WO1993007997A1 - Roboter mit direktem antriebssystem - Google Patents
Roboter mit direktem antriebssystem Download PDFInfo
- Publication number
- WO1993007997A1 WO1993007997A1 PCT/CH1992/000217 CH9200217W WO9307997A1 WO 1993007997 A1 WO1993007997 A1 WO 1993007997A1 CH 9200217 W CH9200217 W CH 9200217W WO 9307997 A1 WO9307997 A1 WO 9307997A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- drive
- arm
- hollow column
- robot according
- robot
- Prior art date
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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
- B25J9/107—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms of the froglegs type
Definitions
- the invention relates to an industrial robot, the two main drive systems of which are connected to one another in such a way that they together form a movable parallelogram.
- This parallelogram consists of two joint systems, each consisting of two arms connected by a joint.
- Such an articulation system is firmly connected to the rotor of the drive motor at one arm end and is combined at the other end with the end of the second articulation system to form an end articulation.
- An essential inventive feature now consists in the fact that the two joint systems of the parallelogram are absolutely identical and are mirrored in the motor axis and are movably joined in the end joint.
- the motor arrangement described in which the rotors are screwed directly onto the robot arms, results in the absolutely most direct drive of a robot without any transmission elements and consequently an absolutely backlash-free drive and the best possible positioning of the end effectors.
- Another positive feature of this motor arrangement is that the robot mass to be moved is not additionally loaded by the motors, which is more common in the joints of the joints when the motors are arranged in the usual way Armenden is the case.
- the end effectors to be attached to the end joint such as tools, grippers or other types, may have to be able to be moved and positioned in their vertical as well as in the angular position around the end joint axis.
- One or both functions are performed by a third and fourth motor.
- a drive system is installed inside the robot, namely in the pillar and inside the arm as well as in the joints.
- the special inventive feature of these drive systems is that the motors are mounted at the point where they can be firmly connected to the base plate and thus do not move even when the robot is moving.
- One system drives a bushing in the end joint, to which elements for vertical movement, such as a ball screw or similar elements of the end effectors, are attached and thereby driven.
- the other system drives another bush in the end joint, which can ensure the orientation and positioning of possible end effectors around the end joint axis.
- FIG. 1 shows a view of a robot with the drive motors and the two arm joint systems and a possible end effector.
- FIG. 2 shows a top view of the robot, in particular showing the joint systems.
- FIG. 3 is a partial elevation of the drive part with the motor arrangement, the base plate and the pedestal, and the internal drive.
- FIG. 4 shows a section through an arm joint of the arm joint system.
- FIG. 5 shows a section through the end joint with the driven end effector bushings.
- FIG. 1 shows the robot in its entirety, in particular the symmetrical arrangement of the two motors 5 and the joint systems 1, 2 becomes clear.
- the entire system is screwed onto a base by means of base plate 14.
- An end effector 32 with an upper spindle 33 and a lower straight guide 34 is shown schematically on the outer end joint.
- FIG. 2 shows the robot system from above, and the directions of movement of the elements are indicated in particular by means of arrows.
- FIG. 3 shows in the central crack how the arms 1 of the two articulated arm systems are fastened to the rotors of the motors 5 by means of the screws 6 and can thus be set in rotation about the axis A2.
- the arms 1 are cup-shaped, so that there is space inside for the toothed belt drives, which will be described later.
- the support column 13 is screwed to the flange 11 at the upper end by screws, which are only indicated by the center line thereof, and this is screwed to the stator of the first motor 5 with screws 9.
- the lower end of the pedestal 13 is the same as above, but screwed to the flange 12 and this to the base plate 14 and to the stator of the second motor 5.
- the plate 35 carries the for .
- the internal drive systems provided motors 19 with the pinions 20.
- This plate is attached to the flange 12 and to the base plate 14 by means of spacers 36 and corresponding screws.
- the pinions 20 drive the axis 23 via toothed belt 21 and pinion 24, which is rotatably supported by the bearings 22 in the flange 11 and 12.
- the pinion 25, which is connected to the axle 23 by means of pins, drives the toothed belt pulley 27, which is toothed on the inside and outside, through an opening in the pillar 13 and which can rotate about the pillar 13 by means of the bearings 26.
- the poulie 27 drives the toothed belt 28, which is arranged in the interior of the arm 1.
- a cover 36 is attached, which protects the motor feed lines (not shown) which are guided from below to the upper motor by two protective tubes 15.
- the arm joint shown in section in FIG. 4 shows on the one hand the arm support of arms 1 and 2 and on the other hand the inner toothed belt drive in the joint.
- the arm 1 is screwed to the flange bushing 38 by means of screws 37 and these are rotatably connected to the bolt flange 39 by the bearings 3 and 4.
- the bolt flange 39 is, on the other hand, firmly connected to the arm 2 by the screws 37, so that the arm 2 can rotate freely about the axis AI.
- the toothed belt 28 rotates a double pool system 30, which is composed of different parts only for assembly reasons, with the help of the bearings 29 around the flange sleeve 38 and thus also about the axis AI.
- the upper toothing of the pouly 30 drives a further toothed belt 31, which is arranged in the interior of arm 2.
- the section through the end joint shown in FIG. 5 shows on the one hand the common mounting of the two arms 2 and on the other hand the arrangement of the two drive bushes 18 for the possible end effectors.
- the two arms 2 are rotatably connected to the common bearing bush 8 by the bearings 7, so that they can rotate freely about the axis A3.
- the toothed belt 31 drives the sleeve 18 in each case. This is provided with bearings 16 and 17 and a pinion firmly connected to it and can thus rotate freely about axis A3. Corresponding screw holes are provided in the screw circle of screw 40 to accommodate possible end effectors.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CH3104/91-8 | 1991-10-24 | ||
CH310491A CH684686A5 (de) | 1991-10-24 | 1991-10-24 | Roboter mit direktem Antriebssystem. |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1993007997A1 true WO1993007997A1 (de) | 1993-04-29 |
Family
ID=4248706
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CH1992/000217 WO1993007997A1 (de) | 1991-10-24 | 1992-10-23 | Roboter mit direktem antriebssystem |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP0564617A1 (de) |
AU (1) | AU2765892A (de) |
CH (1) | CH684686A5 (de) |
WO (1) | WO1993007997A1 (de) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6017000A (en) * | 1998-08-02 | 2000-01-25 | Scott; David R. | Apparatus and methods for in-space satellite operations |
WO2009053270A1 (de) | 2007-10-23 | 2009-04-30 | Schaeffler Kg | Manipulator mit dreiringlager zwischen zwei äusseren schwenkarmen und einer plattform |
WO2010025471A1 (en) * | 2008-09-01 | 2010-03-04 | Meadwestvaco Packaging Systems, Llc | Article handling device |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0014768A1 (de) * | 1979-02-15 | 1980-09-03 | INDUSTRIE-WERKE KARLSRUHE AUGSBURG Aktiengesellschaft Zweigniederlassung Keller & Knappich | Vorrichtung zum Handhaben eines an einem Ausleger schwenk- und drehbar angeordneten Werkzeuges |
US4648785A (en) * | 1984-11-19 | 1987-03-10 | Matsushita Electric Industrial Co., Ltd. | Industrial robot employing direct drive operation |
EP0232930A1 (de) * | 1986-01-23 | 1987-08-19 | Koninklijke Philips Electronics N.V. | Manipulator mit Stangenmechanismus |
EP0316998A1 (de) * | 1987-11-13 | 1989-05-24 | Koninklijke Philips Electronics N.V. | Manipulator |
EP0423608A1 (de) * | 1989-10-20 | 1991-04-24 | Applied Materials, Inc. | Biaxialer Roboter mit magnetischer Kupplung |
-
1991
- 1991-10-24 CH CH310491A patent/CH684686A5/de not_active IP Right Cessation
-
1992
- 1992-10-23 AU AU27658/92A patent/AU2765892A/en not_active Abandoned
- 1992-10-23 EP EP19920921420 patent/EP0564617A1/de not_active Withdrawn
- 1992-10-23 WO PCT/CH1992/000217 patent/WO1993007997A1/de not_active Application Discontinuation
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0014768A1 (de) * | 1979-02-15 | 1980-09-03 | INDUSTRIE-WERKE KARLSRUHE AUGSBURG Aktiengesellschaft Zweigniederlassung Keller & Knappich | Vorrichtung zum Handhaben eines an einem Ausleger schwenk- und drehbar angeordneten Werkzeuges |
US4648785A (en) * | 1984-11-19 | 1987-03-10 | Matsushita Electric Industrial Co., Ltd. | Industrial robot employing direct drive operation |
EP0232930A1 (de) * | 1986-01-23 | 1987-08-19 | Koninklijke Philips Electronics N.V. | Manipulator mit Stangenmechanismus |
EP0316998A1 (de) * | 1987-11-13 | 1989-05-24 | Koninklijke Philips Electronics N.V. | Manipulator |
EP0423608A1 (de) * | 1989-10-20 | 1991-04-24 | Applied Materials, Inc. | Biaxialer Roboter mit magnetischer Kupplung |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6017000A (en) * | 1998-08-02 | 2000-01-25 | Scott; David R. | Apparatus and methods for in-space satellite operations |
WO2009053270A1 (de) | 2007-10-23 | 2009-04-30 | Schaeffler Kg | Manipulator mit dreiringlager zwischen zwei äusseren schwenkarmen und einer plattform |
US8628290B2 (en) | 2007-10-23 | 2014-01-14 | Schaeffler Technologies AG & Co. KG | Manipulator having a three-ring bearing between two outer pivot arms and a platform |
DE102007050905B4 (de) * | 2007-10-23 | 2015-08-20 | Schaeffler Technologies AG & Co. KG | Handhabungsvorrichtung mit Dreiringlager zwischen zwei äußeren Schwenkarmen und einer Plattform |
WO2010025471A1 (en) * | 2008-09-01 | 2010-03-04 | Meadwestvaco Packaging Systems, Llc | Article handling device |
Also Published As
Publication number | Publication date |
---|---|
EP0564617A1 (de) | 1993-10-13 |
AU2765892A (en) | 1993-05-21 |
CH684686A5 (de) | 1994-11-30 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
DE102010007631B4 (de) | Parallelroboter mit einem Handgelenkabschnitt mit drei Freiheitsgraden | |
EP0260219B1 (de) | Roboterarm | |
EP2241416B1 (de) | Roboter mit Delta-Kinematik | |
DE3536747C2 (de) | ||
WO2003106114A1 (de) | Parallelmanipulator mit spielelfreien gestrieben | |
EP0232292B1 (de) | Schwenkarmroboter | |
DE3939836A1 (de) | Industrieroboter | |
DE3730873A1 (de) | Elektrischer roboter | |
EP0121843A1 (de) | Robotergelenk | |
DE3447701C2 (de) | ||
EP0129157B1 (de) | Roboterarm | |
DE69833850T2 (de) | Einrichtung zur relativitätsbewegung von zwei elementen | |
EP0462498A2 (de) | Werkzeugmaschine | |
WO1988007437A1 (fr) | Robot industriel | |
WO2007122181A1 (de) | Handhabungsvorrichtung | |
WO1993007997A1 (de) | Roboter mit direktem antriebssystem | |
DE7540045U (de) | Antriebseinheit fuer einen manipulatorarm | |
DE3704951C2 (de) | ||
DE3532265A1 (de) | Gelenkkopf fuer einen industrieroboter | |
DE10032098C2 (de) | Roboterarm | |
DE10330581A1 (de) | Verstellvorrichtung | |
EP0202415B1 (de) | Antriebsvorrichtung zur Erzeugung von Schwenkbewegungen und weiteren Bewegungen | |
EP0218075A1 (de) | Gelenkroboter | |
DE4031716A1 (de) | Antriebseinrichtung fuer einen kraftfahrzeug-rueckblickspiegel | |
DE102017122067A1 (de) | Roboterfräsen |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AU CA JP KR US |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): AT BE CH DE DK ES FR GB GR IE IT LU MC NL SE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1992921420 Country of ref document: EP |
|
WWP | Wipo information: published in national office |
Ref document number: 1992921420 Country of ref document: EP |
|
NENP | Non-entry into the national phase |
Ref country code: CA |
|
WWW | Wipo information: withdrawn in national office |
Ref document number: 1992921420 Country of ref document: EP |