WO1997032695A1

WO1997032695A1 - Robot

Info

Publication number: WO1997032695A1
Application number: PCT/EP1997/001132
Authority: WO
Inventors: Stefan Kerpe
Original assignee: KöRa Verpackungsmaschinen
Priority date: 1996-03-07
Filing date: 1997-03-06
Publication date: 1997-09-12
Also published as: DE19608844B4; AU2024597A; DE19608844A1

Abstract

The invention concerns a robot comprising at least one linear slide which has a drive arrangement connected to a power supply, and at least one toothed belt driven by the drive arrangement. The robot (1) is characterized in that the power is supplied from a first side to the robot (1); and in that the toothed belt is assembled and dismantled from a second side, lying opposite the first side.

Description

Robo ter

description

The invention relates to a robot with at least one linear slide according to the preamble of claim 1.

Robots of the type mentioned here are known. They are used in numerous areas, for example in industrial production but also in the processing industry such as packaging technology.

The toothed belts used for the drive have to be replaced from time to time in order to be able to transmit the required drive forces and also to ensure exact repeatability in the positioning of the robot. Changing the toothed belt involves more or less extensive disassembly of the robot and is therefore very time-consuming and costly.

It is therefore an object of the invention to provide a robot of the type mentioned at the outset which does not have these disadvantages.

This object is achieved with the aid of a robot which has the features mentioned in claim 1. By bringing the energy supply forward and the assembly or disassembly of a toothed belt on opposite sides of the robot takes place, work on the toothed belt can be considerably simplified.

An exemplary embodiment of the robot is particularly preferred in that it is characterized in that the toothed belt is guided around the basic body of the robot. As a result of this quasi-external arrangement of the toothed belt, it can be removed from the robot without major dismantling work, so that the toothed belt can be replaced simply and quickly.

Furthermore, an exemplary embodiment of the robot is preferred which has a manipulator which is driven by the drive device via one to three toothed belts, the drive device for the linear carriage (s) of the robot also being used to drive the manipulator. It is readily apparent that a large number of toothed belts are to be provided in such an embodiment and that their replacement is very easy to carry out in the construction chosen here.

In a further preferred embodiment of the robot, supply lines are provided for the manipulator in order to supply the manipulator with electricity or a gaseous or liquid medium, for example. The supply lines are routed in such a way that they are separated during assembly. disassembly of one or all timing belts is not necessary. The set-up times when replacing a toothed belt can be reduced to a minimum in this way, so that the costs for operating such a robot are relatively low.

Further refinements result from the remaining subclaims.

The invention is explained in more detail with reference to the drawing. Show it

FIG. 1 shows a sketchy perspective view of a robot with two linear slides;

FIG. 2 shows a representation of the robot according to FIG. 1 from a different view;

Figures 3 to 5 sketches for the guidance of the toothed belt within the robot;

Figure 6 is a schematic diagram with respect to the assembly / disassembly of a toothed belt and

7 shows a detailed sketch for the assembly / disassembly of a toothed belt. FIG. 1 schematically shows in perspective a robot 1 which has two linear slides attached to a base element 3, which is designed to be stationary. The first linear slide 5 is movable relative to the base element 3. It can be moved in the longitudinal direction of the elongated base element 3. The second linear slide 7 can also be moved perpendicularly to the first linear slide 5 in the longitudinal direction thereof.

The basic element 3 and the linear slide 5 and 7 form the basic body of the robot. Three toothed belts 9, 11 and 13 are guided around the outside thereof. At each of the four corners of the base element 3 there are three deflection rollers 15 to 19 and 21 to 25 lying one above the other. At the end of the base element 3 facing away from the viewer, six deflection rollers are again provided. On both sides of the end 27 of the first linear slide 5 facing the base element 3, three deflection rollers 29, 31 and 33 are in turn arranged, which serve to guide the toothed belts 9, 11 and 13.

While the deflection rollers 15 to 25 are attached to suitable deflection axes 35 and 37, the deflection rollers 29, 31, 33 and the corresponding opposite deflection rollers are attached to a yoke 39 which is part of a guide device 41, the supply line, not shown here ¬ gene for a manipulator 43 attached to the lower end of the second linear slide 7. At the end of the first linear slide 5 opposite the base element 3, deflection rollers 45, 47 and 49 are again provided in a suitable manner, around which the toothed belts 9, 11 and 13 are guided.

The drive forces for the toothed belts 9, 11 and 13 are provided by a drive device A known per se, which is indicated here by dashed lines at one end of the basic element 3. The drive device A has suitable motors which engage the toothed belts 9, 11 and 13 and introduce the drive forces into them.

The manipulator 43, which can also be referred to as a hand axis, is movable about three axes x, y and z. The ranges of movement are indicated by double arrows x, y and z. The drive forces required for the movement about the x, y and z axes are also provided by the drive device A and transmitted to the manipulator 43 via toothed belts. For reasons of better clarity, only some of the toothed belts, namely toothed belts 9, 11 and 13, are shown here, some of which also serve for the linear movement of linear slides 5 and 7 and for the upward and downward movement of the second linear slide .

The power supply of the drive device A and for the manipulator 43 takes place via a stand 53, by means of which the base element 3 is supported on an underground and anchored there. It is clear from FIG. 1 that the guide device 41 is at a distance a from a lateral boundary surface 55 of the robot 1 or its basic element 3, and also at a lateral distance b and c from the first linear slide 5. The yoke is 39 rigidly connected to the first linear slide 5, so that the distances b and c remain the same even when the second linear slide 7 is displaced.

The second linear slide 7 is coupled to the first linear slide 5 via a second yoke 57, which is also part of the guide device 41. It can also be seen here that lateral distances d and e from the lateral boundary surfaces 59 and 61 of the first linear slide 5 are maintained.

As already indicated, the manipulator 43 can additionally be supplied with electricity, hydraulic fluid or gas. The corresponding supply lines are routed via the guide device 41 and the yoke 57 to the manipulator 43. This guide device 41 has a so-called first energy chain 51, which supports the supply lines during an upward and downward movement of the second linear slide 7 relative to the first linear slide 5.

Furthermore, it can be seen from FIG. 1 that the guide device 41 is at a distance f from the surface 63 of the robot 1. Finally, it is clear from FIG. 1 that the energy supply for the drive device A and for the manipulator 43 which takes place via the stander 53 takes place from below, that is to say from a first side of the robot 1, and that the surface 63 has a second side opposite the first side of the robot 1.

Figure 2 shows the robot 1 from a different view, quasi from a rear view compared to Figure 1. The same parts are provided with the same reference numerals, so that reference can be made to the description for Figure 1. It can be seen from FIG. 2 that, at the end of the base element 3 opposite the drive device A, three deflecting rollers 65 to 69 and 71 to 75 lying one above the other are provided, which are mounted on deflecting axes 77 and 79.

The rear view shows that the guide device 41 runs on the rear side of the basic element 3 at a distance a from the lateral boundary surface 55 and is connected to a second energy chain 81 which is U-shaped between a support 83 inside the basic element 3 runs to the guide device 41.

Accordingly, the end 85 of the yoke 57 facing away from the second linear slide 7 is arranged at a distance d from the rear lateral boundary surface 59 of the first linear slide 5 and forms an abutment for a further energy chain 87, the U- runs between a support 89 and the yoke 57.

Supply lines for the manipulator 43 (not visible in FIG. 2) run from the stander 53 via the energy chain 81 of the guide device 41 to the yoke 39, from this to the energy chain 87 and via the yoke 57 to the energy chain 51 in the second linear slide 7 and run in this to the manipulator 43. By means of the U-shaped guidance of the three energy chains 81, 57 and 51, the first linear slide 5 can be moved along the base element 3, the second linear slide 7 in the longitudinal direction along the first linear slide 5 and perpendicularly to the latter, with a constant guidance the supply lines for the manipulator 43 is ensured. The energy chains also ensure that the supply lines for the manipulator are protected against mechanical influences.

FIG. 3 shows a schematic diagram from which it can be seen how a toothed belt is to be guided within the robot in order to realize a movement of the first linear slide 5 relative to the base element 3. The second linear slide 7 is attached, for example, to a fastening element 91 on which the ends of a toothed belt ZR are fastened. If the toothed belt is now moved back and forth by the drive device A indicated here, it rotates around the base element 3, at whose four corners deflection rollers U are provided on the outside. In the connection area 93 between the first A suitable guide can be provided for linear slide 5 and base element 3. As can be seen from FIG. 1, a yoke 39 is provided on the end of the first linear slide 5 facing the base element 3, on which in turn deflection rollers U 'are attached. The toothed belt ZR. ^ Runs through the yoke 39, specifically within the deflecting roller U 'and along the outer boundary surfaces of the first linear slide 5 up to its end facing away from the base element 3, where a deflecting roller U''is located. The toothed belt ZR- ^ thus forms a closed loop, which runs around the outside of the basic body of the robot 1 and into which the drive forces are fed via the drive device A, which lead to a relative movement of the second linear slide 7 along the path indicated by a double arrow 95 Longitudinal direction of the first linear slide 5 leads.

To complete the robot 1, the stand 53 is indicated here, via which the robot 1 is fastened to the ground and via which the energy supply for the drive device A and supply lines for the manipulator 43 (not shown here) are introduced into the robot 1 become.

A toothed belt can also be used to move the first linear slide 5 back and forth relative to the base element 3, which is indicated by a double arrow 97 placed in brackets. For this purpose, the toothed belt ZR- _{j ^ is,} for example, attached to the yoke 39, which is rigid with the first linear slide 5 is connected. If forces are introduced into the toothed belt ZRη _^ by the drive device A, the first linear slide 5 moves along the base element 3.

FIG. 4 again shows a schematic diagram, with the aid of which it will be explained how a relative movement of the second linear slide 7 perpendicular to the longitudinal extent of the first linear slide 5 can be realized. The same parts are again provided with the same reference numbers, so that reference is made to the description, in particular of FIG. 3. A toothed belt ZR ₂ is guided around the base body 3 of the robot 1 with the aid of deflection rollers U. It runs in a U-shape between two deflecting rollers U 'in the longitudinal direction of the first linear slide 5, at the end of which facing away from the yoke 39 a deflecting roller U''is provided. Instead of the fastening element 91, a deflection frame 99 is provided here, on which two deflection rollers 101 are attached, the center axes of which are arranged parallel to those of the deflection rollers U, U ¹ and U ″. The toothed belt ZR _{2 is} passed between the deflection rollers 101, so that a U-shaped loop is formed which is guided around a drive wheel 103. This is part of a deflection gear 105 that has an output gear 107, over which a toothed belt 109 is guided, which is fastened to the second linear slide 7. Deflection rollers 111 are provided on the deflection frame 99, which ensure that the toothed belt 109 forms a U-shaped loop over the driven wheel 107 so that the drive device A into the toothed belt ZR ₂ Driving forces introduced via the deflecting gear 105 are introduced into the driven wheel 107 and the second linear slide 7, as indicated by a double arrow 113, is moved up or down relative to the first linear slide 5, this movement being perpendicular to the longitudinal axis stretching of the first linear slide 5 takes place.

The schematic diagram in FIG. 5 shows how drive forces can be introduced from a drive device A into a driven shaft 115 via a toothed belt ZR ₃ , which is coupled to a drive wheel 103 '. The toothed belt is guided here via deflection rollers 101 "of a deflection frame 99 'in a U-shape over the drive wheel 103, so that the forces introduced into the toothed belt ZR ₃ lead to a rotation of the drive shaft 115.

It is readily apparent from FIG. 5 that a plurality, preferably three, of such shafts 115 can be accommodated in the second linear slide 7 in order to provide a three-axis manipulator with drive forces via the drive device A. The rotational movement of the shaft 115 is indicated by a double arrow 117.

With a corresponding mounting of drive shafts 115 in the second linear slide 7, the latter can, as explained with reference to FIG. 4, perform an up and down movement according to the double arrow 113, while the three drive shafts 115 within the second linear slide 7 can be acted upon independently of each other by driving forces. From the explanations for Figures 3, 4 and 5 it can be seen that all movements can be superimposed and caused by one and the same drive device A. This has a corresponding number of drive motors, with each toothed belt preferably having its own motor and these being decoupled as far as possible in order to achieve independent movement of all parts. A relative movement between the first linear slide 5 and the base element 3 can thus take place simultaneously with a relative movement of the second linear slide 7 with respect to the first linear bed, the relative movement of the second linear slide 7 in the direction of the longitudinal axis of the first linear slide 5 and vertically can be done. At the same time, one or more drive shafts within the second linear slide 7, which are coupled to the manipulator 43, can be driven independently of one another in both directions of rotation.

With the help of FIG. 6, it will be explained how a toothed belt can be changed. The toothed belt ZR ₃ shown in FIG. 5 is shown as an example in FIG. In this figure, further parts of the guide device 41 are entered in addition to the yoke 57 to complete the illustration.

Arrows indicate how to remove the ZR ₃ toothed belt. After the toothed belt has relaxed, it is lifted off the outer deflection rollers U of the base element 3, and also from the deflection roller U ″ at the end of the first linear slide 5. In addition, the toothed belt ZR _{3 is} drive wheel 103 'lifted and removed over the upper end of the output shaft 115'. Since the guide device 41 is arranged at a distance from the lateral boundary surfaces of the robot 1 and is also at a distance from the surface 63 of the robot 1, the toothed belt can also between the yoke elements and the lateral boundary walls of the robot are led out through the interspace between the yoke elements and the surface 63. It is particularly advantageous that, after the toothed belt has been relaxed, it can be completely lifted off the robot, namely via its upper side, that is to say over the side opposite the stator 53. Thus, while the energy supply to the drive device A and the supply lines for the manipulator 43 are introduced into the robot 1 from below, the toothed belt can be lifted upwards without the robot 1 having to be disassembled.

FIG. 7 shows a section from FIG. 6, namely the upper end of the output shaft 115 ', which is driven via a deflection roller 103'. At the upper end of the shaft 115 'a bearing device 119 is provided which comprises a bearing 121 which can be plugged onto the upper end and an associated bearing plate 123. Various assembly / disassembly steps can be seen in FIG. 7:

In the assembled state, the toothed belt ZR _{3 is placed} over the drive wheel 103 'with a suitable pretension. He is from the pulleys 111 'led. A tension-relieved or relaxed arrangement of the toothed belt is shown by a dash-dotted line. It can be seen that the toothed belt can be guided loosely over the drive wheel 103 '. When the toothed belt is further relaxed, one end of this toothed belt, as indicated by the bold double arrow 125, can be guided over the free end of the shaft 115 'and pulled off. With a correspondingly stable mounting of the shaft 115, the bearing device 119 can be dispensed with and thus also the removable bearing 121. However, for reasons of improved, safe guidance of the shaft 115 ', its upper end can also be provided, provided that this As can be seen from FIG. 7, it is designed to be removable so that a loop of the toothed belt can be lifted over the free end of the shaft 115 'in order to mount or dismantle the toothed belt.

The following can be seen from the above:

Because the toothed belts of the robot 1 are assembled or disassembled from the side opposite the energy supply of the drive device A, all of the energy supply lines for the drive device and the supply lines for the manipulator 43 can remain unchanged. In particular, there is no need to separate such lines in order to install or remove the toothed belt. It is only necessary to outside the toothed belt around the base body of the robot, which through the base element 3 and at least one linear slide, formed here by the two linear slides 5 and 7, is demon¬ even in the transition area between the basic element 3 and the first linear slide 5 or between the first linear chute 5 and the second linear slide 7 days of the toothed belt easily possible, without requiring disassembly of the robot 1. From Figure 3 it can be seen that the toothed belt can be ZR ^'• lifted and between the diverting pulleys U' over the guide roller U pulled out. Then the toothed belt ZR- ^ can be lifted up freely from the base element 3. Accordingly, in a configuration according to FIG. 4, the toothed belt can be lifted off the drive wheel 103 and pulled out between the deflection rollers 101, so that the U-shaped loop is smoothed, that is, it is omitted. Then the toothed belt ZR ₂ can be lifted over the deflection roller U ″ at the end of the first linear slide 5 and then pulled out between the deflection rollers U ′ on the yoke 39. As soon as this has taken place, the complete toothed belt ZR ₂ can be completely lifted off the basic element 3 of the robot 1 without the need to disassemble the robot.

FIG. 6 clearly shows once again that a toothed belt, here for example the ZR ₃ toothed belt, can be easily removed. It can be lifted over the deflection roller U ' ^{• of} the first linear slide 5, as well as from the drive wheel 103' of the second linear slide 7. It is lifted over the free end of the shaft 115 ', as was shown in FIG. The U-shaped loop of the tooth belt mens ZR ₃ can then be pulled out between the pulleys 111 '. The resulting free ends of the toothed belt are pulled through the space between the yoke 57 and the surface 63 of the robot 1, not shown here, the lateral free distance d and e of the yoke 57 from the first linear slide 5 being decisive for easy assembly .

The free end of the toothed belt ZR ₃ now lying on the surface 63 of the first linear slide 5 can be pulled through the yoke 39 so that the U-shaped loop between the deflection rollers U 'can be removed. In addition, the free end of the toothed belt ZR ₃ can be lifted off from the deflection rollers U of the base element 3 opposite the drive device A. The resulting free loop can be pulled between the guide device 41 and the surface 63 of the robot 1. Finally, the toothed belt ZR _{3 is} lifted off the deflection rollers U, which are provided in the area of the drive device A. The toothed belt ZR3 is completely removed. The timing belt is installed in the reverse order. It is not necessary to remove any parts of the robot 1 during installation or removal.

It is decisive for the free assembly / disassembly of the toothed belt or the toothed belt of the robot 1 that the energy supply and the assembly take place from opposite sides. It is therefore straightforward it is possible to design the robot in a hanging design, that is to say to fasten the stand 53 to a suitable carrying device, for example a ceiling beam, and to hang the robot 1 or the basic element 3 on it. In such a case, the power supply of the drive device and that of the manipulator 43 takes place from above, while toothed belts of the robot are installed and removed from below. Due to the fact that the toothed belt is guided around the outside of the basic body of the robot, it is very easy to change the toothed belt. This is the case regardless of whether the robot has one or two linear slides. The version shown here is designed with two linear slides as an example. In principle, it is also conceivable to provide more complex structures with more than two linear slides.

In addition, it is possible not only to design the linear slide 5 to be movable along the longitudinal direction of the base element 3, it is also conceivable to make it displaceable perpendicular to the longitudinal extension of the base element.

The description of FIGS. 1 to 7 also showed that three drivable axes can be provided for the manipulator and that in addition supply lines for electricity, hydraulic fluid or a gaseous medium can also be led to the manipulator without the advantages of the technical solution described here. It is guaranteed that dental belt of the robot can be easily installed and removed.

Instead of toothed belts, any other belt or bar-shaped drive devices can also be used. In all cases there is the advantage described that assembly / disassembly of the drive devices is easily possible without disassembling the robot.

Claims

Expectations

1. Robot with at least one linear slide, with a drive device connected to an energy supply and with at least one of the drive device. driven toothed belt, characterized in that the energy supply is brought from a first side to the robot (1), and that the toothed belt is assembled and disassembled from a second side which is opposite the first side.

2. Robot according to claim 1, characterized in that the toothed belt can be assembled and disassembled without separating the energy supply.

3. Robot according to claim 1 or 2, characterized gekenn¬ characterized in that the toothed belt is guided around the base body of the robot (1).

4. Robot according to one of the preceding claims, characterized in that two linear slides (5,7) are provided.

5. Robot according to claim 4, characterized in that the first linear slide (5) on a statio¬ nary carrier (base element (3)) can be guided along.

6. Robot according to claim 4 or 5, characterized gekenn¬ characterized in that the second linear slide (7) on the first linear shells (5) can be guided along.

7. Robot according to one of claims 4 to 6, characterized in that the second linear slide (7) is movable perpendicular to the longitudinal extension of the first linear slide (5).

8. Robot according to one of the preceding claims, characterized in that a manipulator (43) is provided which is mounted in one of the linear carriages (5, 7), preferably at the end of the second linear carriage (7).

9. Robot according to claim 8, characterized in that the drive device (A) also provides the driving forces for the manipulator (43).

10. Robot according to one of claims 8 or 9, da¬ characterized in that the driving forces from the drive device (A) to the manipulator (43) are transmitted via at least one, preferably three toothed belts.

11. Robot according to one of claims 8 to 10, characterized in that the manipulator (43) is supplied with electricity, a gaseous and / or a liquid medium.

12. Robot according to claim 11, characterized gekennzeich¬ net that the supply lines to the manipulator (43) is associated with a guide device (41).

13. Robot according to claim 12, characterized gekennzeich¬ net that the guide device (41) at a distance (a) to the lateral boundary surface (55) of the robot (1) is guided along.

14. Robot according to one of the preceding claims, characterized in that the guide device (41) is guided at a distance (f) from a boundary surface (surface (63)) opposite the first side.

15. Robot according to one of the preceding claims, characterized in that each linear slide (5, 7) is assigned at least one energy chain (51, 81, 87).

16. Robot according to one of the preceding claims, characterized in that the supply lines are guided in such a way that a separation in the assembly / disassembly of one or all toothed belts is not necessary.