WO2008071156A1 - Robot présentant des bandes extensibles enroulables cintrées pour le positionnement d'une plate-forme de travail - Google Patents

Robot présentant des bandes extensibles enroulables cintrées pour le positionnement d'une plate-forme de travail Download PDF

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Publication number
WO2008071156A1
WO2008071156A1 PCT/DE2007/002187 DE2007002187W WO2008071156A1 WO 2008071156 A1 WO2008071156 A1 WO 2008071156A1 DE 2007002187 W DE2007002187 W DE 2007002187W WO 2008071156 A1 WO2008071156 A1 WO 2008071156A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
robot according
drive unit
roller
platform
Prior art date
Application number
PCT/DE2007/002187
Other languages
German (de)
English (en)
Inventor
Rainer Eidloth
Harald Grab
Sergej Mensch
Original Assignee
Schaeffler Kg
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 Schaeffler Kg filed Critical Schaeffler Kg
Publication of WO2008071156A1 publication Critical patent/WO2008071156A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0078—Programme-controlled manipulators having parallel kinematics actuated by cables
    • 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
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads

Definitions

  • the invention relates to a robot with at least two robot arms, each of which is formed by at least one variable-length actuator, the first ends of which are brought together to form a platform and whose second ends are each connected to a drive unit.
  • Such robots are used in particular for the positioning of piece goods, which leave a production process and have to be separated, sorted, checked or put into packaging in the further course of the process.
  • These applications can generally be summarized by the term "pick-and-place".
  • Known solutions use parallel robots with three or more degrees of freedom based on rod kinematics.
  • the rods used here are moved translationally by means of levers.
  • a parallel robot with four degrees of freedom is known, which has four rod parts, each of which comprises two parallel rods, which determine a parallel linkage.
  • Each rod member is coupled at one end to a movable portion of a trigger by a kinematic member.
  • a moving platform with a main part displaceable within four degrees of freedom is coupled to coupling parts which are movable relative to the main part.
  • the limbs of the coupling parts are coupled to the other ends of the rod parts by kinematic elements.
  • at least a portion of the moving platform is displaceable within four degrees of freedom defined by linear movement along three orthogonal axes and one axis of rotation about a predetermined axis.
  • a disadvantage of parallel robots based on rod kinematics are the relatively high weight of the masses to be moved and the complex kinematics, which converts the rotational movement of the drives in translational movements of the arms. This results in relatively high costs for such parallel robots.
  • the control of such robots is very complex. In addition, only a relatively inaccurate and slow positioning of objects can be realized.
  • the spreader belt mechanism allows a limited transmission of tensile and compressive forces as well as bending moments due to profiled metal belts.
  • the stiffness property of a metal sheet curved transversely to the winding direction is thereby utilized belt, so that in contrast to the known Wergetrieben with metal bands both tensile and compressive forces can be transmitted in the longitudinal direction of the belt.
  • the property of width variation of a curved band is used, which assumes its entire width in the wound state, while it is narrower in the developed and then curved in cross-section state. This change in width is used to clamp the tape between the side windows (ribs) of the drive roller, whereby a positive and possibly positive connection PHg is made.
  • a Sp Drettifmodul In its basic structure, a Sp Drettibandmodul consists of a role and a band and has a rotationally mounted, driven roller over two degrees of freedom in one plane. Forces can be transmitted via this basic structure only in the longitudinal direction of the strip, moments exclusively perpendicular to the longitudinal direction of the strip and to the axial direction of the roll.
  • Sp Drettibandmodule that unite as a joint-member combination drive and guide member to parallel kinematics very compact robot can be built. These are characterized by a very good ratio of working space to installation space and a comparatively simple mechanical structure.
  • the principle of low moving masses of a spread-band module allow the construction of robots with very good dynamic properties.
  • a disadvantage of the previously known spread-band-driven robots are the structural high occurring bending stresses of the bands, which lead to rapid wear of the bands and thus bring increased maintenance costs.
  • the object of the present invention is therefore to provide a robot with variable-length actuators, which is characterized by very good dynamic properties and low maintenance of the actuators.
  • a robot according to the appended claim 1 serves to achieve this object. It is essential for the invention that the expansion bands of each robot arm or actuator each originate from a drive plane which lies above the working space in which the platform moved by the expansion straps is positioned can be. Unlike in the prior art, the expansion bands thus do not extend horizontally in their longitudinal extension but substantially vertically. The actuators are therefore loaded in the static state to train and pressure and experience no weight-related load transverse to the longitudinal extent.
  • An essential advantage of the solution according to the invention is that the preferably vertical positioning of the robot above the working space reduces the influence of the weight force on the bending load of the belts.
  • the compressive load of the bands is reduced by the weight.
  • the robot according to the invention can be significantly reduced in this way, the load on the bands and the associated wear. There is a significant reduction in the maintenance effort for a robot structure realized in this way.
  • a particularly advantageous embodiment uses for the variable-length actuators Sp Dreckbandaktuatoren, which consist of a roll and a wound on the roll, transversely to the winding direction curved band.
  • Sp Dreckbankaktuatoren are characterized by a simple mechanical structure. Due to the comparatively low moving masses of a Sp Dahlbandaktuators robots can be realized with very good dynamic properties. It has proven to be expedient if the role of Sp Schwarzbandaktua- sector comprises a roller cylinder and two side windows and is in communication with a drive unit.
  • the band has essentially no curvature in the state wound onto the roll.
  • the band By changing the width of the band, the band can clamp in the wound state between the side windows of the roller, whereby between the band and side windows of the role a positive connection can be made. In this way, tensile and compressive forces can be transmitted in the longitudinal direction of the tape to the roll.
  • Band and roller are thus tensile, compressive and rigidly connected to each other, but can be freely moved in the winding direction of the tape to each other.
  • At least one of the side windows has an outer toothing, in which engages a gear of the drive unit.
  • the use of a spur gear or a bevel gear has proven to be particularly favorable.
  • the side windows are used in this embodiment as a pinion and are driven by the gear of the drive unit. In this way, the movement generated by the drive unit can be transmitted particularly favorably to the roller.
  • the roller cylinder can be provided at its freestanding end with a toothing, in which engages the roller driving the gear.
  • the drive units each comprise an engine according to an advantageous embodiment.
  • the motor moves the gear and the pulley connected thereto via the side pulley, which results in the rewinding of the belt and thus positioning of the robotic arm. It is not intended to limit the use of a motor as a drive. Other drive options are conceivable.
  • the drive units are connected to a control device. By means of control means required for positioning the actuators actuating signals are provided. In the memory of the control device, different control programs for controlling the robot can be stored for different work tasks, which can be selected accordingly.
  • Embodiments have proven to be particularly favorable in which a single robot arm is formed by in each case two expansion band actuators forming an expansion band pair.
  • the bulges of the bands of each robot arm are in this case arranged opposite to each other. This increases the rigidity of the robot arm, which is now independent of the respective direction of the force.
  • Each Sp Schwarzbandhalf is according to a further advantageous embodiment with a drive unit in connection. It has proved to be particularly useful when the side windows of the rollers of each Sp Schwarzbandpass engage each other via their external teeth. In this way, the transmission of motion from the drive unit to both rollers of the Sp Schwarzbandpases can be synchronized with each other.
  • FIG. 1 shows a 3D view of a first embodiment of a robot according to the invention
  • FIG. 2 shows a 3D view of a second embodiment of a robot according to the invention
  • Fig. 3 is a schematic representation of the coupling possibilities of roller and gear of a drive unit.
  • FIG. 1 shows a 3D view of a first embodiment of a robot according to the invention.
  • a robot is used in particular for the positioning of piece goods in a work space 01.
  • the robot consists of three robot arms, which are each formed by a variable-length actuator 02.
  • the drives robot structure are located above the working space 01, wherein the actuators 02 are guided from above into the working space 01.
  • the influence of the weight on the bending load of the actuators can be reduced and the pressure load of the actuators can be reduced by the weight.
  • Spetzbandaktuatoren 02 are used as variable-length actuators here Sp Dahlbandaktuatoren 02.
  • Sp Dahlbandaktuatoren are constructed of a roll 03 and a wound on the roll, transversely arched to the winding direction band 04.
  • the band 04 is usually made of metal, which has been pretreated to have the desired stiffness in the longitudinal direction and spring elasticity in the transverse direction.
  • the metal strip which in its flat state can only be subjected to tensile stress essentially in the unrolled state, transforms into a cross-sectional curvature. As a result, it gains in compressive and flexural rigidity and becomes narrower.
  • the roller 03 of the Sp Schwarzbandaktuators 02 includes a roller cylinder 05 and two side windows 06 (see also Fig. 3).
  • the strip 04 In the state wound onto the roll 03, the strip 04 returns to its original width, ie it no longer has any curvature. By this change in width, the band 04 can clamp in the wound state between the side windows 06 of the roller 03, whereby it comes to a frictional connection between the belt 04 and side windows 06 of the roller 03.
  • Band 04 and roller 03 are tensile, compressive and rigidly connected to each other in this way, but can be moved freely in the winding direction of the belt 04 to each other.
  • At least one of the two side windows 06 may have an external toothing 09 (see FIG. 3). This can be straight-toothed or helical teeth.
  • a gear 08 (see FIG. 3) of a drive unit 07 engages in this external toothing.
  • the gear 08 may be, for example, a spur gear or a bevel gear.
  • the side window 06 serves as a pinion and is driven by the gear 08 of the drive unit 07.
  • the gearwheel 08 of the drive unit 07 would engage in this external toothing 10.
  • the drive unit 07 may comprise a motor which moves the gear 08 and the roller 03 connected thereto via the side window 06. When moving the roller 03, the band 04 is wound up or unwound and thereby causes the positioning of the robot arm.
  • the drive unit 07 may be in communication with a control device (not shown). By means of the control device, the actuating signals required for positioning the actuators 02 are made available.
  • the actuator ends are brought together to form a platform 11, which can be moved in the working space 01 in accordance with the respective actuating signal.
  • a gripper or other tool is attached on the platform 11, for example.
  • the three robot arms are based on drives 07, which, relative to a solder between the platform 11 and a base surface 12 of the working space 01, are arranged at different angular positions of a maximum working circle whose plane is penetrated by said solder.
  • drives 07 which, relative to a solder between the platform 11 and a base surface 12 of the working space 01, are arranged at different angular positions of a maximum working circle whose plane is penetrated by said solder.
  • the platform only has to be moved in one plane, which is perpendicular to the base surface 12 of the working space 01, two actuators 02 are sufficient in a modified embodiment, the expansion bands 04 extend in this plane. In this case, the platform can be moved in this plane so that line-shaped positioning tasks can be fulfilled with respect to the base area.
  • FIG. 2 shows a 3D view of a second embodiment of a robot 01 according to the invention.
  • the robot arms are formed here by two expanding band actuators 02 each forming a spreading band pair.
  • the cross-sectional curvatures of the bands 04 of each robot arm are arranged opposite to each other, so that the rigidity of the robot arm increases and is now independent of the direction.
  • a Sp Dreckbandschreib is controlled by one and the same drive unit 07.
  • the outer teeth 09 of the side windows 06 engage each other.
  • One of the two side windows 06 may additionally be connected via its external teeth 09 to a gear 08 of the drive unit 07.
  • the drive of the rollers 03 can, of course, also be realized here via an external toothing located at the freestanding end of the roller cylinder into which the gear 08 of the drive unit 07 engages.
  • Fig. 3 shows a schematic representation of the coupling possibilities of roller and gear of the drive unit. Shown are two Sp Schwarzbandak- tuatoren 02, which are connected in different ways, each with a gear 08 of their associated drive unit 07.
  • the Sp Schwarzbandaktuator 02 shown on the left has on a side plate 06 an outer toothing 09, in which the gear 08 of the drive unit 07 engages.
  • On the right, a Sp Schwarzbandaktuator 02 is shown, which also has an outer toothing 09 on one of its side windows 06.
  • the coupling to the drive unit 07 takes place in this case, however, not on the side window 06, but on the roller cylinder 05. For this purpose, this is designed so that it has on its freestanding, led out of one of the side windows 06 end, an external toothing 10, in which the Gear 08 of the drive unit 07 engages.

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

Abstract

L'invention concerne un robot, en particulier pour le positionnement de marchandises de détail dans un espace de travail (01), comprenant au moins deux bras de robot qui sont formés chacun par au moins un actionneur de bande extensible (02) variable en longueur. Les bandes extensibles (04) des actionneurs, cintrées perpendiculairement au sens d'enroulement sont guidées, par leurs premières extrémités, sur une plate-forme (11) et, par leurs secondes extrémités, sont accouplées chacune à une unité d'entraînement (07), pour l'enroulement et le déroulement de la bande extensible. L'invention est caractérisée en ce que les bandes extensibles (04) de chaque bras de robot proviennent chacune d'un plan d'entraînement qui se situe au-dessus de l'espace de travail (01) dans lequel la plate-forme (11) déplacée par les bandes extensibles (04) peut être positionnée.
PCT/DE2007/002187 2006-12-15 2007-12-04 Robot présentant des bandes extensibles enroulables cintrées pour le positionnement d'une plate-forme de travail WO2008071156A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006059335.9 2006-12-15
DE200610059335 DE102006059335A1 (de) 2006-12-15 2006-12-15 Roboter mit längenveränderlichen Spreizbandaktuatoren

Publications (1)

Publication Number Publication Date
WO2008071156A1 true WO2008071156A1 (fr) 2008-06-19

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PCT/DE2007/002187 WO2008071156A1 (fr) 2006-12-15 2007-12-04 Robot présentant des bandes extensibles enroulables cintrées pour le positionnement d'une plate-forme de travail

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DE (1) DE102006059335A1 (fr)
WO (1) WO2008071156A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103612251A (zh) * 2013-11-18 2014-03-05 天津理工大学 混合驱动式无间隙冲击轮式移动机械手

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007062332A1 (de) 2007-12-21 2009-06-25 Schaeffler Kg Roboterarm
DE102008060158B3 (de) * 2008-12-02 2010-07-08 Festo Ag & Co. Kg Antriebssystem
DE102010052498A1 (de) * 2010-11-26 2012-05-31 Martin Högenauer-Lego Mechanik für ein Spreizband
GB2568899A (en) * 2017-11-29 2019-06-05 Designability Charity Ltd Robotic overhead support system
CN113478461B (zh) * 2021-07-06 2022-11-18 广州市新豪精密科技有限公司 一种三自由度并联机器人及其建模方法

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DE3522843A1 (de) * 1985-06-26 1987-01-02 D & M Rolladentechnik Gmbh Hebevorrichtung
US4976582A (en) * 1985-12-16 1990-12-11 Sogeva S.A. Device for the movement and positioning of an element in space
WO1993015452A1 (fr) * 1992-02-04 1993-08-05 Fanuc Robotics North America, Inc. Mecanisme de robot leger
EP0849214A2 (fr) * 1996-12-20 1998-06-24 Pri Automation, Inc. Dispositif de levage avec organes de tension triangulaires
FR2757441A1 (fr) * 1996-12-24 1998-06-26 Aerospatiale Dispositif robotise mobile dans un plan vertical
DE19710171A1 (de) * 1997-03-12 1998-09-17 Juergen Prof Dr Ing Hesselbach Manipulator mit Parallelstruktur
WO2000009435A1 (fr) * 1998-08-12 2000-02-24 Middlesex General Industries, Inc. Elevateur a bande
EP1063064A2 (fr) * 1999-06-25 2000-12-27 Taiyo Ltd. Système mobile à 6 degrés de liberté
DE10217161A1 (de) * 2002-04-17 2003-11-13 Eisenmann Kg Maschbau Hubvorrichtung
DE60020466T2 (de) * 1999-09-17 2006-04-27 Toyoda Koki K.K., Kariya Parallelroboter mit vier Freiheitsgraden

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US4819496A (en) * 1987-11-17 1989-04-11 The United States Of America As Represented By The Secretary Of The Air Force Six degrees of freedom micromanipulator

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3522843A1 (de) * 1985-06-26 1987-01-02 D & M Rolladentechnik Gmbh Hebevorrichtung
US4976582A (en) * 1985-12-16 1990-12-11 Sogeva S.A. Device for the movement and positioning of an element in space
WO1993015452A1 (fr) * 1992-02-04 1993-08-05 Fanuc Robotics North America, Inc. Mecanisme de robot leger
EP0849214A2 (fr) * 1996-12-20 1998-06-24 Pri Automation, Inc. Dispositif de levage avec organes de tension triangulaires
FR2757441A1 (fr) * 1996-12-24 1998-06-26 Aerospatiale Dispositif robotise mobile dans un plan vertical
DE19710171A1 (de) * 1997-03-12 1998-09-17 Juergen Prof Dr Ing Hesselbach Manipulator mit Parallelstruktur
WO2000009435A1 (fr) * 1998-08-12 2000-02-24 Middlesex General Industries, Inc. Elevateur a bande
EP1063064A2 (fr) * 1999-06-25 2000-12-27 Taiyo Ltd. Système mobile à 6 degrés de liberté
DE60020466T2 (de) * 1999-09-17 2006-04-27 Toyoda Koki K.K., Kariya Parallelroboter mit vier Freiheitsgraden
DE10217161A1 (de) * 2002-04-17 2003-11-13 Eisenmann Kg Maschbau Hubvorrichtung

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103612251A (zh) * 2013-11-18 2014-03-05 天津理工大学 混合驱动式无间隙冲击轮式移动机械手

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