinal axis of the elastic arm member 18.

The telescopic arm member 18 includes a rigid post structure 23. The post structure 23 is preferably formed in a tubular shape. The longitudinal axis of the post structure 23 coincides with the main axis 22.

The robot arm 3 is connected to the support structure 2 through the support structure 23 of the telescopic arm member 18. This connection is made so that, by way of example, the second rotation shaft 8 is created.

The telescopic arm member 18 preferably refers to a single arm member of the robot arm 3. Basically, the robot arm 3 may include a plurality of arm members that are connected to each other in an articulated manner, and one of these arm members is formed by an elastic arm member 18. In this case, the support structure 23 of the telescopic arm member 18 may be connected to the support structure 2 by connecting another arm member in the middle.

The axial direction of the main axis 22 is also referred to as the main axis direction 22 hereinafter. The elastic arm member 18 includes a front shaft end region 24 facing the main axial direction 22 and a rear shaft end region 25 opposite thereto. Within the front shaft end region 24 the telescopic arm member 18 comprises an assembly interface 26, which is formed for attachment of an additional robotic part 27.

In the figure an additional robotic part 27 is schematically illustrated, pointing to the end device support 27a. The end device support 27a comprises an end device interface, in which the end device 27b can be assembled or has been assembled, which is only schematically implied in a detachable manner. The end device 27b is in particular formed as a grip device. The gripping device can be used to grip, reposition and reposition objects.

The end device support 27a may include at least one built-in inherent degree of freedom, which allows the end device 27b to be rotated relative to the end device support 27a.

The additional robotic part 27 may be directly an end device 27b. The assembly interface 26 in this case directly functions as an end device interface.

The telescopic arm member 18 includes an telescopic unit 28 composed of a plurality of parts in addition to the post structure 23. The telescopic unit 28 extends inside the tubular post structure 23 in a suitable manner.

The telescopic unit 28 is rotatable about the rotational shaft 32 relative to the post structure 23 as a whole, and this rotational axis is referred to as the main rotational shaft 32 for better classification. This main rotational shaft 32 extends in the main axial direction 22. The main axis of rotation coincides with the longitudinal axis of the post structure 23 in a suitable manner.

The telescopic unit 28 includes a base unit 33. In this base unit 33, the expansion unit 28 is supported by rotation in the post structure 23. In the main axial direction 22 the base unit 33 is relatively immovable with respect to the post structure 23.

For rotational support in relation to the post structure 23, the base unit 33 has a front rotational bearing portion 34 assigned to the front shaft end area 24 and a rear rotational bearing assigned to the rear shaft end area 25. Includes part 35. The rotary bearing parts 34 and 35 are formed in particular of an annular rolling or sliding bearing arranged coaxially with respect to the main rotary shaft 32.

The two rotary bearing portions 34 and 35 are rigidly connected to each other through a linear guide portion 36 of the base unit 33. The linear guide part 36 is preferably formed in a plate shape.

The telescopic arm member 18 includes a rotation drive device 38, which is shown only in some of the figures. The rotation drive device 38, depending on the driving method, allows this rotation drive device to drive the base unit 33 and thereby the entire telescopic unit 28 for the working rotational motion 42 around the main rotation shaft 32. It is connected with the base unit 33 in a possible manner, this working rotational movement is implied by a double arrow. The working rotational motion 42 is bi-directional and can optionally be oriented clockwise or counterclockwise.

The rotation drive device 38 is preferably arranged externally to the strut structure 23 within the rear shaft end region 35. The rotation drive device 38 is preferably fixed to the post structure 23 via a flange plate 43.

Preferably, the base unit 33 comprises a drive shaft 44, which protrudes from the post structure 23 in the rear shaft end region 25. The drive shaft 44 and the rotation drive device 38 are coupled according to a driving method. This is done via the transmission 45 in a suitable manner. Shifting may be implemented through the transmission 45.

Illustratively, as the transmission 45, a belt transmission 45a is provided. Such a belt transmission 45 is. The timing belt 46 is implemented by being wound around the first toothed wheel 46a of the rotary drive device 38 and around the second toothed wheel 46b seated on the drive shaft 44. The rotation drive device 38 can drive the first toothed wheel 46a for a rotation drive motion 47 exemplified by a double arrow in both rotation directions, and this rotation drive motion is controlled through the timing belt 46. It is transmitted to the two-toothed wheel 46b and thereby to the base unit 33. In this way the working rotational movement 42 can be caused.

The rotary drive device 38 is of the type electrically operable in a suitable manner. In an embodiment, the rotation drive device is formed by a servo motor. The rotation drive can be controlled according to the drive mode by the electronic control unit 48 of the robot 1, which is only schematically implied.

Preferably, an encoder is assigned to the rotation drive device 38, and this encoder likewise communicates with the electronic control unit 48, and transmits information about the temporary rotation position of the telescopic unit 28 to the electronic control unit 48. send. In this way, the determination of the rotational position of the telescopic unit 28 in relation to the post structure 23 can be accurately controlled.

The expansion and contraction unit 28 includes a slide unit 37 as an additional component, and the slide unit is supported movably in the base unit 33, so that it is relatively in the main axial direction 22 with respect to the base unit 33. Linear motion can be performed. This linear motion is referred to as stretching motion 52 and is illustrated by a double arrow. Since the base unit 33 is disposed on the post structure 23 so as not to be movable in the axial direction, the extension movement 52 of the slide unit 37 is performed relative to the post structure 23 as well.

The slide unit 37 is movably supported in relation to the base unit 33 is performed by way of example in the linear guide portion 36 of the base unit 33.

The assembly interface 26 is located on the slide unit 37. Thus, the assembly interface 26 is directly accompanied by the stretching movement 52.

In order to produce the telescopic motion 52, the telescopic arm member is provided with a linear drive 53. The linear drive 53 is a component of the telescopic unit 28 in a suitable manner, so that this linear drive is always accompanied by the working rotational movement 42.

The slide unit 37 includes the possibility of movement in the main axis direction 22 as a single degree of freedom of movement relative to the base unit 33. The slide unit 37 is arranged in the base unit 33 so as not to be particularly rotatable. The same applies to the assembly interface, which is a fixed component of the slide unit 37.

The slide unit 37 is preferably formed to be stretchable in two stages. To this end, the slide unit includes an outer slide 54 and an inner slide 55. The two slides 54 and 55 are movable in the main axial direction 22 relative to each other and relative to the base unit 33 respectively.

Specifically, the inner slide 55 is movably supported in the base unit 33, while the outer slide 54 is movably supported in the inner slide 55. The inner slide 54 is supported to be movable in the linear guide part 36. Exemplarily, a plurality of axial first linear guide units 56 spaced apart from each other are fixedly attached to the linear guide part 36, and first guide rails 57 extend within these first linear guide units. And, the first guide rails extend in the main axial direction 22 and are mounted on the inner slide 55.

A plurality of second linear guide units 58 are mounted on the outer slide 54, the second guide rails 59 extend within these second linear guide units, and these second guide rails are again the inner slide By being disposed on 55, the outer slide 54 is supported so as to be movable on the inner slide 55.

Preferably, the inner slide 55 is formed in a block shape. In an embodiment, the inner slide comprises an outline of an elongated cuboid. The first and second guide rails 57 and 59 are mounted on the outer surface of the block-type inner slide 55. These guide rails each extend in a suitable manner over the entire axial length of the inner slide 55.

The assembly interface 26 is located on the outer slide 54. The assembly interface is formed in this position in particular on the front side pointing to the main axial direction 22.

The linear drive device 53 is sandwiched between the base unit 33 and the outer slide 54 according to the driving method, so that the linear drive device introduces a driving force related to the slide unit 37 into the outer slide 54. . The inner slide 55 functions only to increase the maximum stroke between the entered position with respect to the post structure 23 and the extended position with respect to the post structure 23, and the axis of the telescopic arm member 18 The direction length is relatively short at the entry position.

The base unit 33 extends between the front axial end region 24 and the rear axial end region 25 within the tubular post structure 23. In the entry position of the slide unit 37, which can be seen from FIGS. 3, 7 and 10, for example, the inner slide 55 and the outer slide 54 are at least substantially entered into the tubular post structure 23. Accordingly, the axial length of the telescopic arm member 18 in the entering state of the slide unit 37 is substantially limited to the axial length of the post structure 23.

In the entry position of the slide unit 37, the base unit 33 and the two slides 54, 55 overlap in the axial direction. The slide unit 37 is disposed at least substantially at the same axial height as the base unit 33.

In the extended position of the slide unit 37, a maximum axial distance is provided between the assembly interface 26 and the post structure 23. This state is illustrated in FIGS. 9 and 11, for example. In this exit position, the inner slide 55 overlaps with the base unit 33 as well as the outer slide 54. Illustratively, the rear half of the inner slide 55 extends along the base unit 33, while the front half of the inner slide 55 extends along the outer slide 54.

In an intermediate position between the entry and exit positions of the slide unit 37, the inner slide 55 may occupy different relative positions with respect to the base unit 33 and the outer slide 54. For example, a central intermediate position as seen from FIG. 8 is possible. In this intermediate position, the outer slide 54 is advanced by half of the post structure 23, and the inner slide 55 has its entire length from the longitudinal side. It extends next to the outer slide 54.

The outer slide 54 includes a front slide end 62 pointing forward in the main axial direction 22. The front slide end 62 is formed in a plate shape or a disk shape, for example. The assembly interface 26 is formed in a suitable manner at the front slide end 62, the assembly interface comprising, for example, an assembly surface located towards the leading end from the strut structure 23 in the axial direction and a plurality of assembly bores formed in this assembly surface. do. The additional robotic part 27 is seated on this assembly surface and can be releasably screwed using assembly bores.

The outer slide 54 is profiled substantially U-shaped in a suitable manner. The U-shaped profiling relates to the main part 63 of the outer slide 54, which starts from the front slide end 62 and extends the rear axial end region 25 of the telescopic arm member 18 in the axial direction. It extends in the direction it faces. The U-shaped cross section of the main part 63 can be satisfactorily confirmed in FIG. 6.

A trough-shaped recess 64 is created from the U-shaped profiling, and this trough-shaped recess extends in the longitudinal direction of the outer slide 54. In the trough-shaped recess 64, the inner slide 55 is immersed in the axial direction. The length of the inner slide 55 which is immersed in the trough-shaped recess 64 is partially enclosed in a tab manner by the main part 63 around the outer periphery of this length. This shape is due to the arrangement in the entry position of the slide unit 36 already described, in which the base unit 33 and the two slides 54, 55 are entered coaxially with each other with substantially the same length. .

In the entry position of the slide unit the slide unit 37 is received in a suitable manner at least substantially completely inside the tubular post structure 23.

In the entry position of the slide unit 37, the assembly interface 26 occupies the entry stroke position. At the exit position of the slide unit 37, the assembly interface 26 occupies the exit stroke position. The assembly interface 26 at the intermediate positions of the slide unit 37 occupies an intermediate stroke position, respectively.

The linear drive device 53 comprises a first linear drive component 65 fixed to the base unit 33. Preferably, the first linear drive part 65 is fixed to the rear rotating bearing portion 35 of the base unit 33 in the rear shaft end region 25 of the telescopic arm member 18.

The linear drive device 53 further comprises a second linear drive component 66, which is fixed to a component of the slide unit 37 comprising an assembly interface 26. In the two-stage stretchable slide unit 37 according to this embodiment, the second linear drive component 66 is fixed to the outer slide 54, because the assembly interface 26 is disposed on the outer slide 54. . According to the embodiment, and preferably, the second linear drive part 66 is fixed to the front slide end 62 of the outer slide 54.

As the linear drive device 53 is actuated, the second linear drive component 66 can be driven for a linear drive motion 67 indicated by a double arrow. The linear drive motion 67 proceeds in the main axial direction 22 and is possible in both axial directions. The linear drive motion 67 of the second linear drive component 66 is a relative motion associated with the first linear drive component 65.

The stretching motion 52 is caused directly from the linear drive motion 67, which in turn causes the stroke motion 68 of the assembly interface 26 to occur simultaneously in the same direction. The assembly interface 26 can optionally be positioned at the entry or exit stroke position or any intermediate stroke position by the stroke movement 68.

Illustratively, the linear drive device 53 extends between the rear rotating bearing portion 65 and the front slide end 62 in the interior of the telescopic unit 28. The linear drive device extends axially through the inner slide 55, which for this purpose is pierced in the axial direction by a channel-shaped hollow 72.

As can be seen from FIGS. 7 and 10, the slide unit 37 is positioned at least substantially the same axial height as the linear drive 53 in the entry position. At this time, the linear drive device 53 is at least partially surrounded outside the radius by the slide unit 37.

The axial length of the first linear drive part 65 corresponds in a suitable manner to the axial length of the base unit 33. The axial relative position between the first linear drive component 65 and the base unit 33 is always constant.

The second linear drive component 66 is slightly longer than the first linear drive component 65. The second linear drive component 66 may occupy a position entered into the first linear drive component 65 and a position exited from the second linear drive component 66 in the embodiment. Similarly, intermediate positions are possible. In each position, the first linear drive part 65 protrudes from the first linear drive part 65 using the front fixation part 73, wherein the first linear drive part uses the front fixation part 73 It is fixed to the front slide end 62.

The linear drive device 53 may basically be of an electrically operable type. Of course, preferably, the linear drive device is formed of a pneumatic linear drive device 53 operated using compressed air. This corresponds to the illustrated embodiment.

The exemplary pneumatic linear drive device 53 is formed from a pneumatic cylinder 53a. The first linear drive component 65 is formed by a cylinder housing 65a. The second linear drive component 66 is composed of a drive assembly 66a comprising a drive piston 74 and a piston rod 75 mounted on the drive piston 74. The drive piston 74 is located in the cylinder housing 65a, which seals the inner space of the cylinder housing 65a and divides it into a rear drive chamber 76 and a front drive chamber 77 in the axial direction. This can be seen very well in the enlarged view of FIG. 7.

The piston rod 75 is mounted on the driving piston 74, the piston rod protruding from the front side of the cylinder housing 65a, and fixed to the outer slide 54 using the outer end of the piston rod, such a piston rod The outer end of the to form a front fixing portion (73).

Both drive chambers 76 and 77 are connected to one of the two air channels 76a and 77a, respectively. Both air channels 76a and 77a pass through the telescopic unit 28 and extend into the drive shaft 44. A pneumatic coupling portion 78 is assigned to the drive shaft 44, and through this pneumatic coupling portion, compressed air supply and compressed air exhaust are possible in relation to each of the air channels 76a and 77a on both sides. In this way, compressed air can be controlled and supplied to both drive chambers 76 and 77, thereby acting on the drive piston 74 to cause a linear drive motion 67 of the drive assembly 66a.

In connection with the pneumatic coupling 78, the drive shaft 44 also serves as the coupling shaft 82 at the same time. Both air channels 76a and 77a are terminated at the radial outer surface of the coupling shaft 62 by a mutual shaft distance, and one of two annular grooves formed in the coupling sleeve 83 of the pneumatic coupling portion 78 and Each communicates. The coupling sleeve 83 is fitted on the coupling shaft 82 so as not to be movable in the axial direction, and the coupling shaft 82 is rotatable within the coupling sleeve 83.

When the stretching unit 28 performs the working rotational movement 42, the engaging shaft 82 is rotated within the engaging sleeve 83, which does not rotate.

The coupling sleeve 83 has two compressed air connections 84, each of which communicates with one of the annular grooves of the coupling sleeve 83 described above. The compressed air connections 84 are formed so that the compressed air tubes 85 can be fixed to these compressed air connections.

The pneumatic coupling portion 78 serves to connect each of the compressed air connections 84 on both sides to one of the air channels 76a and 77a continuously regardless of the rotational position of the expansion unit 28.

The compressed air tubes 85 reach a valve arrangement 86 which is implied in FIG. 1 and is electrically operable. The valve device 86 is connected to a compressed air source and atmosphere. The valve device 86 is electrically connected to the electronic control device 48 and can be operated by this electronic control unit 48 to supply the desired controlled compressed air to both drive chambers 76 and 77. have.

Unlike the illustrated preferred embodiment, the slide unit 77 can be implemented to be stretchable and contractible only in one stage. In this case, the slide unit includes an outer slide 54 as a single slide, and the outer slide 54 is supported movably in the base unit 33 directly. The configuration is simpler and of course the maximum stroke of the assembly interface 26 is shorter.

The telescopic arm member 18 suitably comprises a position sensing device 87 configured to detect the temporary axial stroke position of the assembly interface 26.

The position sensing device 87 is connected to the electronic control unit 48 according to the diagram of FIG. 1 at least during the driving of the robot 1. The electronic control unit 48 receives position data from the position sensing device 87 regarding the temporary axial stroke position of the assembly interface 26.

The position sensing device 87 is in particular configured such that the axial stroke position of the assembly interface 26 is detected in a non-contact manner.

In the illustrated preferred embodiment, the position sensing device 87 comprises a guide housing 88, which is assembled around the outer radius of the tubular post structure 23. The guide housing 88 includes a longitudinal extension and is aligned parallel to the main axis 22 using the longitudinal axis. The axial length of the guide housing 88 at least corresponds to the maximum stroke of the second linear drive part 66.

The guide housing 88 has a slot formed on the longitudinal side. The guide housing comprises an elongated slot 92 that penetrates radially through the housing wall at any one location around the guide housing. The elongated slot 92 connects the inner space 93 of the guide housing 88 extending longitudinally to the outside of the guide housing 88.

In the inner space 93, the rotor 94 is supported so as to be movable in the axial direction. A driver 95 is mounted on the rotor 94, and this driver passes through the long slot 92 and is connected to the coupling rod 96 from the outside of the guide housing 88, and the coupling rod is attached to the outer slide 54. It is installed.

The rotor 94 forms the engaging member 97 together with the engaging rod 96, and the engaging member is directly accompanied by the stretching motion 52.

The rotor 94 includes a permanent magnet 98. During the stretching movement 52, the permanent magnet 98 moves along with the rotor 94 along a path section, which may be referred to as a position sensing section.

The position sensor 99 of the position sensing device 87 is externally mounted on the guide housing 88, the position sensor includes a longitudinal extension, and the length of the position sensor matches at least the length of the position detection section. For example, the position sensor 99 including a plurality of individual Hall sensors or operating as a magnetostrictive meter may be operated in a non-contact manner through the magnetic field of the permanent magnet 98. The position sensor 99 continuously outputs position data to the signal output unit 100, and this position data corresponds to the temporary stroke position of the assembly interface 26 and is supplied to the electronic control unit 48 through a connection cable. .

The engaging rod 96 is preferably fixed to the front slide end 62 of the outer slide 54. In the entry position of the slide unit 37, the engaging rod 96 extends in parallel next to the guide housing 88 and the position sensor 99. The more the assembly interface 26 is axially spaced from the post structure 23 during the stretching motion 52, the more the coupling rod 96 extends forward past the guide housing 88 and the position sensor 99 do.

The telescopic arm member 18 is controlled by the electronic control unit 48 so that the telescopic unit 28 includes a slide unit 37 and an assembly interface 26 positioned therein to perform a working rotational motion 42. I can. In addition, control may be made so that the slide unit 37 includes the assembly interface 26 to perform the stretching movement 52. The electronic control unit 28 may perform control so that the working rotational motion 42 and the stretching motion 52 occur continuously or simultaneously in time.

Claims (18)

A robot comprising a support structure (2) and a movable robot arm (3) supported by the support structure (2),
The robot arm 3 includes an arm member extending along the virtual main axis 22,
The arm member includes a post structure 23 connected to the support structure 2,
The arm member comprises an assembly interface 26 formed for fixing the additional robot part 27 in the front shaft end region 24,
The arm member is formed of a telescopic arm member 18 including a telescopic unit 28, and the telescopic unit is the post structure 23 by a rotation driving device 38 of the telescopic arm member 18. ) Relative to the main axis of rotation 32, it is possible to drive for a working rotational movement 42,
The main rotation shaft 32 extends in the axial direction of the main shaft 22,
The expansion unit 28 includes a slide unit 37, the assembly interface 26 is disposed on the slide unit, and the slide unit is formed by a linear drive device 53 of the expansion arm member 18. Robot, characterized in that it can be driven for a linear stretching movement (52) in the axial direction of the main shaft (22) relative to the support structure (23). The method of claim 1,
The expansion unit 28 includes a base unit 33, and the base unit is disposed so as not to be movable in the axial direction in relation to the post structure 23,
The expansion unit 28 is rotatably supported in the post structure 23 through the base unit 33 to perform the work rotational motion 42,
The slide unit 37 is disposed so as not to be rotatable in the base unit 33,
The slide unit (37) is a robot, characterized in that it is supported to be linearly movable in the base unit (33) to perform the stretching movement (52). The method of claim 2,
The base unit 33 includes a rear rotation bearing portion 35 and a front rotation bearing portion 34 spaced apart in the axial direction of the main shaft 22 in relation to the rear rotation bearing portion 35,
The base unit 33, in order to enable the working rotational movement 42 of the expansion unit 28, the main rotational shaft 32 by using one of these two rotational bearing parts 34, 35, respectively. ) Is supported by the support structure 23 to be rotatable around,
The linear guide part 36 of the base unit 33 extends between the rear rotation bearing part 35 and the front rotation bearing part 34, and in the linear guide part, relative to the base unit 33 The robot, characterized in that the slide unit (37) is supported to be linearly movable to enable the stretching movement (52) of the slide unit (37). The method of claim 3,
The elastic arm member 18 includes a rear shaft end region 25 opposite to the front shaft end region 24,
The rotation drive device 38 is fixed to the post structure 23 in the rear shaft end region 25 of the elastic arm member 18,
The rotation drive device 38 is in accordance with the driving method within the area of the rear rotational bearing portion 35 of the base unit 33 to generate the working rotational motion 42 of the expansion unit 28 Robot, characterized in that connected to the base unit (33). The method according to any one of claims 2 to 4,
The linear drive device 53 is formed as a component of the expansion unit 28,
The linear drive device 53 has a relatively linear drive motion with respect to the first linear drive component 65 and the first linear drive component 65 fixed to the base unit 33 of the telescopic unit 28 ( 67), including a second linear drive component (66) driveable,
The robot, characterized in that the second linear drive part (66) is fixed to a component of the slide unit (37) comprising the assembly interface (26). The method according to any one of claims 2 to 5,
The slide unit 37 is formed to be expandable and contracted in two stages,
The telescopic unit includes an outer slide 54 and an inner slide 55,
The inner slide 55 is supported to be linearly movable in the base unit 33,
The outer slide 54 is supported to be linearly movable in the inner slide 55,
Robot, characterized in that the outer slide (54) comprises the assembly interface (26). The method of claim 6,
The inner slide (55) is formed in a block shape, is penetrated by a hollow (72) in the axial direction, the linear drive device (53) is a robot, characterized in that extending through the hollow. The method according to claim 6 or 7,
The outer slide 54 is profiled in a substantially U-shape and includes a trough-shaped recess 64, wherein the inner slide 55 is immersed in the axial direction of the main shaft 22. Robot, characterized in that. The method according to any one of claims 1 to 8,
The slide unit 37 is movable between the entry position and the exit position by the stretching movement 52,
The slide unit 37 is disposed at least substantially the same axial height as the linear drive device 53 in the entry position,
Wherein the slide unit (37) at least partially surrounds the linear drive device (53) in a radius outside at the entry position. The method according to any one of claims 1 to 9,
The linear drive device 53 is a robot, characterized in that the type of pneumatically operable using compressed air. The method of claim 10,
The linear drive device 53 is a pneumatic cylinder 53a operable using compressed air, and the pneumatic cylinder is a first linear drive component 65 fixed to the base unit 33 of the telescopic unit 28 And a second linear drive component (66) driveable for a linear drive motion (67) relative to the first linear drive component (65), wherein the first linear drive component (65) comprises a cylinder housing (65a). ), and
The second linear drive component 66 comprises a drive assembly 66a,
The drive assembly (66a) comprises a drive piston (74) and a piston rod (75),
The driving piston 74 is disposed within the cylinder housing 65a, and at this position separates the two driving chambers 76 and 77 from each other, and the driving chambers are used for the expansion and contraction movement 52 of the slide unit 37. ) Can be supplied with compressed air in a controlled manner to cause
The piston rod (75) protrudes from the cylinder housing (65a) and is fixed to a component of the slide unit (37) including the assembly interface (26). The method of claim 10 or 11,
The linear drive device 53 is connected to two air channels 76a, 77a for pneumatic operation of the linear drive device, the air channels extending in the telescopic unit 28, and to the main shaft 22 It ends at the coupling shaft 82 of the expansion unit 28 disposed coaxially with respect to,
The coupling shaft 82 is disposed in the rear shaft end region 25 of the telescopic arm member 18, is accompanied by the working rotational motion 42, and a coupling sleeve 83 on the coupling shaft 82 Is arranged, the coupling sleeve comprises compressed air connections 84 suitable for connection of external compressed air tubes 85,
The coupling shaft 82 is relatively rotatable with respect to the coupling sleeve 83,
Each of the compressed air connections (84) is in continuous communication with one of the two air channels (76a, 77a) irrespective of the working rotational movement (42) of the stretching unit (28). The method according to any one of claims 1 to 12,
Robot, characterized in that the rotation drive device (28) is of an electrically operable type. The method according to any one of claims 1 to 13,
The post structure 23 is formed in a tubular shape,
The telescopic unit (28) is a robot, characterized in that extending within the tubular post structure (23). The method of claim 14,
The telescopic unit (28) is a robot, characterized in that substantially completely accommodated inside the tubular post structure (23) at the entry position of the slide unit (37). The method according to any one of claims 1 to 15,
The telescopic arm member 18 includes a position sensing device 87, wherein the position sensing device detects an axial stroke position occupied by the assembly interface 26 relative to the post structure 23 Robot, characterized in that formed for. The method of claim 16,
The position sensing device 87 includes a guide housing 88 in which a slot is formed longitudinally using an elongated slot 92, and the guide housing is aligned parallel to the main shaft 22 from the outside. It is attached to the structure 23,
A linearly movable rotor 94 is disposed in the guide housing 88, the rotor is connected to the coupling rod 96 through a driver 95 penetrating the elongated slot 92, and the coupling rod It is disposed outside the guide housing 88 and is mounted on a component of the slide unit 37 including the assembly interface 26,
The rotor 94 includes a permanent magnet 98, and the permanent magnet moves along a position detection section together with the rotor 94 during the stretching movement 52 of the slide unit 37, and the guide housing At 88, a position sensor 99 extending along the position detection section of the permanent magnet 98 is disposed from the outside, and the position sensor responds to the permanent magnet 98 in a non-contact manner for position detection. Robot. The method according to any one of claims 1 to 17,
The support structure (2) includes a support (4) and a support arm (5) rotatably supported by the support (4),
The telescopic arm member (18) is a robot, characterized in that the support arm (5) is rotatably supported using the post structure (23) of the telescopic arm member.

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