WO2011156826A1 - Robot à bras articulés - Google Patents

Robot à bras articulés Download PDF

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Publication number
WO2011156826A1
WO2011156826A1 PCT/AT2011/000262 AT2011000262W WO2011156826A1 WO 2011156826 A1 WO2011156826 A1 WO 2011156826A1 AT 2011000262 W AT2011000262 W AT 2011000262W WO 2011156826 A1 WO2011156826 A1 WO 2011156826A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
base
axis
articulated
articulated robot
Prior art date
Application number
PCT/AT2011/000262
Other languages
German (de)
English (en)
Inventor
Franz Ehrenleitner
Original Assignee
Eb-Invent Gmbh
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 Eb-Invent Gmbh filed Critical Eb-Invent Gmbh
Priority to JP2013514492A priority Critical patent/JP2013528503A/ja
Priority to DE112011102003T priority patent/DE112011102003A5/de
Publication of WO2011156826A1 publication Critical patent/WO2011156826A1/fr

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
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type
    • 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

Definitions

  • the invention relates to a articulated robot according to the preamble of claim 1 and the articulated robot shown in FIGS. 94 and 95 of WO 2006/039730 of the applicant.
  • Applicant's DE 10 2009 034 268 As can be seen from FIG. 4, it is likewise a "parallel" articulated-arm robot, in which, however, additional axes can be operated and load peaks are avoided.
  • FIG. 5 shows a device in which the position of the second, terminal arm is determined by an actuator which acts in the upper third of the arm. It is a device that is common in excavators.
  • Applicant's WO 2006/039730 discloses a multitude of parallel kinematic arrangements for cranes, robots, lifting tables and others, all of which have in common the use of a so-called 3-2-1 kinematics with so-called pseudo-triplet points, in which the three involved rods or actuators do not " ideal "converge in one point, but just next to each other.
  • Generic articulated robots have a platform which is rotatable about a vertical axis. On the platform, a horizontal axis, the base axis is arranged, which carries a first arm portion, at the other end parallel to the first axis of rotation turn an axis of rotation, the arm axis is provided, on which a second arm portion engages. At the free end of this second arm cut, in the case of a robot, the actual tool, in the case of a manipulator, which is often similar, arranged a gripping member.
  • the tool or gripping member can usually still be moved with respect to the second arm portion, in particular be rotated about the longitudinal axis of the second arm portion, but variously perform other movements.
  • the longitudinal axes of the first arm portion and the second Armab- Section in the extended state are not aligned with each other, but are offset from each other, whereby moments and torsional stresses are induced in particular in the first, base close, Knickarmabites, which makes further reinforcement and stiffening of all components necessary.
  • a disadvantage of this construction is that the mobility of the free end of the second arm portion, thus the tool center point, abbreviated TCP, is clearly limited in comparison to the serial articulated robot.
  • the working area around the vertical axis is lost, even the area below the base axis between the rotatable base and the first arm portion is substantially reduced.
  • FIGS. 3 to 8 purely schematically, a first embodiment of the invention
  • FIG. 9 a schematic exploded view of the first embodiment with the forces and moments acting
  • 1 1 is a schematic exploded view of the development with the forces and moments acting
  • FIGS. 12 to 17 show a variant for further development
  • Fig. 18 shows an embodiment of the development
  • Fig. 1 shows a serial articulated robot according to the prior art.
  • the robot 1 essentially has a fixed base 5 on which a rotatable base 6 is rotatably mounted about a vertical axis 2.
  • This rotatable base 6 carries, rotatable about a horizontal base axis 3, a base arm 7, at the other end about an also horizontally extending and parallel to the base axis oriented arm axis 4 an end arm 8 is rotatably arranged, which has a tool carrier 9 at its free end.
  • a compensation device 10 which at least partially compensates the static moment loads.
  • the tool holder 9 in turn can perform a variety of movements with respect to the end arm 8 and that, if the device is not used as a working robot but as a manipulator, the tool carrier 9 in the form of a gripper, a magnet, a hook or other device capable of carrying out the respective intended manipulation.
  • FIG. 2 which has the structure explained in more detail below, comparable components having the same reference numerals as in FIG. 1 are provided:
  • a rotatable base 6 is arranged on a fixed base 5, rotatable about a vertical axis 2.
  • This carries, about a base axis 3 pivotally, the base arm 7, at its upper or free end an arm axis 4 is provided, on which an end arm 8 is pivotally mounted.
  • the end arm 8 is now in the area which faces away from the tool carrier 9, extended and has a bearing about an Armlenkerachse 4 'on which a base link 17 is rotatably mounted, the other, located near the rotary base 6 end, a bearing around a Basislenkerachse 3 ', on which a control link 18 engages.
  • This control link 18 is movable in its orientation with respect to the base arm 7 and in this way effects the quadrilateral formed as an articulated parallelogram, with the vertices 3, 4, 4 ', 3' forming the vertices parallel to one another kinematic chain through which the end arm 8 is pivoted about the arm axis 4.
  • Associated engine is located on the rotatable base 6, so he charged the base arm 7 neither by its weight nor during acceleration by its mass.
  • FIG. 3 to 8 show now, in a purely schematic manner, the most important elements of an articulated-arm robot according to the invention, with the sake of clarity starting with FIG. 5: for reasons of clarity, the representation of the fixed and rotatable base has also been omitted, as in the representation of the different inclinations of the base arm 7. This is shown in Figs. 3 to 8 are shown only in vertical "normal position" and should serve only as a basis for explaining the mobility of the end arm 8.
  • the base arm 7 is shown as a trapezoid and the end arm 8 as an acute-angled triangle, so that should, but also purely schematically, whose outline is indicated.
  • the base gear 1 1 is fixed and in particular rotatably connected to the base arm 7, the arm gear 12 fixed and rotatable particular
  • a connecting element 15 ensures that the two gears always remain in engagement with each other, so that the center of the arm gear 12 describes a circular arc around the center of the base gear 11.
  • the illustration is only the explanation of the kinematics.
  • the base arm 7, the corresponding portion of the connecting element 15th , the base link 17 and the control link 18 form a jointed parallelogram whose angular position is determined by a (not shown) engine in the region of the base axis 3. Due to the change in angle of this articulated parallelogram, as determined by a comparison between Figs. 3 and 8 is easily apparent, there is a much larger change in angle of the end arm 8 with respect to the base arm. 7
  • the connecting element 15 in turn is subject to the forces F and Fz in the bearing of the end axis 16, the rod force Fs, which must always extend in the direction of the base link 17 and ultimately results in the bearing in Armlenkerachse 4 'acting vertical forces F + Fs, and the force Fz balancing equal drag.
  • the base arm 7 is thus under the vertical effect of the force F + Fs and acting on the base gear 1 1 moment Fz: Fz, while at its camp about the base axis 3, only the counterforce F + Fs acts.
  • the torque MArm exerted by the movable platform or by the drive of the base arm 7 keeps the balance of forces.
  • a construction can be derived by means of which the torque distribution is optimized, whereby it is possible to further reduce the transmission torques and thus find the way with smaller, lighter and therefore more cost-effective drives In addition, they require less energy during operation, which at present, at times when even production halls are air-conditioned, still helps to reduce the cooling requirements.
  • FIG. 10 On the base arm 7, rotatably connected to the control link 18, a timing sprocket, briefly called just steering wheel 19, stored.
  • the steering wheel 19 is in operative connection with a drive wheel 20, which in turn rotatably connected to the transmission and drive in connection, the opposite side not with the base arm 7, but with the (not shown) rotatable base 6 is connected.
  • the drive wheel 20 half the diameter of the steering wheel 19, so that a translation to the slow of 1: 2 is present.
  • the drive torque for the movement of the end arm 8 is halved and also transmitted to the base arm 7 a force by which a moment is induced, which counteracts the moment from the tooth flank contact of the gear 11 and this also repeals. It is under these circumstances to a torque derivative in the gear or drives, as in robots according to the prior art in parallel design, but has the advantage that the end arm 8 has a mobility that comes at least close to the serial robots.
  • Fig. 11 analogous to the representation of FIG. 9:
  • the ratios in the upper part of the illustration correspond to those of FIG. 9, the induction of the moment by the normal distance between the base axis 3 and the handlebar axis 23, indicated by R2; also visible is the resulting from the tooth forces moment in the arm axis 4 with the active arm Rl.
  • An advantageous embodiment also consists of matching the maximum loads for the drive about the base axis 3 and the drive about the arm axis 4 so that they become the same size, so that it is possible to use identical motor-gear units for both drives. which is advantageous for planning, warehousing and also production costs. On the one hand it is possible to adapt the translation of the sprockets to this goal or to change the position of their axles.
  • FIGS. 12 to 17 An intermediate arm 25 between the base arm 7 and the end arm 8.
  • the kinematics of an articulated robot shown schematically in FIGS. 12 to 17 essentially again have a base arm 7, which does not represent it Base 6 is pivotally mounted about its base axis 3 and a Gelenkparallelogramm, consisting of the pivotable about the respective axes control arm 18, base link 17 and the one leg of the connecting element 15.
  • a third pivot point on the connecting element 15 is pivotable via a connecting shaft 22 with the end arm.
  • the best possible positioning of the axes, in particular the control axis 26, the connecting axis 22 and the intermediate axis 24, as well as the choice of the length of the intermediate arm 25 for the intended application area in the field of planar kinematics is easily possible.
  • the required power of the engines and transmissions can be optimized in the desired manner.
  • a total swing angle of the end arm 8 of about 240 ° brings about a change in the bar load by a factor of 2, an increase of the total swing angle to 280 ° already by a factor of 3, so that further beyond walking only in exceptional cases makes sense.
  • the control link 18 is pivoted on the base arm 7 about a steering axis 23, on the Basislenkerachse 3 'attacks not only the base link 17, but also a drive rod 27, which by means of a coupling rod 28 which is hinged to the base axis 3, to
  • the distance between the handlebar axis 23 and the base axis 3 given on the base arm 7 can be regarded as being sufficient to achieve a transmission to be influenced by the aspect ratios within wide limits to the movement of the base link 17, so that the connecting element 15 and ultimately the end arm 8.
  • FIGS. 19 to 23 show a constructed articulated-arm robot, which essentially corresponds to that of FIGS. 12 to 17, but has yet another special feature.
  • FIG. 19 shows such an articulated-arm robot with a fixed base 5 and a base 6 which can be rotated about a vertical axis and which has a base axis 3 about which a base arm 7 is pivotable.
  • an arm axis 4 is arranged around which a connecting element 15 is pivotally mounted.
  • the connecting joint 15 has substantially the shape of an elongated triangle, the arm axis 4 is provided in the region of the obtuse angle.
  • a connecting shaft 22 is provided, about which the end arm 8 is pivotally movable.
  • a control axis 26 is arranged in the region of its free arm, on which the intermediate arm 25 engages articulated. This is connected at its other end via an intermediate axis 24 to the end arm 8 articulated.
  • the connecting element 15 is arranged between the base arm and the end arm 8, so that the high mobility described above with reference to the schematic illustration is achieved.
  • the connecting element 15 in the region of its second acute angle an Armlenkerachse 4 ', at which the movement of the end arm 8 accomplishing the movement around the base arm 7 four-bar linkage, which differs here to a small extent from the shape of a Gelenkparallelogramms.
  • the control link 18 serves the control link 18.
  • the point of attack for the drive for the movement of the two arm sections to each other is now, as well shown in Fig. 18, constructed, the drive rod 27, divided in two for reasons of symmetry, engages the joint of the base link shaft 3 'at.
  • the coupling rod 28, which leads to the Endarmantrieb 29, in turn, can be clearly seen in particular in Fig. 19.
  • FIGS. 19 to 23 show yet another embodiment which was not included in the schematic representations of the preceding figures, namely a drive for the base arm 7, which brings about similar advantages as the drive of the end arm 8:
  • the base arm drive 30 is fixedly provided on the rotatable base 6 but in alignment with the base axis 3.
  • the base arm drive 30 acts on a base coupling 31, which is clearly visible in FIG.
  • a base friction rod 32 which engages the base arm 7 at a distance from the base axis 3 and at a distance from the arm axis 4 articulated.
  • this drive forms a four-bar linkage whose vertices are the base axis 3, the axis of the motor 30, the joint axis between the base coupling 31 and the base driving rod 32 and the axis of attack of the base driving rod 32 on the base arm 7.
  • the invention is not limited to the illustrated and described embodiments, but can be modified variously.
  • the individual drive types can be virtually freely combined with each other, it can be made differently than in the illustrated embodiment, the shape and design of the arm portions, it can in particular the inventively provided connecting element 15 have a variety of forms, in which in Figs. 19 to 23 shown It combines high rigidity in its longitudinal direction with a high rigidity in the transverse direction, which is also required in working robots.
  • the asymmetrical movement of the base arm 7 can be asymmetric on the base arm as explained with reference to FIGS.

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

Abstract

L'invention concerne un robot à bras articulés comprenant une base (5) fixe, éventuellement déplaçable, une base (6) pouvant tourner autour d'un axe de préférence vertical de ladite base fixe, un bras de base (7) pouvant tourner autour d'un axe de base (3) de préférence horizontal, ainsi qu'un bras terminal (8) qui est mobile par rapport audit bras de base. L'invention est caractérisée en ce qu'un élément de liaison (15) prévu entre le bras de base (7) et le bras terminal (8) est relié aux bras (7, 8) respectivement autour d'un axe de rotation parallèle à l'axe de base (3), un axe de bras (4) et un axe terminal (16, 22). Dans un mode de réalisation, un entraînement de bras terminal (29) agit sur un axe de guidage de bras (4') de l'élément de liaison (15) pour permettre le déplacement relatif du bras de base (7) et du bras terminal (8).
PCT/AT2011/000262 2010-06-15 2011-06-14 Robot à bras articulés WO2011156826A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2013514492A JP2013528503A (ja) 2010-06-15 2011-06-14 多関節アームロボット
DE112011102003T DE112011102003A5 (de) 2010-06-15 2011-06-14 Knickarmroboter

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010023789.2 2010-06-15
DE102010023789A DE102010023789A1 (de) 2010-06-15 2010-06-15 Knickarmroboter

Publications (1)

Publication Number Publication Date
WO2011156826A1 true WO2011156826A1 (fr) 2011-12-22

Family

ID=44503390

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AT2011/000262 WO2011156826A1 (fr) 2010-06-15 2011-06-14 Robot à bras articulés

Country Status (3)

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JP (1) JP2013528503A (fr)
DE (2) DE102010023789A1 (fr)
WO (1) WO2011156826A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017122067A1 (de) * 2017-09-22 2019-03-28 Roschiwal + Partner Ingenieur Gmbh Augsburg Roboterfräsen

Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3038419A1 (de) 1979-10-12 1981-04-30 Hitachi, Ltd., Tokyo Industrieller roboter in gelenkbauweise
SU1038219A1 (ru) * 1981-10-27 1983-08-30 Могилевский Машиностроительный Институт Манипул тор
EP0128330A1 (fr) * 1983-05-13 1984-12-19 Friedhelm Schwarz Dispositif pour la génération d'un mouvement linéaire pour les manipulateurs
DE3324948A1 (de) 1983-07-11 1985-01-31 Messer Griesheim Gmbh, 6000 Frankfurt Knickarmroboter zum schneiden
US4548544A (en) * 1982-12-30 1985-10-22 Prince Corporation Robot apparatus particularly adapted for removing and handling die cast parts
FR2608737A1 (fr) 1986-12-23 1988-06-24 Donze Michel Chalumeau a gaz a corps articule et extensible
EP0396752A1 (fr) * 1988-11-25 1990-11-14 Nauchno-Proizvodstvennoe Obiedinenie Po Komplex. Tekhnol. Proektirovaniju Stankostroitelnykh Predpriyaty Orgstankinprom Robot industriel
EP0960982A2 (fr) 1998-05-29 1999-12-01 Koneurakointi Mantsinen OY Arrangement de cabine
EP1052071A2 (fr) * 1999-05-05 2000-11-15 VORTEX SYSTEMS S.r.L. Manipulateur industriel à grande vitesse
DE202004012584U1 (de) 2004-08-10 2005-01-05 Zf Friedrichshafen Ag Roboter
DE202004017396U1 (de) 2004-11-09 2005-06-23 Krones Ag Vorrichtung zum Entnehmen von Gefäßen aus Transportbehälter
WO2006039730A2 (fr) 2004-10-11 2006-04-20 Franz Ehrenleitner Dispositif à cinématique parallèle
DE202007006113U1 (de) 2007-04-26 2007-07-12 Rst Regel- Und Steuerungsanlagen Gmbh Hochdrucksystem zur Reinigung von Oberflächen mittels eines Hochdruckflüssigkeitsstrahls
DE102009034268A1 (de) 2008-07-30 2010-04-15 Franz Ehrenleitner Energieversorgung von Arbeitsmaschinen

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4234150A (en) * 1979-02-02 1980-11-18 Spar Aerospace Limited Mechanical arm assembly
FR2605834B1 (fr) * 1986-11-05 1989-01-06 Pellenc & Motte Machine robotisee, notamment pour la recolte de fruits
JP3340656B2 (ja) * 1997-10-21 2002-11-05 本田技研工業株式会社 移載装置
JP2003071759A (ja) * 2001-08-28 2003-03-12 Seiko Epson Corp ハンドリング装置
JP4022461B2 (ja) * 2002-10-11 2007-12-19 株式会社ジェーイーエル 搬送アーム
US7178612B2 (en) * 2003-08-29 2007-02-20 National Oilwell, L.P. Automated arm for positioning of drilling tools such as an iron roughneck
JP5041361B2 (ja) * 2007-06-18 2012-10-03 株式会社日立製作所 マニピュレータおよびこれを用いたマニピュレータ装置

Patent Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3038419A1 (de) 1979-10-12 1981-04-30 Hitachi, Ltd., Tokyo Industrieller roboter in gelenkbauweise
US4396344A (en) 1979-10-12 1983-08-02 Hitachi, Ltd. Industrial robot of the articulated type
SU1038219A1 (ru) * 1981-10-27 1983-08-30 Могилевский Машиностроительный Институт Манипул тор
US4548544A (en) * 1982-12-30 1985-10-22 Prince Corporation Robot apparatus particularly adapted for removing and handling die cast parts
EP0128330A1 (fr) * 1983-05-13 1984-12-19 Friedhelm Schwarz Dispositif pour la génération d'un mouvement linéaire pour les manipulateurs
DE3324948A1 (de) 1983-07-11 1985-01-31 Messer Griesheim Gmbh, 6000 Frankfurt Knickarmroboter zum schneiden
FR2608737A1 (fr) 1986-12-23 1988-06-24 Donze Michel Chalumeau a gaz a corps articule et extensible
EP0396752A1 (fr) * 1988-11-25 1990-11-14 Nauchno-Proizvodstvennoe Obiedinenie Po Komplex. Tekhnol. Proektirovaniju Stankostroitelnykh Predpriyaty Orgstankinprom Robot industriel
EP0960982A2 (fr) 1998-05-29 1999-12-01 Koneurakointi Mantsinen OY Arrangement de cabine
EP1052071A2 (fr) * 1999-05-05 2000-11-15 VORTEX SYSTEMS S.r.L. Manipulateur industriel à grande vitesse
DE202004012584U1 (de) 2004-08-10 2005-01-05 Zf Friedrichshafen Ag Roboter
WO2006039730A2 (fr) 2004-10-11 2006-04-20 Franz Ehrenleitner Dispositif à cinématique parallèle
DE202004017396U1 (de) 2004-11-09 2005-06-23 Krones Ag Vorrichtung zum Entnehmen von Gefäßen aus Transportbehälter
DE202007006113U1 (de) 2007-04-26 2007-07-12 Rst Regel- Und Steuerungsanlagen Gmbh Hochdrucksystem zur Reinigung von Oberflächen mittels eines Hochdruckflüssigkeitsstrahls
DE102009034268A1 (de) 2008-07-30 2010-04-15 Franz Ehrenleitner Energieversorgung von Arbeitsmaschinen

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Publication number Publication date
JP2013528503A (ja) 2013-07-11
DE102010023789A1 (de) 2011-12-15
DE112011102003A5 (de) 2013-06-06

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