WO2024133839A1 - Robot, agencement de compensation de charge pour un robot et procédé d'installation - Google Patents

Robot, agencement de compensation de charge pour un robot et procédé d'installation Download PDF

Info

Publication number
WO2024133839A1
WO2024133839A1 PCT/EP2023/087513 EP2023087513W WO2024133839A1 WO 2024133839 A1 WO2024133839 A1 WO 2024133839A1 EP 2023087513 W EP2023087513 W EP 2023087513W WO 2024133839 A1 WO2024133839 A1 WO 2024133839A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
load balancing
coupling member
plain bearing
rotary joint
Prior art date
Application number
PCT/EP2023/087513
Other languages
German (de)
English (en)
Inventor
Martin Wandinger
Original Assignee
Bucher Hydraulics Erding 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 Bucher Hydraulics Erding Gmbh filed Critical Bucher Hydraulics Erding Gmbh
Publication of WO2024133839A1 publication Critical patent/WO2024133839A1/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
    • B25J19/0008—Balancing devices
    • B25J19/0012—Balancing devices using fluidic devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
    • F16C11/0614—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints the female part of the joint being open on two sides
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
    • F16C11/0695—Mounting of ball-joints, e.g. fixing them to a connecting rod
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2322/00—Apparatus used in shaping articles
    • F16C2322/50—Hand tools, workshop equipment or manipulators
    • F16C2322/59—Manipulators, e.g. robot arms

Definitions

  • the present disclosure relates to a fluidic load balancing arrangement for a multi-axis robot, which has at least two coupling members which are connected to one another in an articulated manner and which are movable relative to one another, in particular pivotable.
  • the present disclosure further relates to a robot with a load balancing arrangement and a method for mounting a plain bearing in a load balancing arrangement.
  • Multi-axis robots in particular so-called industrial robots, are well known in the art.
  • Such robots usually comprise two, three or more interconnected and relatively movable coupling elements.
  • these coupling elements can be referred to as a frame, swing arm, arm/boom, hand, etc.
  • Robots of a general type usually have a serial kinematic chain.
  • Such robots are also referred to as articulated arm robots.
  • Robots with two to seven or even more rotation axes or swivel axes are known.
  • serial kinematics the coupling elements of the robot form a serial chain starting from the frame.
  • An industrial robot is generally understood to be a handling machine that is equipped with appropriate tools for the automatic handling of objects and is programmable in several axes of movement, in particular with regard to orientation, position and work sequence.
  • Industrial robots essentially comprise a control device and a robot arm with several axes and, if necessary, levers that are moved by drives that control the control device.
  • Industrial robots in particular industrial robots with a relatively large payload, can have a weight or mass balancing system for at least one of their axes, in particular for the second axis of the kinematic chain or the horizontal axis, which comprises, for example, a coil spring or another energy storage device.
  • Load balancing arrangements for robots are usually arranged between two adjacent coupling elements that are movable relative to one another, in particular pivotable.
  • Various types of load balancing arrangements are known, for example purely mechanical mass-based balancing arrangements, spring-based load balancing arrangements, fluidic load balancing arrangements, etc.
  • the aim of such a load balancing arrangement is basically to store static and/or kinematic energy when the coupling elements of the robot move relative to one another in order to make this energy available again, for example, in the event of an opposite movement. In this way, unfavorable load situations or extreme positions of the coupling elements of the robot can be optimized in such a way that the holding torque or load torque of the drive that has to be applied is reduced.
  • WO 96/31325 A1 discloses a multi-axis industrial robot with a frame, a swing arm, a boom and a robot hand which are articulated to one another and driven, the swing arm being arranged laterally next to the system plane formed by the frame axis and the center of the hand flange, the swing arm and the boom each having a one-sided floating bearing, the swing arm being connected to a static hydraulic mass balance which is arranged on its side of the system plane, the gear and the bearing of the swing arm being arranged on one side of the system plane, and the motor of the swing arm being arranged on the other side of the system plane.
  • Load balancing arrangements for robots are further disclosed by EP 2 301 727 A1 and DE 102014 104 173 A1. Relevant load balancing arrangements are also known from EP 3 311 961 A1 and EP 3 311 962 A1.
  • a robot including its load balancing device, should continue to be designed to be sufficiently compact and lightweight so that certain tolerance fluctuations and static/dynamic compliances can be expected.
  • the present disclosure is based on the object of specifying a fluidic load balancing arrangement for a multi-axis robot and a robot provided with such a load balancing arrangement, which are designed to be sufficiently robust and insensitive.
  • the load balancing arrangement should be suitable for high loads and changing directions of movement.
  • the load balancing arrangement should be able to be integrated into a robot or coupled to its coupling elements with moderate effort.
  • the present disclosure relates to a fluidic load balancing arrangement for a multi-axis robot, which at least at least two coupling members which are articulated to one another, the load balancing arrangement comprising: a cylinder which is articulated to a first coupling member and a second coupling member of the robot in order to store energy and release stored energy during a relative movement between the first coupling member and the second coupling member, a first rotary joint via which a first end of the cylinder is rotatably mounted on the first coupling member, and a second rotary joint via which a second end of the cylinder is rotatably mounted on the second coupling member, at least one of the first rotary joint and the second rotary joint comprising a spherical plain bearing.
  • the spherical plain bearing allows a high load-bearing capacity on the one hand and, on the other hand, is well suited for changing directions of movement (oscillating movement), as often occurs in robots.
  • the spherical design of the plain bearing increases the ability to compensate for any shape deviations and/or bearing deviations.
  • a spherical plain bearing can compensate for any misalignment of the cylinder or its rotary joints. In this way, for example, an axial offset between the first rotary joint and the second rotary joint can be compensated for. This allows safe operation of the robot equipped with the load balancing arrangement, while ensuring a long service life.
  • Any coupling points for receiving the swivel joints between the coupling elements of the robot and the cylinder of the load balancing arrangement can be subject to tolerances within certain limits. This relates, for example, to an axial alignment of two coupling elements of the robot which are pivotably coupled to one another and which are additionally functionally coupled to one another via the load balancing arrangement. [0014] Any deformations and/or load peaks during operation of the robot have only a minor effect on the function and service life of the load balancing arrangement due to the tolerance insensitivity. Furthermore, any bearing reactions in the robot that result in the event of overdetermination can be minimized, so that the risk of any damage and/or excessive wear on the part of the robot is also reduced.
  • a spherical plain bearing is a self-aligning joint bearing for high loads.
  • the spherical plain bearing can withstand high shock loads and pressure loads, even with non-constant, oscillating movements.
  • a spherical plain bearing has a favorable ratio between load-bearing capacity and required installation space, so that the load balancing arrangement can be designed to be compact overall.
  • Any coupling points with the coupling elements of the robot can be designed with moderate installation space requirements. Due to the ability to compensate for tolerances, the spherical plain bearing can be adapted to the current operating conditions during the movement of the robot. In this way, for example, it is possible to react to a misalignment (for example angular offset between the axes involved), which changes depending on a relative position between the coupling elements involved.
  • a spherical plain bearing comprises, for example, a circumferential ring with a spherically (convexly) curved outer surface that is adapted to a seat for the bearing.
  • the seat has a spherical recess with a concave curvature.
  • the spherical plain bearing can be pivoted (at least within certain limits) during operation along the spherical surfaces of the seat in order to compensate for misalignment and/or other shape and/or position deviations between the elements to be coupled together. Nevertheless, a high load-bearing capacity is provided due to the surface contact along the spherical surfaces.
  • Plain bearings can be made of metal, plastic and ceramic, for example. Plain bearings are also known that are designed as metal-polymer plain bearings or fiber-reinforced composite bearings. Plain bearings can be maintenance-free or low-maintenance Preferably, plain bearings are designed as a single piece and are formed, for example, by a (single) bearing ring
  • both the first rotary joint and the second rotary joint comprise a spherical plain bearing.
  • the ability to compensate for tolerances can be further increased. Since the distance between the first rotary joint and the second rotary joint changes when the coupled coupling elements of the robot are pivoted relative to one another, an adjustment/alignment of at least one of the two plain bearings can take place during the movement.
  • the first coupling element and the second coupling element of the robot are adjacent to one another and are pivotably coupled to one another via an axis.
  • the two coupling elements are connected to one another via the load balancing arrangement, so that there is a certain risk of static overdetermination. Due to the coupling of the load balancing arrangement with tolerance-compensating spherical plain bearings, the accuracy requirements for the manufacture and assembly of the components involved can be reduced without this having a negative effect on the operating behavior and service life.
  • At least the first swivel joint or the second swivel joint is spaced radially from the axis between the coupling members. In this way, the distance between the first swivel joint and the second swivel joint changes during a relative rotation between the first coupling member and the second coupling member. If there is already a misalignment between the axes of the first and second swivel joints, this misalignment would possibly change depending on the respective swivel angle. At least one spherical plain bearing can be used to react to any fluctuations.
  • At least the first rotary joint or the second rotary joint is axially spaced from an effective bearing plane of the axle.
  • the effective bearing plane is oriented perpendicular to the axle, wherein the effective bearing plane describes a contact surface in which the first coupling member and the second coupling member adjoin one another and are rotatable relative to one another.
  • a floating bearing between two adjacent coupling links is common in robots.
  • the effective bearing plane is the interface between the two coupling links.
  • the associated swivel joint of the load balancing arrangement often cannot be placed exactly in this bearing plane. If there is an (axial) distance to the bearing plane, a tipping moment must be expected if forces/moments are transmitted via both the coupling links of the robot and the cylinder of the load balancing arrangement. This can lead to deformations during operation, depending on the respective relative pivoting and/or current load. Even in such a case, the spherical joint bearing can carry out corresponding compensating movements.
  • the first swivel joint and the second swivel joint each have a structural center, wherein the center of the first swivel joint and the center of the second swivel joint are axially offset from one another.
  • the axial offset is in the range of a few hundredths of a millimeter to a few tenths of a millimeter.
  • Such an offset can cause a misalignment, so that the coupling elements involved and the cylinder connecting them are not perfectly aligned parallel to one another.
  • at least one of the two swivel joints is provided with a spherical plain bearing, an adjustment to such a positional deviation can be made without this having a detrimental effect on the function.
  • the first rotary joint and the second rotary joint each have an axis, wherein the axis of the first rotary joint and the axis of the second rotary joint are at least temporarily aligned during the relative movement between the first coupling member and the second coupling link are not aligned parallel to each other.
  • Such tilting can also be compensated by at least one spherical joint bearing.
  • the non-parallel alignment usually refers to a slight inclination/tilt/skewing between the axes that are nominally oriented parallel to one another. For example, an inclination of a maximum of 0.5° can occur during operation. For example, an inclination of a maximum of 2.0° can occur during operation. For example, an inclination of a maximum of 5.0° can occur during operation. Such inclination angles can be compensated. Accuracy requirements for the structural integration of a load balancing arrangement can be reduced.
  • the aim is to couple the individual elements (coupling links) of the robot's kinematic chain with high rigidity so that only a small degree of flexibility and, in particular, a high degree of repeatability for positioning are achieved during operation.
  • the load balancing arrangement is able to compensate for any tolerances on its swivel joints. This avoids adverse effects on the rigidity and accuracy of the robot's kinematic chain.
  • At least the first swivel joint or the second swivel joint has a recess which is at least partially spherical and which is formed in the cylinder for receiving the spherical plain bearing.
  • the cylinder has, for example, an eye for receiving a bearing on at least one of its two ends facing away from one another.
  • the eye comprises a spherical recess which serves as a seat for the spherical plain bearing.
  • both the spherical recess and the spherical plain bearing do not have a (complete) spherical shape. Instead, they usually have a spherical segment shape.
  • the coupling with the coupling member of the robot can be achieved, for example, via a bolt (bearing bolt) which is attached to the coupling member of the robot and extends through the spherical plain bearing.
  • At least the first swivel joint or the second swivel joint has a recess which is at least partially spherical in shape for receiving the spherical plain bearing and which is formed in the coupling member of the robot.
  • the eye for receiving the spherical plain bearing is not formed in the cylinder of the load balancing arrangement, but in the coupling member of the robot.
  • a bolt which extends through the spherical plain bearing is formed at the first end or second end of the cylinder.
  • the cylinder is mounted on a coupling element of the robot via the spherical plain bearing at least at its first end or second end.
  • the spherical plain bearing can adapt to a given load condition.
  • the recess which is at least partially spherically designed, has an insertion aid on at least one side of its circumference for mounting the spherical plain bearing in a mounting orientation inclined by at least 60° with respect to the installation orientation.
  • the spherical plain bearing can be easily installed even if both the plain bearing and the recess for receiving it are designed as a single piece.
  • the assembly orientation in which the plain bearing is guided into the seat
  • the installation orientation is usually rotated by 90° compared to the installation orientation (when the plain bearing is installed).
  • installation is possible, for example, in an orientation with an angle of 80° to 100 (for example 85° to 95°) compared to the installation orientation can be possible.
  • the plain bearing can be oriented transversely to its final installation position and inserted into the seat. In this case, contact can already be made between the spherical surfaces of the plain bearing and the recess, whereupon the plain bearing is rotated into its final installation orientation.
  • the insertion aid has at least one flattened area or two flattened areas offset by 180° on the circumference of the recess, which is at least partially spherical.
  • the plain bearing In the assembled state, the plain bearing is received in its seat in a form-fitting manner.
  • this form-fitting contour is at least partially interrupted in order to form the insertion aid, in which the plain bearing can be inserted into the seat transversely to its final installation orientation. Even if certain pivoting movements are tolerated in the installation orientation, a secure fit is nevertheless guaranteed because usual compensating movements (in response to given tilt angles) are significantly smaller than the pivoting angle between the installation orientation and the assembly orientation.
  • the present disclosure relates to a robot, in particular an industrial robot in the form of an articulated arm robot, which is provided with a load balancing arrangement according to at least one of the embodiments described herein, which is assigned to two coupling members of the robot which are connected to one another in an articulated manner.
  • the load balancing device is associated with a coupling member designed as a carousel and a coupling member designed as a swing arm, wherein the cylinder is articulated to rotary joints which are radially spaced from an axis of rotation between the two coupling members.
  • the cylinder is arranged in such a way that, at a maximum relative movement between the carousel and the rocker, the hydraulic cylinder has both a retraction movement and a extension movement.
  • a maximum relative movement can include a swivel movement between the two coupling elements involved, which includes the largest possible swivel angle.
  • the load balancing arrangement can thus bring about a reduction in the applied moments in a variety of operating states.
  • the load balancing arrangement comprises two cylinders which are assigned to different degrees of freedom of movement of the robot, i.e. different pairs of coupling elements.
  • the two cylinders are each mounted on their swivel joints via at least one spherical plain bearing on the respectively assigned coupling element.
  • the first rotary joint and the second rotary joint each have a structural center, wherein the center of the first rotary joint and the center of the second rotary joint are axially offset from one another, and wherein the offset in the load balancing arrangement is compensated by the spherical plain bearing.
  • the first rotary joint and the second rotary joint each have an axis, wherein the axis of the first rotary joint and the axis of the second rotary joint are at least temporarily non-parallel to one another during the relative movement between the first coupling member and the second coupling member, and wherein the non-parallelism in the load balancing arrangement is compensated for by the spherical plain bearing.
  • the present disclosure relates to a method for assembling a spherical plain bearing in a load balancing arrangement comprising the following steps:
  • Securing the position of the spherical plain bearing in the spherical recess by inserting a bolt into the spherical plain bearing is arranged on one of the coupling members, and in particular compensating for an axial offset and/or a non-parallelism between the first rotary joint and the second rotary joint by means of the spherical plain bearing.
  • Fig. 1 is a schematic side view of an embodiment of a robot provided with a load balancing arrangement, in a retracted state;
  • FIG. 2 is a side view of another embodiment of a robot provided with a load balancing arrangement in a retracted state according to Fig. 1;
  • Fig. 3 is a further schematic view of a robot with a load balancing arrangement in an orientation rotated by 90° compared to Fig. 1;
  • Fig. 4 is a partial side view of a cylinder with an eye with a seat for receiving a spherical plain bearing
  • Fig. 5 is a partial side view based on Fig. 4 to illustrate a compensating movement of the spherical plain bearing
  • Fig. 6 is a partial perspective view of a cylinder with an eye with a spherical recess and a spherical plain bearing to illustrate an assembly process.
  • Fig. 1 shows a side view of a robot 10, which is designed as an industrial robot.
  • the robot 10 is designed as an articulated arm robot or a knuckle arm robot.
  • the robot 10 has a serial kinematic chain.
  • the robot 10 comprises coupling links 12, 14, 16, 18, 20, 22 and 24, which are coupled to one another in series.
  • Each of the coupling links 12, 14, 16, 18, 20, 22, 24 is movable, in particular rotatable or pivotable, relative to its adjacent coupling link(s).
  • the first coupling link 12 can also be referred to as the base.
  • a connection 26 is provided on the last coupling link 24, for example for a so-called end effector.
  • the kinematic chain can be supplemented by further coupling links.
  • a manipulator in the form of a gripper or the like can be accommodated on the connection 26.
  • the robot 10 has various (movement) axes 30, 32, 34, 36, 38, 40, which are each formed between two of the coupling members 12, 14, 16, 18, 20, 22 and 24.
  • the axes 30, 32, 34, 36, 38, 40 can also be referred to as drive axes and be provided with or coupled to drives/motors, such as electric motors.
  • Gearboxes can be connected between the axes 30, 32, 34, 36, 38, 40 and the motors assigned to them.
  • the axes 30, 32, 34, 36, 38, 40 generally allow a rotary movement/pivoting movement between adjacent coupling links 12, 14, 16, 18, 20, 22 and 24.
  • the axis 30 is arranged between the coupling links 12, 14 and allows a relative pivoting or relative rotation between the coupling links 12, 14.
  • the axis 32 is arranged between the coupling links 14, 16 and allows a relative rotation or relative pivoting between the coupling links 14, 16.
  • the axis 34 is assigned to the coupling links 16, 18 and allows a relative rotation and relative pivoting between the coupling links 16, 18.
  • the axis 36 is arranged between the coupling links 18, 20 and allows a relative rotation or relative pivoting between the coupling links 18, 20.
  • the axis 38 is arranged between the coupling links 20, 22 and allows a relative rotation or relative pivoting between the Coupling links 20, 22.
  • the axis 40 is arranged between the coupling links 22, 24 and allows a relative rotation or relative pivoting between the coupling links 22, 24.
  • the coupling member 12 can also be referred to as a frame 42.
  • the coupling member 14 can also be referred to as a carousel 44.
  • the coupling member 16 can also be referred to as a swing arm 46.
  • the coupling member 18 can also be referred to as an arm 48.
  • the frame 42 is usually designed to fix the robot 12 to the floor.
  • designs of robots 10 are also known which are mounted on the ceiling or on a (side) wall, depending on the application.
  • the robot 10 is further provided with a load balancing arrangement 60 which, according to the exemplary embodiment illustrated with reference to Fig. 1, comprises a cylinder (for example hydraulic cylinder) 62 which has a cylinder housing 64 and a piston rod 66 which extends into the cylinder housing 64.
  • the cylinder housing 64 and the piston rod 66 can be moved in translation relative to one another.
  • the cylinder 62 is supported at one end, at the cylinder housing 64, via a bearing or a Swivel joint 68 is pivotally coupled to the coupling member 14, i.e. to the carousel 44.
  • the hydraulic cylinder 62 is received on the coupling member 16, i.e.
  • a fluid for example a hydraulic oil or a gas, can flow into the cylinder housing 64 or be displaced from the cylinder housing 64.
  • the load balancing arrangement 60 further comprises a storage unit 74, which comprises at least one pressure accumulator 78.
  • the storage unit 74 and the pressure accumulator 78 are shown only schematically in Fig. 1.
  • the pressure accumulator is designed, for example, as a diaphragm accumulator, bladder accumulator, piston accumulator, spring accumulator and/or according to another type of accumulator.
  • a gaseous fluid such as nitrogen or the like, is accommodated in the pressure accumulator 78.
  • the gaseous fluid is highly compressible, so that the oil displaced during the movement of the cylinder 62 can pressurize the gaseous fluid in the pressure accumulator 78. In this way, potential energy or kinetic energy can be stored as fluid energy.
  • the coupling member 16 is pivoted relative to the coupling member 14 in such a way that the piston rod 66 initially plunges deeper into the cylinder housing 64 and, after overcoming a maximum immersion depth, is moved out of the cylinder housing 64 again when the coupling member 16 is pivoted further.
  • FIG. 2 a further embodiment of a robot designated as a whole by 110 is illustrated.
  • the robot 110 according to Fig. 2 is basically designed similarly to the robot 10 according to Fig. 1. This basically applies to the coupling members 12, 14, 16, 18, 20, 22, 24 and the axes 30, 32, 34, 36, 38 and 40 assigned to them.
  • the coupling member 12 can also be referred to as a frame 42.
  • the coupling member 14 can be referred to as a carousel 44.
  • the coupling member 16 can be referred to as a rocker arm 46.
  • the coupling member 18 can be referred to as an arm 48.
  • the robot 110 is also provided with a load balancing arrangement, which is designated 160 in Fig. 2.
  • the load balancing arrangement 160 is provided with a cylinder (for example a hydraulic cylinder) 62, the design of which is basically similar to the design of the cylinder 62 according to Fig. 1.
  • the cylinder 62 comprises a cylinder housing 64 and a piston rod 66. At its cylinder housing-side end, the cylinder 62 is received on the coupling member 14 via a bearing or a swivel joint 68. At a piston-side end, the cylinder 62 is received on the coupling member 16 via a bearing or a swivel joint 70. Analogous to the load balancing arrangement 60 according to Fig. 1, the load balancing arrangement 160 is also provided with a storage unit 74 which comprises at least one pressure accumulator 78. The storage unit 74 is assigned to the cylinder 62 and in particular is received on the cylinder housing 64.
  • the load balancing arrangement 160 further comprises a second cylinder (for example hydraulic cylinder) 182.
  • the cylinder 182 is shown largely in dashed lines in Figs. 2 and 4.
  • the cylinder 182 is associated with the second coupling member 16 and the third coupling member 18.
  • the cylinder 182 is at least partially covered by the second coupling member 16.
  • the cylinder 182 comprises a cylinder housing 184 and a piston rod 186 which can be inserted into the cylinder housing 184 and extended from the cylinder housing 186.
  • the cylinder 182 is received at its cylinder housing-side end via a bearing or swivel joint 188 on the coupling member 16.
  • the cylinder 182 is received at its piston-side end via a bearing or swivel joint 190 on the coupling member 18.
  • the pressure accumulator 78 or a second pressure accumulator can in principle also be provided in the second cylinder 182. Nevertheless, the configuration shown in Fig. 2 is conceivable, in which the second cylinder 182 is indirectly coupled via the first cylinder 62 to its pressure accumulator 78.
  • the rotary joints 68, 70 of the cylinder 62 are each offset from the axis 32 or radially spaced therefrom.
  • the rotary joints 188, 190 of the cylinder 182 are each offset from the axis 34 or radially spaced therefrom.
  • the cylinder 182 is received between the swing arm 46 and the arm 48 of the robot 110 according to the exemplary nomenclature mentioned above.
  • the exemplary embodiment shown in Fig. 2 further comprises a connecting line 194 which extends between the cylinder 62 and the cylinder 182.
  • the connecting line 194 effects a fluidic coupling between the cylinders 62, 182.
  • the connecting line 194 extends, for example, from the cylinder housing 64 to the cylinder housing 184. In this way, the cylinders 62, 182 of the load balancing arrangement 160 are functionally coupled to one another.
  • FIG. 182 Another feature of the exemplary design of the load balancing arrangement 160 according to Fig. 2 is that the cylinder 182, which is arranged between the coupling member 16 and the coupling member 18, does not have a storage unit provided with a pressure accumulator. Instead, the cylinder 182 also uses the storage unit 74, which is provided with the cylinder 62. For this purpose, the connecting line 194 extends between the cylinder 182 and the cylinder 62, in particular between the cylinder housings 64, 184.
  • An advantage of the design of the load balancing arrangement 160 illustrated in Fig. 2 is that no separate storage unit 74 with at least one pressure accumulator 78 is provided for the second cylinder 182 itself. This avoids an increase in the inertial masses that must be overcome by the axle 32 or the drive motor of the axle 32 in order to move the coupling member 16 and the following coupling links 18, 20, 22, 24 relative to the coupling link 14. Furthermore, no further effort is required for these components.
  • Figure 3 illustrates a further view orientation of a robot designated 10.
  • the robot 10 is rotated by approximately 90° compared to the view orientation shown in Figure 1.
  • Figure 3 shows the side of the robot 10 which faces away from the coupling member 24 or the connection 26 in the orientation according to Figure 1.
  • the cylinder 62 of the load balancing arrangement 60 is only shown schematically in Fig. 3.
  • the cylinder 62 is connected to the coupling member 14 via a swivel joint 68 and to the coupling member 16 via a swivel joint 70.
  • An axis 210 extends through the swivel joint 68.
  • An axis 212 extends through the swivel joint 70.
  • the axes 210, 212 should be structurally aligned as parallel to one another as possible.
  • the axes should be aligned parallel to the axis 32 about which the coupling members 14, 16 can pivot relative to one another.
  • a structural center of the swivel joint 68 is designated by 214.
  • a structural center of the swivel joint 70 is designated by 216.
  • the structural centers 214, 216 are axially identically positioned. This is the case, for example, when the structural center 214 and the structural center 216 are positioned in a common plane that is oriented perpendicular to the axes 210, 212.
  • FIG. 3 also illustrates a bearing plane designated 220, which designates an "interface" that is decisive for the pivoting movement between the coupling members 14, 16. There, a relative rotation takes place between the two coupling members 14, 16.
  • the coupling member 16 designated for example as a swing arm 46
  • the coupling member 14 is mounted in a floating manner on the coupling member 14, designated for example as a carousel 44. High forces and bending moments generally occur in a floating bearing.
  • a floating bearing can be can be spoken of if any force attack occurs "outside" the bearings or laterally offset from a bearing.
  • the first end of the cylinder 62 with the swivel joint 68 is also mounted in a floating manner on the coupling member 14, for example on a bearing dome 222.
  • the structural center 214 of the swivel joint 68 is spaced from the bearing plane 220.
  • the second end of the cylinder 62 with the swivel joint 70 is arranged in the exemplary embodiment between two bearing legs 224 of the coupling member 16. There is no floating bearing for the swivel joint 70 there. Nevertheless, there is also an axial offset between the structural center 216 and the bearing plane 220.
  • Fig. 3 shows that even with a structurally perfect orientation and alignment of the components involved, deformations can occur during operation of the robot 10 due to the forces and moments acting on it, which can lead, for example, to a misalignment between the axes 210, 212. In such a case, there would possibly be increased friction and increased wear in the cylinder 62. In principle, this unfavorable operating behavior could also affect the coupling elements 14, 16 and thus the operation of the robot 10.
  • a misalignment between the axes 210, 212 and/or an axial offset between the centers 214, 216 can therefore have an adverse effect on the operating behavior of the load balancing arrangement 60 and overall the operating behavior of the robot 10. Nevertheless, the bearing of the cylinder 62 at the rotary joints 68, 70 must be able to withstand high forces and moments if necessary. [0073] With reference to Figures 4-6, embodiments are illustrated in which spherical plain bearings are used in at least one of the pivot joints 68, 70 in order to compensate for positional tolerances and/or shape tolerances.
  • Fig. 4 shows a sectional partial view of the cylinder 62 at one of the swivel joints 68, 70.
  • an eye 226 is formed at the end of the cylinder 62, in which a spherically shaped recess 228 is formed.
  • a spherical plain bearing 230 is seated in the spherically shaped recess 228.
  • the spherical plain bearing has a spherical outer surface that is adapted to the spherical recess 228.
  • both the spherical plain bearing 230 and the spherical recess 228 have spherical segment surfaces with the same diameter.
  • the spherical plain bearing 230 is designed in one piece and is provided with an opening for a bolt or the like through which the axis 210 extends.
  • the structural center 214 forms the center of the spherical bearing 230 along the axis 210.
  • the spherically designed recess 228 can also be referred to as a seat for the spherical plain bearing.
  • Fig. 4 illustrates an ideal orientation, accordingly the axis 210 with the structural center 214 is oriented concentrically to the design of the eye 226.
  • the designation of the axis 210 and the structural center 214 indicate that the eye 226 is formed at the first end of the cylinder 62 at the swivel joint 68. However, this is not to be understood as limiting.
  • the second end of the cylinder 62 with the swivel joint 70 can also have such a design.
  • a bolt 240 is inserted into the spherical bearing 230.
  • the bolt 240 is arranged, for example, on the coupling member 14 or on the coupling member 16 in order to provide a bearing point for the first rotary joint 68 or the second rotary joint 70.
  • an inclination between the axis 210 of the spherical bearing 230 and an axis 242 is indicated by the eye 226.
  • Such an inclination (inclination between the axes 210, 242) can occur both statically and dynamically by a compensating movement of the spherical plain bearing 230 in the spherically designed recess 228.
  • the spherical surfaces of the spherical plain bearing 230 (convexly curved, i.e. arched outwards) and the spherical recess 228 (concavely curved, i.e. arched inwards) are adapted to each other, so that a high load-bearing capacity is still ensured. High loads and moments can be absorbed.
  • Fig. 6 illustrates an assembly process for mounting the spherical plain bearing 230 in the seat formed by the spherical recess 228 in the eye 226.
  • An insertion aid 250 is formed on the circumference 248 of the spherical recess 228, at least on the end face shown in Fig. 6.
  • the insertion aid 250 comprises at least one flattened portion 252, which is formed as a depression on the edge of the spherical recess 228.
  • two flattened portions 252, 254 are provided, which are offset from one another by 180° with respect to the axis 242.
  • the flattened portions 252, 254 allow the spherical plain bearing 230 to be inserted in the orientation shown in Fig. 6.
  • the sliding bearing 230 is inclined with its axis 210 by approximately 90° (at least 60°, for example 80° to 100°, for example 85° to 95°) relative to the axis 242.
  • the sliding bearing 230 can be inserted transversely, compare the arrow 260.
  • the center of the spherical sliding bearing 32 can be brought into line or almost into line with the center 214 of the spherical recess 228.
  • the spherical sliding bearing 230 can then be pivoted about an axis of rotation 264 which is perpendicular to the axis 210 of the spherical bearing 130 and perpendicular to the axis 242 of the spherical recess 228. Compare the curved arrow designated 262.
  • the spherical sliding bearing 230 can assume the final installation orientation shown in Fig. 4 starting from the assembly orientation shown in Fig. 6.
  • the spherical plain bearing 230 is positively secured in the spherically designed recess 228, particularly when a bolt 240 or a similar component also extends through the spherical plain bearing 230. Nevertheless, thanks to the insertion aid 250, tool-free assembly is possible.

Landscapes

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

Abstract

Un agencement de compensation de charge fluidique (60, 160) pour un robot à axes multiples (10, 110), qui comporte au moins deux éléments d'accouplement (14, 16, 18) reliés de manière articulée l'un à l'autre, comprend un cylindre (62, 182) qui est relié de manière articulée à un premier élément d'accouplement (14, 16, 18) et à un second élément d'accouplement (14, 16, 18) du robot (10, 110) afin de stocker de l'énergie pendant un mouvement relatif entre le premier élément d'accouplement (14, 16, 18) et le second élément d'accouplement (14, 16, 18) et pour libérer l'énergie stockée. L'agencement de compensation de charge (60, 160) comporte une première articulation rotoïde (68, 188), par l'intermédiaire de laquelle une première extrémité du cylindre (62, 182) est montée rotative sur le premier élément d'accouplement, et une seconde articulation rotoïde (70, 190), par l'intermédiaire de laquelle une seconde extrémité du cylindre (62, 182) est montée rotative sur le second élément d'accouplement. Au moins la première articulation rotoïde (68, 188) ou la seconde articulation rotoïde (70, 190) comprend un palier lisse sphérique (230). Un robot (10, 110) utilise un tel agencement de compensation de charge (60, 160). Un procédé est utilisé pour installer un palier lisse sphérique (230) dans un agencement de compensation de charge (60, 160).
PCT/EP2023/087513 2022-12-23 2023-12-21 Robot, agencement de compensation de charge pour un robot et procédé d'installation WO2024133839A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102022134749.4A DE102022134749B4 (de) 2022-12-23 2022-12-23 Roboter sowie Lastausgleichsanordnung für einen Roboter
DE102022134749.4 2022-12-23

Publications (1)

Publication Number Publication Date
WO2024133839A1 true WO2024133839A1 (fr) 2024-06-27

Family

ID=89535888

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2023/087513 WO2024133839A1 (fr) 2022-12-23 2023-12-21 Robot, agencement de compensation de charge pour un robot et procédé d'installation

Country Status (2)

Country Link
DE (1) DE102022134749B4 (fr)
WO (1) WO2024133839A1 (fr)

Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4546233A (en) * 1983-01-26 1985-10-08 Mitsubishi Denki Kabushiki Kaisha Robot arm having bearing support
US4753128A (en) * 1987-03-09 1988-06-28 Gmf Robotics Corporation Robot with spring pivot balancing mechanism
JPH01109088A (ja) * 1987-10-20 1989-04-26 Tokico Ltd 工業用ロボット
WO1996031325A1 (fr) 1995-04-07 1996-10-10 Kuka Roboter Gmbh Robot industriel avec equilibrage des masses
US20090097787A1 (en) * 2007-10-11 2009-04-16 New Hampshire Ball Bearings, Inc. Apparatus and method for a bearing having angulated load slot
EP2301727A1 (fr) 2009-09-29 2011-03-30 KUKA Roboter GmbH Robot industriel doté d'un système d'équilibrage du poids
US20120251224A1 (en) * 2007-02-09 2012-10-04 Bell Helicopter Textron Inc. Self-Retaining Anti-Rotation Clip
US20130160604A1 (en) * 2011-12-14 2013-06-27 Roller Bearing Company Of America, Inc. Slotted bearings with wear-resistant treatments for gearbox mounting in a geared turbofan engine
DE102014104173A1 (de) 2013-03-29 2014-10-16 Fanuc Corporation Mehrgelenkrobotor mit Gasfeder und Schätzverfahren für den Gasfederinnendruck
CN105459156A (zh) * 2016-01-05 2016-04-06 合肥泰禾光电科技股份有限公司 一种码垛机器人平衡缸
EP3311961A1 (fr) 2016-10-20 2018-04-25 Bucher Hydraulics Erding GmbH Robot et dispositif d'équilibrage pour un robot
EP3311962A1 (fr) 2016-10-20 2018-04-25 Bucher Hydraulics Erding GmbH Robot et dispositif d'équilibrage pour un robot
US20210197380A1 (en) * 2019-12-26 2021-07-01 Fanuc Corporation Balancer abnormality detection system and balancer abnormality detection method
JP2021167035A (ja) * 2020-04-10 2021-10-21 株式会社ダイドー 作業支援器具

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE602006012491D1 (de) 2006-09-27 2010-04-08 Abb Ab Industrieroboter mit Druckluftzufuhr in Gewichtsausgleichsvorrichtung
DE102009053032B4 (de) 2009-11-12 2019-07-18 Kuka Deutschland Gmbh Manipulator mit einer frei tragende Arme aufweisenden Gewichtsausgleichsvorrichtung
DE102010005103B4 (de) 2010-01-20 2020-11-05 Kuka Roboter Gmbh Industrieroboter mit einer Gewichtsausgleichseinrichtung
JP6836560B2 (ja) 2018-09-12 2021-03-03 ファナック株式会社 関節カバー、ロボットおよびパラレルリンクロボット
US20230101090A1 (en) 2021-09-27 2023-03-30 Sarcos Corp. System and Method for Restoring Robotic Assemblies to One Or More Self-Supporting Stable Support Positions

Patent Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4546233A (en) * 1983-01-26 1985-10-08 Mitsubishi Denki Kabushiki Kaisha Robot arm having bearing support
US4753128A (en) * 1987-03-09 1988-06-28 Gmf Robotics Corporation Robot with spring pivot balancing mechanism
JPH01109088A (ja) * 1987-10-20 1989-04-26 Tokico Ltd 工業用ロボット
WO1996031325A1 (fr) 1995-04-07 1996-10-10 Kuka Roboter Gmbh Robot industriel avec equilibrage des masses
US20120251224A1 (en) * 2007-02-09 2012-10-04 Bell Helicopter Textron Inc. Self-Retaining Anti-Rotation Clip
US20090097787A1 (en) * 2007-10-11 2009-04-16 New Hampshire Ball Bearings, Inc. Apparatus and method for a bearing having angulated load slot
EP2301727A1 (fr) 2009-09-29 2011-03-30 KUKA Roboter GmbH Robot industriel doté d'un système d'équilibrage du poids
US20130160604A1 (en) * 2011-12-14 2013-06-27 Roller Bearing Company Of America, Inc. Slotted bearings with wear-resistant treatments for gearbox mounting in a geared turbofan engine
DE102014104173A1 (de) 2013-03-29 2014-10-16 Fanuc Corporation Mehrgelenkrobotor mit Gasfeder und Schätzverfahren für den Gasfederinnendruck
CN105459156A (zh) * 2016-01-05 2016-04-06 合肥泰禾光电科技股份有限公司 一种码垛机器人平衡缸
EP3311961A1 (fr) 2016-10-20 2018-04-25 Bucher Hydraulics Erding GmbH Robot et dispositif d'équilibrage pour un robot
EP3311962A1 (fr) 2016-10-20 2018-04-25 Bucher Hydraulics Erding GmbH Robot et dispositif d'équilibrage pour un robot
US20210197380A1 (en) * 2019-12-26 2021-07-01 Fanuc Corporation Balancer abnormality detection system and balancer abnormality detection method
JP2021167035A (ja) * 2020-04-10 2021-10-21 株式会社ダイドー 作業支援器具

Also Published As

Publication number Publication date
DE102022134749A1 (de) 2024-07-04
DE102022134749B4 (de) 2024-07-18

Similar Documents

Publication Publication Date Title
EP1650098B1 (fr) Couplage articulé de véhicules ferroviaires
DE60104342T2 (de) Flugzeug-Triebwerkshalterung
WO2007063005A1 (fr) Bras de support pour un element de serrage et de centrage d'une structure de prehension destinee a retenir des pieces a forme spatiale dans l'industrie automobile
DE60002808T2 (de) Propellerrotornabe
WO2011082773A1 (fr) Manipulateur à commande à fluide
EP2498956B1 (fr) Unité d'équilibrage à fonctionnement fluidique
EP1569845B1 (fr) Systeme de porte d'aeronef
DE2406697B2 (de) Gelenkige verbindung zwischen einem kreuzkopf und einer stange
DE102010007994A1 (de) Radaufhängung für ein Kraftfahrzeug
DE602004009253T2 (de) Kurbelmechanismus einer Brennkraftmaschine mit Multi-gelenkgetriebe
DE102021114663A1 (de) Kopplungsmechanismus für roboter-werkzeugwechsler mit erhöhter torsionssteifigkeit und reduziertem spiel
DE112004001384T5 (de) Amphibienfahrzeug
DE102022134749B4 (de) Roboter sowie Lastausgleichsanordnung für einen Roboter
DE2039965B2 (de) Gleichlaufgelenkkupplung
DE10002757B4 (de) Kugelgelenk
DE10259074A1 (de) Kupplungseinrück- und ausrückvorrichtung
DE7035955U (de) Gelenkarmkonstruktion zur uebertragung von drehmomenten.
WO2023144125A1 (fr) Robot articulé pour manipuler de grandes charges
DE19851530C2 (de) Kreuzgelenkanordnung für den Einsatz in Gelenkwellen
EP2039949A1 (fr) Couplage de balle
DE10211955B4 (de) Festlager zur Aufhängung eines dynamisch beanspruchten Funktionsteils
EP1264116B1 (fr) Articulation
DE202022002445U1 (de) Arbeitszylinder
EP1344952B1 (fr) Articulation à rotule
WO2007060095A1 (fr) Unite de refoulement amelioree pour pompe a haute pression

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23837670

Country of ref document: EP

Kind code of ref document: A1