WO2017001456A1 - Dispositif pour manipuler un outil et/ou une pièce - Google Patents

Dispositif pour manipuler un outil et/ou une pièce Download PDF

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Publication number
WO2017001456A1
WO2017001456A1 PCT/EP2016/065104 EP2016065104W WO2017001456A1 WO 2017001456 A1 WO2017001456 A1 WO 2017001456A1 EP 2016065104 W EP2016065104 W EP 2016065104W WO 2017001456 A1 WO2017001456 A1 WO 2017001456A1
Authority
WO
WIPO (PCT)
Prior art keywords
support arm
tool
workpiece
fluid
receptacle
Prior art date
Application number
PCT/EP2016/065104
Other languages
German (de)
English (en)
Inventor
Oliver SCHMIDT-SCHWAN
Original Assignee
Dürr Ecoclean 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 Dürr Ecoclean GmbH filed Critical Dürr Ecoclean GmbH
Publication of WO2017001456A1 publication Critical patent/WO2017001456A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements

Definitions

  • the invention relates to a device for manipulating a tool and / or workpiece with a holding arm which is received on a base and which has a holding arm body, and with a support arm which is connected to the holding arm with a bracket swivel joint and which has a support arm body.
  • Such a device for manipulating a tool and / or workpiece is known.
  • the apparatus described therein for manipulating a tool and / or workpiece is designed as an articulated robot having a plurality of articulated arms connected together by a hinge.
  • For the hinges in the articulated robot there are electric drives with which the articulated arms can be adjusted by motor to move a tool or workpiece received with the articulated robot.
  • handling robots are subject to corrosion and must withstand hot vapors, they are preferably placed outside a process chamber for manipulating a workpiece.
  • the handling robot is provided with a fluid-tight passage device for its arms, with which a workpiece is moved in the process chamber.
  • the object of the invention is to provide a device for manipulating a tool and / or workpiece in a process chamber which can be acted upon by a fluid medium and which can be reliably operated in a moist and / or corrosive environment.
  • This object is achieved by a device having the features specified in claim 1.
  • Advantageous developments of the invention are specified in the dependent claims.
  • a device according to the invention comprises a fluid channel penetrating the holding arm pivot joint, through which fluid medium can be guided from the base into the carrier arm.
  • the support arm can be pivoted in the holding arm pivot about a Tragarmgelenkachse passing through a hollow shaft through which the fluid channel is guided from the support arm into the support arm.
  • the holding arm in a device according to the invention may have a halftimber body receiving the fluid channel at least partially in a holding arm cavity.
  • the holding arm cavity is fluid-tight, the penetration of process media in the form of gaseous and / or vaporous media in the Gararmhohlraum can be prevented so that there arranged electrical and / or electronic assemblies and line connections are protected from such media.
  • the retainer hinge has a first hinge portion defined in the retainer arm and a second hinge portion fixedly connected to the bracket and pivotable to the retainer arm.
  • the second hinge portion is disposed in the support arm in a hinge portion receiving the first annular seal member penetrated from the hinge axis of the support arm pivot and a further annular seal member penetrated from the hinge axis of the support arm pivot to the body of the support arm and a portion fixed to the second hinge portion the support arm is sealed.
  • the Gelenkabismeability communicates through one between the first annular sealing element and the other annular Seal element opening channel with the holding arm cavity. In this way, a double seal for the armrest is provided.
  • the device contains a device for applying the barrier arm cavity with sealing air. In this way, sealing air can be provided, by means of which the penetration of fluid into the joint section receptacle for the second joint section in the retaining arm can be prevented.
  • a device may also comprise a sensor for detecting the rotational position of the holding arm pivot joint fixed to the holding arm, which is arranged in a receptacle which communicates with the holding arm cavity, the sensor having a sensor body and the receptacle by means of the sensor body and by means of a is sealed against the penetration of a liquid and / or gaseous and / or vaporous process medium through the receptacle into the Haltearmhohlraum on the sensor body adjacent sealing element.
  • the rotational positions of the support arm can also be detected when the device for manipulating a tool and / or workpiece e.g. is operated in a process chamber in a process media atmosphere.
  • a tool and / or workpiece holder for the tool and / or workpiece is connected to the support arm with a Tragarmsearchgelenk having a Tragarmwindgelenk passing through the fluid channel, guided by the fluid medium from the support arm in the tool holder unit can be.
  • a fluid medium one of the following at ambient pressure liquid or gaseous media may be provided in particular: compressed air, nitrogen, water vapor, liquid water, alcohol, aqueous alkali, aqueous acid, carbon dioxide, trichlorethylene, detergents (eg surfactants) in aqueous solution and the like.
  • the tool and / or workpiece holder in the Tragarmsearchgelenk in a device according to the invention can preferably pivot about a tool receiving joint axis, which passes through a hollow shaft through which the fluid channel is guided from the support arm into the support arm.
  • the support arm may have a support arm body accommodating the fluid duct at least partially in a support arm cavity.
  • the carrier arm cavity being fluid-tight, the penetration of process media in the form of gaseous and / or vaporous media into the support arm cavity can also be prevented here so that electrical and / or electronic assemblies and line connections arranged there are protected from such media.
  • the support arm pivot joint it is advantageous for the support arm pivot joint to have a first joint section fixed in the support arm and a second joint section fixedly connected to the tool receiving unit and pivotable relative to the support arm.
  • the second joint section is arranged in the support arm in a joint section receiving the first annular sealing element penetrating from the joint axis of the support arm pivot joint to a section of the tool receiving unit fixed to the second joint section and to a further annular sealing element penetrated by the joint axis of the support arm pivot joint the body of the support arm is sealed.
  • a device for applying the Tragarmlohlraums with sealing air is provided.
  • the senor has a sensor body and the receptacle is sealed by means of the sensor body and by means of a voltage applied to the sensor body sealing member against the ingress of a liquid and / or gaseous and / or vaporous process medium by the inclusion in the Tragarmhohlraum.
  • the tool receiving rotary joint in the tool receiving unit is preferably associated with a drive as an electric motor, which moves a drive shaft to which a transmission is connected, which transmits a rotational movement of the drive shaft to a connection portion of Malawiiffurge- steering for the tool, wherein the transmission is arranged in a gearbox receiving which is sealed by means of a first annular sealing element penetrating from the axis of rotation of the tool receiving rotary joint and by means of a further sealing element penetrated by this rotary axis to the main body of the tool receiving unit and the gearbox.
  • the transmission receptacle communicates between the first annular sealing element and the further annular sealing element through a channel connected to the supporting arm cavity through the hollow shaft.
  • a device can also also have a sensor arranged in a support which communicates with the support arm cavity in the support arm for detecting the rotational position of the support arm pivot joint and a surrounding, in particular annular sealing element for sealing the receptacle to the body of the support arm.
  • the sensor advantageously has a sensor body, which seals the receptacle by means of a sealing element abutting the sensor body against the penetration of a liquid and / or gaseous and / or vaporous process medium through the receptacle into the support arm cavity.
  • a device may in particular have a cleaning tool connected to the tool receiving unit with a device for receiving a workpiece formed as a shaft on a first end section with a recess formed therein and on a second end section opposite the first end section with a recess formed therein first retaining member having a retaining pin and a linearly displaceable to the first retainer organ further holding member with another retaining mandrel for receiving the workpiece under engagement of the first retaining pin formed in the first end portion recess and the second retaining pin has formed in the formed on the second end portion recess ,
  • first retaining pin and / or the second retaining pin is formed as a nozzle body, which is connected to a communicating with the arm of the arm passing through the fluid channel communicating fluid line to those at the first and / or the second end portion of Workpiece formed recess to clean with a supplied through the fluid channel cleaning medium.
  • the nozzle body can have a conically tapered section for engagement in the indentation formed in the first or second end section of a workpiece, in which groove-shaped recesses or perforations are formed for the removal of the cleaning medium acting on the workpiece.
  • FIG. 1 shows a device for manipulating a workpiece received on a combined gripper and cleaning tool in a process chamber
  • Fig. 2 is a partial section of the device of Figure 1 with a support arm and a support arm.
  • Fig. 3 is a retaining arm pivot in the device
  • FIG. 4 is an enlarged view of the portion IV of the retaining arm pivot joint shown in FIG. 3;
  • Fig. 5 is a Tragarmpitgesch in the device
  • Fig. 6 is an enlarged view of the portion V of the Tragarmfitgeschs shown in Figure 5;
  • Fig. 8 is a sectional view of the recorded on the gripper tool
  • FIG. 10 shows a flow of fluid through the first retaining mandrel in the gripping tool
  • Fig. 1 1 designed as a nozzle body second retaining pin in the gripper tool.
  • the apparatus 10 shown in Fig. 1 has a pillar body 12 arranged on a base 11, on which a holding arm 14 can be moved in the direction of the double arrow 16 in the vertical direction.
  • the column body 1 1 can be pivoted on the base 12 about a vertical axis of rotation 13.
  • On the holding arm 14, a support arm 18 is received in a Tragarmfange- steering 58.
  • the support arm 18 may be moved on the support arm 14 about a first vertical support arm pivot axis 20.
  • a tool receiving unit 22 is pivotally mounted in a Tragarmsearch 58.
  • the tool receiving unit 22 can be pivoted in the support arm pivot joint 58 about a second, vertical hinge axis 24.
  • the support arm 18 accommodated on the column body 12, the support arm 18 articulated on the support arm 14 and the tool receiving unit 22 articulated to the support arm 18 form what is known as a scar kinematics.
  • the tool holder unit 22 carries a tool 26 designed as a combined gripper and cleaning tool.
  • the tool 26 of the apparatus 10 shown in FIG. 1 accommodates two workpieces 28 to be cleaned in the form of a crankshaft.
  • the tool 26 can be pivoted on the tool receiving unit 22 in a tool receiving medial swivel joint 25 about a horizontal axis of rotation 30.
  • FIG. 2 shows the device 10 from FIG. 1 as a partial section.
  • the column body 12 is designed as a fluid-tight hollow body in which there is a fluid-tight cavity 32.
  • the support arm 14 is guided in the cavity 32 of the base 12 on a guide linkage (not shown) linearly movable and can be moved there with a motor-driven spindle nut 34 in the direction of the double arrow 16 on a lifting spindle 36.
  • the column body 12 is closed in a fluid-tight manner with a lamellae curtain 38.
  • the holding arm 14 also has a fluid-tight holding arm body 70 with a fluid-tight holding arm cavity 42.
  • the support arm 18 is also designed as a fluid-tight hollow body having a support arm cavity 46 formed in the support arm body 92.
  • the holding arm cavity 42 and the Tragarmhohlraum 46 is at least partially flexible high-pressure fluid line with a fluid channel 48 and an at least partially flexible line with a fluid duct 50 with connected nozzles 52 to the tool holder unit 22 out.
  • the support arm cavity 42 communicates with the support arm cavity 46 and the cavity 32 of the pillar body 12.
  • the fluid line to the fluid channel 48 and the line to the fluid channel 50 are connected to a drag chain mechanism 54.
  • the fluid lines 48, 50 signal lines 51 are also laid in the device 10.
  • the holding arm pivot joint 56 and the support arm pivot joint 58 each contain a hollow shaft 60 penetrated by the support arm pivot axis 20 and the tool receiving joint axis 24.
  • An electric motor 15, which acts on the hollow shaft 60 of the holding arm pivot joint 56 by means of a gear 17, is assigned to the holding arm pivot joint 56 in the support arm 14 as a motor drive.
  • an electric motor 19 is received in the support arm 18.
  • the electric motor 19 acts on the hollow shaft 60 of the Tragarmsearchgelenks 58 by means of a transmission 21st
  • the conduit with the fluid channel 50 is a means for impinging the cavity 32 of the base 12 and the support arm cavity 46 and the retaining arm cavity 42 with sealing air provided from the nozzles 52.
  • a gas pressure is effected there which is 0.2 bar to 0.5 bar above the atmospheric pressure. This above atmospheric pressure gas pressure prevents the ingress of liquid, liquid vapors and their gaseous components in these cavities and arranged there gear and pivot bearing when the device 10 is operated in a process chamber for cleaning and / or deburring of workpieces.
  • the high pressure fluid line with the fluid channel 48 serves to pressurize the combined cleaning and gripping tool 26 with cleaning fluid, which is optionally at a high pressure, which may be up to 3000 bar or more.
  • the cleaning fluid supplied to the cleaning and gripping tool 26 through the fluid channel 48 can comprise, for example, a fluid from the group of aqueous surfactant solutions, alkalis, acids, demineralized water, nonaqueous solvents, especially alcohols, halogenated hydrocarbons, vegetable oil esters and / or dibasic esters but also compressed air, water vapor or supercritical carbon dioxide.
  • the fluid channel 48 and the fluid channel 50 respectively pass through the hollow shaft 60 of the retainer pivot joint 56 and the support arm pivot joint 58.
  • FIG. 4 is an enlarged view of a portion of the retainer pivot 56.
  • the retainer pivot 56 has a first hinge portion 62 defined in the retainer 14 and a pivotally connected to the bracket 18 and pivotable to the retainer arm 14 second hinge portion 64.
  • the second hinge portion 64 is disposed in the support arm 14 in a hinge portion receptacle 66.
  • the Gelenkabitesness 66 is provided with a first of the Tragarmgelenkachse 20 of the support arm pivot 56 enforced as a Simmering annular sealing member 68 which abuts the first hinge portion 62, and with a penetrated by the Tragarmgelenkachse 20 of the retaining arm pivot 56 further annular sealing member 72 at one with the second hinge portion 64 tightly connected portion 65 of the support arm 18 sealed to the body 70 of the support arm 14.
  • a sensor 78 designed as a magnetic sensor is arranged on the holding arm 14 in a receptacle 76 communicating with the holding arm hollow space 42.
  • the sensor 78 detects a magnetic field that generates a magnetic body 80 received on the support arm 18.
  • the receptacle 76 for the sensor 78 is is sealed to the body 70 of the support arm 14 with an annular seal member 82 surrounding the sensor body 79 of the sensor 78.
  • FIG. 6 shows an enlarged view of a portion of the support arm hinge 58 and the tool receiving pivot joint 25.
  • the support arm pivot 58 has a first hinge portion 84 defined in the support arm 18 and one with the Support arm 18 firmly connected and pivotable to the support arm 18 second hinge portion 86.
  • the second hinge portion 86 is disposed in the support arm 18 in a hinge portion receptacle 88.
  • This hinge section receiver 88 is provided with an annular sealing member 90 formed as a simmering ring extending from the tool receiving hinge axis 24 to the body 92 of the support arm 18 and having a further annular sealing member 94 penetrated from the tool receiving pivot axis 24 of the support arm pivot 58 to one at the second hinge portion 86 fixed portion 67 of the tool holder unit 22 to the body 92 of the support arm 18.
  • the joint section receptacle 88 is connected to the support arm cavity 46 by a channel 75 opening into the joint section receptacle 88 between the first annular seal element 90 and the further annular seal element 94. Through this channel 75 can flow into the Gelenkabismeability 88 between the first annular sealing member 94 and the further annular sealing member 72 sealing air here.
  • the tool receiving unit 22 has a main body 41.
  • the tool receiving rotary joint 25 in the tool receiving unit 22 is associated with an electric motor 23 as a drive.
  • the electric motor 23 moves a drive shaft 29, to which a transmission 31 is connected.
  • the main body 41 of the tool receiving unit 22 comprises a holding member 69 for the transmission 31.
  • On the holding member 69, the gear 31 is supported.
  • the gear 31 transmits a rotational movement of the drive shaft 29 to a connection section 33 for the gripper tool 26. It is thereby moved about the rotation axis 30.
  • the transmission 31 is arranged in a transmission receptacle 35.
  • the transmission mount 35 is thereby sealed with a first annular sealing element 37 penetrating from the axis of rotation 30 of the tool receiving rotary joint 25 and with a further sealing element 39 penetrated by this axis of rotation 30 to the main body 41 of the section 67 of the tool receiving unit 22 and to the retaining element 69.
  • a further sealing element 39 penetrated by this axis of rotation 30 to the main body 41 of the section 67 of the tool receiving unit 22 and to the retaining element 69.
  • the annular sealing elements 37, 39 have a double function.
  • the sealing elements 37, 39 protect against dirt and cleaning fluid being able to get into the gear 31 during the cleaning of workpieces by means of the device 10.
  • the device 10 preferably has an external central lubrication for all neuralgic lubrication points.
  • the supply of lubricant to the lubrication points takes place in a favorable manner also means in the cavities 42, 46 of the support arm 14 and the support arm 18 laid lines.
  • FIG. 7 shows the tool 26 formed by a combined gripper and cleaning tool with two workpieces 28 received thereon.
  • FIG. 8 shows a workpiece 28 received by the tool 26 as a section.
  • the tool 26 makes it possible to pick up a workpiece 28 designed as a crankshaft on a first end section 98 with a recess 100 formed therein and on a second end section 102 opposite the first end section 98 with a recess 104 formed therein.
  • the tool 26 has first holding members 106 with a retaining pin 108 and to the first holding members 106 each linearly movable further holding members 1 10 with another retaining mandrel 1 12 for receiving the workpiece to be cleaned 28 under engagement of the first retaining mandrel 108 formed in the formed on the first end portion 98 as a center hole Recess 100 and the second retaining mandrel 1 12 in the formed on the second end portion 102 as a center hole recess 104th
  • the first retaining mandrel 108 and the second retaining mandrel 112 are designed as a nozzle body, which is connected to a fluid line 1 14 or 16 communicating with the high-pressure fluid line passing through the retaining arm pivot 56 and the support arm pivot joint 58 to clean at the first and second end portions 98, 102 of the workpiece 28 formed recess 100 or 104 with ided by the Hochtik Kunststoff- with the fluid channel 48 cleaning medium.
  • FIG. 10 shows the first retaining mandrel 108 of the cleaning and gripping tool 26.
  • the retaining mandrel 108 has a nozzle body with a nozzle channel 109 having a tapered portion 120 with a hemispherical shaped portion for engaging the first end portion 98 of the workpiece 28.
  • the nozzle body in the conically tapered section 120 has groove-shaped depressions 122.
  • the hemispherical region at the tip of the holding mandrel 108 ensures that by means of the work piece designed as a cleaning and gripping tool. 26 crankshafts can be recorded, which have different centering holes.
  • the retaining mandrel 112 also has a nozzle body with a nozzle channel 109 which has a conically tapered section 120 for engagement in the first end section 98 of the workpiece 28 has.
  • the nozzle body has a plurality of openings 126 in the conically tapered section 120.
  • the shape of the retaining pin 1 12 allows recording as a crankshaft formed workpieces 28 with different centering holes.
  • the invention relates to a device 10 for manipulating a tool 26 and / or a workpiece 28 with a holding arm 14 received on a base 12, which has a holding arm body 70.
  • the device 10 has a support arm 18 connected to the holding arm 14 with a holding arm pivot 56 with a support arm body 92.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning By Liquid Or Steam (AREA)

Abstract

L'invention concerne un dispositif (10) pour manipuler un outil (26) et/ou une pièce (28), ce dispositif comprenant un bras support (14) reçu sur une base (12) et pourvu d'un corps de bras support (70). Le dispositif (10) présente un bras porteur (18) raccordé au bras support (14) par une articulation rotoïde de bras support (56) et pourvu d'un corps de bras porteur (92). Le dispositif (10) comprend un canal de fluide (48, 50) qui traverse l'articulation rotoïde de bras support (56) et dans lequel un milieu fluide peut être acheminé de la base (12) au bras porteur (18).
PCT/EP2016/065104 2015-06-30 2016-06-29 Dispositif pour manipuler un outil et/ou une pièce WO2017001456A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015212256.5A DE102015212256A1 (de) 2015-06-30 2015-06-30 Vorrichtung für das Manipulieren eines Werkzeugs und/oder Werk-stücks
DE102015212256.5 2015-06-30

Publications (1)

Publication Number Publication Date
WO2017001456A1 true WO2017001456A1 (fr) 2017-01-05

Family

ID=56321930

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2016/065104 WO2017001456A1 (fr) 2015-06-30 2016-06-29 Dispositif pour manipuler un outil et/ou une pièce

Country Status (2)

Country Link
DE (1) DE102015212256A1 (fr)
WO (1) WO2017001456A1 (fr)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
CN113276132A (zh) * 2021-06-07 2021-08-20 杭州萤石软件有限公司 服务机器人

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108527351B (zh) * 2018-06-14 2021-05-25 北京信息科技大学 一种仓储机器人及其机械臂

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JPH0193695A (ja) * 1987-09-30 1989-04-12 Mita Ind Co Ltd ロボットの流体伝達機構
JPH0557665A (ja) * 1991-08-27 1993-03-09 Canon Inc 移送ロボツト
DE102004002416A1 (de) 2003-01-17 2004-10-07 Toyota Jidosha Kabushiki Kaisha, Toyota Knickarmroboter
DE102009042016B3 (de) * 2009-09-21 2011-04-07 Piller Entgrattechnik Gmbh Vorrichtung zum Entgraten, Entspanen und Reinigen einer Kurbelwelle mittels Flüssigkeitsstrahlen
CN204107893U (zh) * 2014-07-29 2015-01-21 重庆科本科技有限公司 曲轴清洗机

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ES2129289B1 (es) * 1995-07-12 2000-02-16 Agullo Ing Dispositivo para el lavado y/o desbarbado con precision de orificios de piezas mecanizadas.
IT1292275B1 (it) * 1997-04-23 1999-01-29 Comau Spa Polso di robot industriale, e robot comprendente tale polso.
JP3376275B2 (ja) * 1998-04-23 2003-02-10 三菱電機株式会社 産業用ロボット装置
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Patent Citations (5)

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Publication number Priority date Publication date Assignee Title
JPH0193695A (ja) * 1987-09-30 1989-04-12 Mita Ind Co Ltd ロボットの流体伝達機構
JPH0557665A (ja) * 1991-08-27 1993-03-09 Canon Inc 移送ロボツト
DE102004002416A1 (de) 2003-01-17 2004-10-07 Toyota Jidosha Kabushiki Kaisha, Toyota Knickarmroboter
DE102009042016B3 (de) * 2009-09-21 2011-04-07 Piller Entgrattechnik Gmbh Vorrichtung zum Entgraten, Entspanen und Reinigen einer Kurbelwelle mittels Flüssigkeitsstrahlen
CN204107893U (zh) * 2014-07-29 2015-01-21 重庆科本科技有限公司 曲轴清洗机

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113276132A (zh) * 2021-06-07 2021-08-20 杭州萤石软件有限公司 服务机器人

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