WO2011075093A1

WO2011075093A1 - A multi axis robot

Info

Publication number: WO2011075093A1
Application number: PCT/TR2010/000248
Authority: WO
Inventors: Gokhan Vargin Gok
Original assignee: Gokhan Vargin Gok
Priority date: 2009-12-14
Filing date: 2010-12-14
Publication date: 2011-06-23
Also published as: TR200909397A2

Abstract

The invention is related to a multi axis robot (20) comprising at least one first robot (12) with multi -axes (1, 2, 3) connected to a second robot (13) with multi-axes (4, 5, 6, 7, 8, 9) by a connection body (10) and a connection flange (11).

Description

DESCRIPTION

A MULTI AXIS ROBOT Technical Area

The invention is about automatically controlled, re-programmable, multi-purpose robots used in industrial applications, which can be fixed or moving, having three or more programmable axes. This invention is related to multi axis robot comprising at least one first robot with multi-axes and adapted to second robot by a connection body and a connection flange in order to ensure appropriate access space and flexibility according to the needs by fixing of said multi axis robots to each other from certain axis.

Background of the Invention

Robots have very important duty to increase productivity and efficiency about feeding of CNC machines and various special types of machines i.e. about loading of piece to be processed and unloading of processed piece, and these machines are very heavily used in industry.

Only one robot feeds one, two or three machine by itself. Therefore operators can be rescued this monotonous, heavy and tiring jobs and it is possible to move th labor more efficiency areas. Machine waiting time for loading and unloading is minimized because of robots that can even carry heavy pieces easily and equipped with suitable holders.

Robots that can move on linear guide ways with servo control and gantry system. Result of this you can save the factory area, be established production lines. Robots move pieces between machines that can be established production cells. In addition, pieces are arranged over and over, quality control operations made with camera and sensors, various operation as cutting, drilling when robot hold piece and increase the added value provided by the robot to manufacturers. We found some patent applications about robots at investigation of the patents. Among these applications; at IHI CORP's application, which has publication number JP2009051003, discloses a control method for a robot device, in controlling a manipulator of the robot device, capable of controlling the manipulator's position and posture with respect to an object in a three- dimensional space, while eliminating the need for preparing many reference images, imposing low computational load, and exercising rapid control.

Another application is US2009293663 which US based and mentioning a robot arm includes a working arm member, a workpiece placement unit, and a driving device. The workpiece placement unit includes a base seat coupled to the working arm member, and a hollow supporting rod with a suction unit. The driving device is coupled to the working arm member, is operable to drive the working arm member for moving the workpiece placement unit, and is further operable for extracting air from the passage so that the workpiece supported by the supporting rod is held in position by the suction unit.

In present technique, currently used standard robotic applications are not produced in special low quantities. Standard robots have mobility depending on determined length of axis and number of axis. For this reason, portfolio of standard robot is deficient to supply the needs in extreme cases.

Brief Description of the Invention

Purpose of the invention is to provide a robot having a structure ensuring a new opening and technical feature different from structuring of the standard robot used in current technique. Another purpose of the invention is to make possible specific robot production with additional structures if standard industrial robots' access distance is not enough axially. One another purpose of the invention is to develop new type of robot by working on the current standard robot with a new technique instead of starting to design the current standard robot from scratch.

Another aim of the invention is to produce a new robot by intended features by integrating the standard robots from determined axes.

In order to realize the objectives described above, multi axis robot comprising at least one first robot with multi-axes and adapted to second robot by a connection body and a connection flange in order to ensure appropriate access space and flexibility according to the needs by fixing of said multi axis robots to each other from certain axis.

In order to realize the objectives described above, multi axis robot comprising fitting surface and fitting space which are formed on connection body, and bearing positions and axial motion surfaces which are formed on connection flange.

Figures for Better Understanding of the Invention

Figure-1 , It is the perspective view of the robot arm which is the subject matter of the invention.

Figure-2, It it perspective view of new connection body has been adapted to standard robot arm which is the subject matter of the invention.

Figure-3, It it another angel perspective view of new connection body has been adapted to second standard robot arm which is the subject matter of the invention.

Figure-4, It is close-up detailed perspective view of the connection body and connection flange which are the subject matter of the invention. Part Numbers

1- First axis

2- Second axis

3- Third axis

4-Fourth axis

5- Fifth axis

6- Sixth Axis

7- Seventh axis

8- Eighth axis

9- Ninth axis

10- Connection body

10.1- Fitting surface

10.2- Fitting spaces

11 - Connection flange

11.1 -Bearing positions

11.2 Axial motion surfaces

12- First robot

13- Second robot

14- Floor area

15- Reducer

20- Multi axis robot

Detailed Description of the Invention

In this detailed description, preferred structures of the multi-axis robot (20), which is the subject of the invention, are described only for better understanding of the subject and constitute any restrictive effect.

The invention comprises at least one first robot (12) with multi-axes (1 ,2,3) and adapted to second robot (13) by a connection body (10) and a connection flange (11 ) in order to ensure appropriate access space and flexibility according to the needs by fixing of said multi axis (4,5,6,7,8,9) robots to each other from certain axis. Multi axis robot comprises fitting surface (10.1 ) and fitting space (10.2) which are formed on connection body (10), and bearing positions (1 1.1 ) and axial motion surfaces (1 1.2) which are formed on connection flange (1 1 ). Axial connected robots (12, 13) are fixed to each other from specific axes. The aim here is to provide appropriate access distance and flexibility according to needs. For this reason, 6-axis (4,5,6,7,8,9) of the second robot (13) are not enough and three more axis (1 ,2,3) are connected to robot's floor (14) in order to increase the access distance. These three axes (1 ,2,3) connected are composed of combination of another robot's first (1 ), second (2) and third (3) axis. Mobility of the first (1 ) and other two axes (2, 3) are protected. At the third axis (3), connection of second robot (13) is made with special design of connection body (10) and connection flange (1 1 ). Connection flange (1 1 ) does not affect mobility of the third axis (3). Then second robot (13) is put on the connection body (10). This robot is a standard robot and has 6 axes (4,5,6,7,8,9).

In addition to these, as an alternative of special cases, connection does not have to be at third axis (3). At the invention, second robot (13) connection made not only from third axis (3) of the robot but also from all the other axes within allowed values. In this case, the application needs will determine the selection of the axis and depending on this station, the number and length of the axis can be carried through determined standard robots according to the needs. Method steps;

- unfixing of first robot from intended axis according to the number of axes used

- changing of the reducer which used last axis of first robot according to weight of the second robot

- assembling of appropriate connection body and flange to last axis of unfixed first robot and to floor of the second robot

- connecting of the second robot to first robot by connection flange and body. The protective scope of this application is determined in the section of claims and the scope may by no means be limited to the description above provided only for exemplary purposes. It is obvious that a person skilled in the art may provide the innovation put forward by the invention also by using the similar embodiments and/or apply this embodiment to other fields with similar purpose used in the relevant art. Consequently, such embodiments would obviously lack of novelty and especially the criterion of innovative step.

Claims

The invention is multi axis robot (20) comprises at least one first robot (12) with multi-axes (1 ,2,3) and adapted to second robot (13) with said multi axis (4,5,6,7,8,9) by a connection body (10) and a connection flange (1 1 ) in order to ensure appropriate access space and flexibility according to the needs by fixing to each other from certain axis.

Robot (20) according to Claim 1 and it is characterized in that it comprises fitting surface (10.1 ) and fitting space (10.2), which are formed on connection body (10).

Robot (20) according to Claim 1 and Claim 2 and it is characterized in that it comprises bearing positions (1 1.1 ) and axial motion surfaces (11.2), which are formed on connection flange (1 1 ).

The invention is a method in order to ensure appropriate access space and flexibility according to the needs by fixing multi axes robots (12, 13) to each other from certain axis, and it is characterized in that it comprises the following steps;

- unfixing of first robot (12) from intended axis according to the number of axes used,

- assembling of appropriate connection body (10) and flange (1 1 ) to last axis of unfixed first robot (12) and to floor of the second robot (13),

- connecting of the second robot (13) to first robot (12) by connection flange (1 1 ) and body (10).