WO2004080666A1 - Systeme d'accouplement destine a un accouplement telecommande et desacoupplement d'un robot dote d'un element d'etancheite - Google Patents

Systeme d'accouplement destine a un accouplement telecommande et desacoupplement d'un robot dote d'un element d'etancheite Download PDF

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Publication number
WO2004080666A1
WO2004080666A1 PCT/EP2004/002597 EP2004002597W WO2004080666A1 WO 2004080666 A1 WO2004080666 A1 WO 2004080666A1 EP 2004002597 W EP2004002597 W EP 2004002597W WO 2004080666 A1 WO2004080666 A1 WO 2004080666A1
Authority
WO
WIPO (PCT)
Prior art keywords
coupling
robot hand
actuating element
coupling system
locking
Prior art date
Application number
PCT/EP2004/002597
Other languages
German (de)
English (en)
Inventor
Karl-Heinz Konert
Berthold Kampen
Bernhard Oelerich
Heinrich Dropmann
Reinhard Nadicksbernd
Original Assignee
Schlick Roto-Jet Maschinenbau Gesellschaft Mit Beschränkter Haftung
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Schlick Roto-Jet Maschinenbau Gesellschaft Mit Beschränkter Haftung filed Critical Schlick Roto-Jet Maschinenbau Gesellschaft Mit Beschränkter Haftung
Publication of WO2004080666A1 publication Critical patent/WO2004080666A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J21/00—Chambers provided with manipulation devices

Definitions

  • Coupling system for the remote-controlled coupling and uncoupling of a robot with a seal
  • the invention relates to a coupling system for the remotely operable coupling and uncoupling of a robot hand with a sealing element for sealing a recess in a working chamber wall with respect to the robot hand engaging therein, which comprises:
  • At least one locking element which is connected to the robot hand and which can be brought into engagement with at least one of the coupling elements via at least one adjusting element.
  • a generic coupling device in a working chamber system in which a robot hand or another manipulator arm engages through a recess in a working chamber. When the robot moves into the working chamber, it is automatically held by the robot hand with the flexible sealing element of the working chamber recess. couples.
  • Such a working chamber system has proven itself. It is particularly advantageous that a secure seal of the robot hand in the leadthrough can be produced and released again automatically, that is to say without assembly activities or other manual interventions.
  • the robot hand can be moved in several degrees of freedom during operation while maintaining the seal within the working chamber. After the work process in the chamber has been completed, the seal can be released remotely so that the robot hand can move freely and can be moved out of the chamber with the workpiece.
  • Another coupling device of the generic type is known from DE 101 62 780 C1, in which the coupling elements are formed by cantilevered edge elements which are fastened to the circumference of the lead-through ring element and have a cantilever edge aligned with the center of the lead-through ring element.
  • the locking elements are to be brought into engagement with the at least one cantilever edge element in each case by insertion by means of adjusting elements under the cantilever edge. This enables a sealing locking of the robot hand with the working chamber in any rotational angular position, based on the level of the extension in the Chamber of Labor.
  • the center of the actuating element lies at least over the angle up to a point further out and in each of which a locking element is guided, which can be moved radially with the rotation of the actuating element and brought into engagement with the coupling element.
  • the robotic hand denotes those end axes of industrial robots and other manipulators on which, for example, a workpiece gripper or a processing tool is to be attached. Due to the joint and simultaneous actuation of all locking elements by the rotation of the annular actuating element, all locking elements move precisely into the coupling elements assigned to you. Malfunctions in locking are largely excluded. Process security and speed are increased.
  • the locking elements are preferably designed as sliding locking elements and have a run-on slope. You then slide under a cantilevered edge of the coupling elements, which also has a run-on slope on the coupling element, so that a positive connection is produced.
  • the crescent-shaped swivel bolt elements known from DE 101 62 780 Cl can also be coupled to the actuating element in the coupling system according to the invention, in particular via connecting rods.
  • this document is referred to in full.
  • the actuating element therefore preferably has a chamfered outer edge and is rotatably mounted on at least three circumferentially arranged guide rollers which are mounted on the locking plate and which are profiled to be compatible with the profile of the outer edge. This represents a simple, easily accessible and sufficiently precise storage.
  • Figure 1 is a front view of a clutch system according to the invention.
  • FIG. 2 shows a detail on the outer edge of the coupling system from FIG. 1;
  • Fig. 4 shows a detail of a blasting chamber with an industrial robot engaging from the outside in a side sectional view.
  • a known working chamber 100 is shown.
  • An industrial robot 200 is arranged outside the working chamber 100.
  • the industrial robot 200 has six axes of rotation 201 ... 206 and thus six degrees of freedom.
  • the 6-axis kinematics enables inside of the working area to move to any point in space in any orientation of the last robot link, for example the robot hand 216 with a workpiece gripper 220.
  • the vertical axis 201 is an axis of rotation about which the entire industrial robot 200 can be rotated relative to a foundation 130.
  • two articulated axes 202, 203 are arranged, with which the so-called upper arm 212 and the lower arm 213 can be inclined.
  • the so-called wrist 205 which is another articulated joint, can be positioned in this way in space.
  • the orientation of the wrist 205 with respect to the forearm 213 can also be changed by an axis of rotation 204.
  • the robot hand 216 with the machining or clamping tool attached to it, for example the workpiece gripper 220, can be rotated via the rotary hand axis 206.
  • the wrist 205 and the robot hand 216 with the workpiece gripper 220 are located within a lead-through ring element 160 which extends through the work chamber wall 110 and represents the rigid end edge of the sealing element 20, and are rigidly coupled thereto ,
  • the bushing ring element 160 is arranged on the central seal of the endless, flexible sealing element 20 as a rigid adapter and is thus connected to the working chamber wall 110 via sealing element 20.
  • Fig. 1 shows the clutch system according to the invention in a view from the front. It essentially consists of a locking plate 150; - An actuating element 140 with locking elements 144, an actuator 148, and a bushing ring element 160 with coupling elements 162.
  • the locking plate 150 is connected in a flange region 152 to the robot hand (not shown here) and is spaced apart from the outer lead-through ring element 160 by an air gap 2.
  • the actuating element 140 is rotatably mounted on the locking plate 150.
  • it preferably has a V-shaped edge chamfered on both sides, which is guided and rotatably supported between at least three guide rollers 154 provided with a corresponding V-shaped notch.
  • the actuating element 140 has a plurality of guide grooves 141 which, starting from a point on a small radius, extend at least over the angle up to a point on a larger radius, ie the groove is oblique to an imaginary secant or a tangent to the circular arc of the actuating element 140 employed.
  • the guide grooves 141 each extend from a point closer to the center of the actuating element at least over an angle at least corresponding to the necessary angle of rotation ⁇ of the actuating element 140 to a point lying further outwards, thereby causing a radial movement of the sliding therein stored bolt element 144 is generated.
  • the locking elements 144 guided in the grooves 141 are moved radially outward by a counterclockwise rotation and inserted into the corresponding coupling elements 162 on the lead-through ring element 160, so that the locking plate 150 is positively locked and lead-through ring element 160 is produced, whereby the robot hand 216 is coupled to the seal 20.
  • the actuation element 140 is rotated via an eccentrically acting actuating element 148, for example a pneumatic cylinder.
  • the locking elements 144 are preferably guided in a sliding guide 156 which is firmly connected to the locking plate 150, in order to be able to engage in an exact position in the coupling elements 162 located opposite the bushing ring element 160. This is particularly important so that radially extending profiles on the locking and coupling elements, which bring about a non-rotatable locking, interlock.
  • the run-up bevels 145, 163 are provided with mutually compatible, radially extending profiles. 3 shows at a glance from the narrow side of the locking element 144 that it has a web 145.1 on its run-up slope 145, here with a trapezoidal cross section.
  • the run-up slope 163 of the coupling element 162 has a compatible, in particular likewise trapezoidal groove 163.1.
  • the rear side 151 of the locking plate 150 is also the parting plane of the movable unit consisting of the robot hand, locking plate 150 and actuating element 140 with the associated add-on parts and the unit consisting of sealing element 20 and lead-through ring element 160 which is firmly connected to the working chamber wall and on the coupling elements 162 overrun bevels 145, 163 provided to facilitate the interlocking of the elements and to achieve an additional frictional bracing of the coupled components.
  • the coupling plate 150 When the coupling plate 150 is engaged, its rear side 151 is pressed against an elastomeric sealing strip 21 on the lead-through ring element 160 of the sealing element 20.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un système d'accouplement permettant l'accouplement télécommnadé d'une main de robot dotée et d'un orifice réalisé dans une chambre de travail. Au moins un élément d'accouplement (162) est relié à un élément annulaire de passage (160) d'un élément d'étanchéité situé dans l'orifice. Des éléments de verrouillage (144) qui sont reliés à la main de robot (216), peuvent être mis en prise avec l'élément d'accouplement (162) par un élément de réglage (148). La main de robot est reliée à une plaque d'arrêt (150) sur laquelle est monté pivotant un élément de commande (140) annulaire. Cet élément de commande peut tourner d'un angle (α) à l'aide d'un élément de réglage (148) et présente au moins une rainure de guidage (141) qui s'étend d'un point proche du point de rotation à un autre point plus éloigné, au moins sur un angle (α). Dans la rainure de guidage (141) est respectivement guidé un élément de verrouillage (144) qui se déplace radialement avec la rotation de l'élément de commande (140) et est à mettre en prise avec l'élément d'accouplement (162).
PCT/EP2004/002597 2003-03-12 2004-03-12 Systeme d'accouplement destine a un accouplement telecommande et desacoupplement d'un robot dote d'un element d'etancheite WO2004080666A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE2003111298 DE10311298B4 (de) 2003-03-12 2003-03-12 Kupplungssystem zum fernbetätigbaren Kuppeln und Entkuppeln eines Roboters mit einer Dichtung
DE10311298.7 2003-03-12

Publications (1)

Publication Number Publication Date
WO2004080666A1 true WO2004080666A1 (fr) 2004-09-23

Family

ID=32980594

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2004/002597 WO2004080666A1 (fr) 2003-03-12 2004-03-12 Systeme d'accouplement destine a un accouplement telecommande et desacoupplement d'un robot dote d'un element d'etancheite

Country Status (2)

Country Link
DE (1) DE10311298B4 (fr)
WO (1) WO2004080666A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104493825A (zh) * 2014-10-29 2015-04-08 北京理工大学 微纳米操作机器人协同操作装置及其用于显微注射的操作方法
CN104552277A (zh) * 2015-01-12 2015-04-29 浙江琦星电子有限公司 一种机械臂

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0805480A2 (fr) * 1992-03-09 1997-11-05 GENTISCHER, Josef Système SMIF pour introduire des substrats dans des pièces de transfert purifiées
EP1256422A1 (fr) * 2001-04-25 2002-11-13 SCHLICK-Roto-Jet Maschinenbau GmbH Chambre de travail comprenant une ouverture étanchéifiable par télécommande pour l'introduction d'une main de robot

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10120473C1 (de) * 2001-04-25 2002-07-25 Schlick Roto Jet Maschb Gmbh Arbeitskammersystem

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0805480A2 (fr) * 1992-03-09 1997-11-05 GENTISCHER, Josef Système SMIF pour introduire des substrats dans des pièces de transfert purifiées
EP1256422A1 (fr) * 2001-04-25 2002-11-13 SCHLICK-Roto-Jet Maschinenbau GmbH Chambre de travail comprenant une ouverture étanchéifiable par télécommande pour l'introduction d'une main de robot

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104493825A (zh) * 2014-10-29 2015-04-08 北京理工大学 微纳米操作机器人协同操作装置及其用于显微注射的操作方法
CN104552277A (zh) * 2015-01-12 2015-04-29 浙江琦星电子有限公司 一种机械臂
CN105583806A (zh) * 2015-01-12 2016-05-18 浙江琦星电子有限公司 一种机械臂
CN105583805A (zh) * 2015-01-12 2016-05-18 浙江琦星电子有限公司 一种机械臂

Also Published As

Publication number Publication date
DE10311298A1 (de) 2004-10-21
DE10311298B4 (de) 2007-07-12

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