• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to an industrial robot with at least two movable robot arms. According to the invention, so that a supply line (29) for energy from the robot base (4) to the carrier element (5) cannot be damaged in the industrial robot (10), it runs from the carrier center of the carrier element (5) to the robot -Base (4), that is in the middle area, while the drive shaft (30) is offset radially outwards.
    公开号:CH715217A2
    申请号:CH00937/19
    申请日:2019-07-22
    公开日:2020-01-31
    发明作者:Haaf Walter
    申请人:Schubert Gerhard Gmbh；
    IPC主号:
    专利说明:

    Description I. Field of application The invention relates to an industrial robot with parallel kinematics or serial kinematics, preferably in the form of a so-called delta robot, in which three robot arms that can move independently of one another, each with one end pivotable about an upper arm axis on a — usually stationary — robotic Base are attached and the other three ends articulated to engage a support member.
    The robot arms each consist of the upper arm controlled pivotally attached to the robot base and one, each having two mutually parallel forearm rods, forearm, the three drive units for pivoting the upper arms are attached to the robot base , The three pairs of forearm poles provide a spatial parallelogram for the support element, the support element level of which is therefore always parallel to the base level, regardless of its position in space.
    In particular, the upper arm axes are uniaxial joints and the joints arranged on the forearm rods are multi-axis joints, in particular cardan joints.
    The end effector, usually a tool such as a gripper, required for the respective work task is fastened to the carrier element by means of a fastening device which can be moved and positioned in a controlled manner by means of the robot.
    II. Technical Background Such delta robots are widely used in industry, for example packaging technology, to grip a product with a gripper or suction device as an end effector on the carrier element and to transfer it to another position, for example placing it in a container ,
    Since in a robot with parallel kinematics, the support element level is always parallel to the base level, regardless of the position of the support element in space, an additional pivot axis between the end effector and the support element may be necessary, and / or a rotation or even rotation of the end effector around the z-axis or another axis may be necessary.
    Depending on where the driving motor sits for this, there is between the robot base and the carrier element either a transmission element for torque, for example in the form of a drive shaft, which then usually has universal joints at the ends and must be telescopic and / or Supply line for an energy form required on the carrier element, for example a vacuum supply, in order to apply suction air to a suction device used as a tool.
    Since the torque-requiring end effector is usually positioned in the center, in the so-called carrier center, the carrier element, the fastening device for the transmission element is usually also arranged there.
    This has the consequence that the supply line for the at least one additional energy required on the carrier element must have a connection away from the carrier center on the carrier element, and since this is a flexible line, usually a hose or an electrical cable, depending on the position of the support element in the room, this is not straight, but has faults which form as a result of chance, as a result of which this flexible line can undesirably come into contact with one of the robot arms or the drive shaft and can get caught with them.
    III. DESCRIPTION OF THE INVENTION a) Technical Problem It is therefore the object of the invention to provide an industrial robot, in short a robot, in particular with parallel kinematics, which minimizes the described disadvantage with regard to the supply line for energy.
    b) Solution of the object This object is achieved by the features of claim 1. Advantageous embodiments result from the subclaims.
    The definitions and descriptions of pivot axes, joints and components as well as their positioning necessary for the following explanations are explained with the aid of the description of the figures.
    With regard to the industrial robot, that is, the robot, this object is achieved in that the coupling for coupling the transmission element on the one hand and the fastening device for the end effector in the supervision of the carrier element level are not aligned with one another, that is to say are offset from one another. As a result, the arrangement of these two elements can be determined more flexibly within the carrier element.
    CH 715 217 A2 [0014] The connection is preferably arranged closer to the carrier center than the fastening device, in particular the connection is arranged in the carrier center.
    As a result, the supply hose or cable leading from the connection upwards to the robot base runs in the center of the robot and thus is optimally far from the robot arms.
    Alternatively, the fastening device can be arranged closer to the carrier center than the connection, or even arranged directly in the carrier center, in which case the transmission element leading away therefrom, such as the drive shaft, is preferably used for guiding the supply line, in particular by this is wound around the transmission element.
    Even if the supply lines are not tied around the transmission element, it is advantageous that the supply line has a helical shape in the relaxed state, which assumes a smaller diameter when elongated in the longitudinal direction, but remains helical and also when shortened in the axial direction no bulges beyond the contour of the helix are created.
    Another possibility - regardless of whether the connection or the coupling or neither of them is arranged in the carrier center - consists in guiding the feed line in a guide element that can be changed in length, in particular telescopic, such as a guide, at least in the direction of extension. Hose or guide cage that runs in the area between the robot base and the carrier element.
    By fastening such an element at a distance from the robot arms, the feed line running therein is protected against a collision with a robot arm.
    Such a guide tube can consist of a tube stretched between the robot base and the carrier element made of, for example, textile material, preferably a lattice-like material, which retains its preferably round cross-section even when the carrier element approaches the robot base and remains tensioned.
    Instead, it can also be a cage which is at least rigid in terms of its cross-section and which is either the bar in its direction of travel - even if the diameter decreases - or which consists of two telescoping parts.
    The robot can be one with parallel kinematics or linear kinematics, so that the upper arms are either linearly displaceable on the robot base with their end facing away from the carrier or can be pivoted about an upper arm axis on the robot base.
    [0023] The robot preferably has 3 robot arms and / or the drives for the individual robot arms are each arranged on the robot base and / or the robot has 3 robot arms.
    While in a D robot, in which the view from the top is viewed uniformly distributed around the center, the support element has an approximately triangular shape, the support element can also have an elongated, in particular rectangular, shape, be it To be able to better accommodate the connection and coupling side by side, especially if more than one hose connection is required for a supply line or because the specific design of the robot suggests this:
    Thus, between two supports soapy forearm articulated joints extending to straight extend a support triangle, in which one of the intermediate angles in the support triangle is smaller than 25 °, in particular <20 °, in particular <18 °, in particular equal to or less than 16 °. An elongated working area of the robot is thereby achieved. The two other intermediate angles are preferably of the same size.
    The bisector of the smallest of the intermediate angles is defined as the x-axis of the robot coordinate system, to which the y-axis runs perpendicularly, the carrier element plane running parallel to this xy-plane, while the z-axis is perpendicular it says.
    If it is a robot with a parallel kinematheque, at least 2, better all 3 of the upper arm axes, about which each upper arm can be pivoted relative to the robot base, lie in a common base plane, which runs parallel to the carrier element plane, wherein the base level represents the zero value of the z-axis.
    Especially with such a robot, then only symmetrical to the xz plane, the distance between the forearm rods in one forearm can be greater than in the two other forearms, especially in the robot arm, which is primarily in the plane of symmetry, the xz plane.
    This facilitates stable guidance of the carrier element of the robot despite the one, very small intermediate angle between the upper arm axes.
    Then it makes sense that the carrier element has a greater extent along the y-axis than along the x-axis.
    One of the robot arms - in particular the robot arm, the primary direction of extension of which, viewed in plan, extends approximately along the bisector of the smallest intermediate angle and / or the robot arm which
    CH 715 217 A2 is shorter than the other two robot arms - can be arranged with its upper arm pivot axis much closer to the kinematic center than the upper arm axes of the other two robot arms.
    In this robot arm, with respect to the kinematic center, the upper arm axis is on the side of the kinematic center opposite the associated forearm, or the upper arm axis of this robot arm intersects the kinematic center.
    In other words, the kinematic center formed as a straight line runs through the base triangle or intersects one of the sides of this base triangle, which is formed by the three upper arm axes which are generally in one plane.
    The robot base, which is usually designed as a plate, can have a cutout that is open to its circumference and that is at least partially above a robot arm - in particular the robot arm, the primary direction of extension of which, viewed from above, is approximately along the bisector of the smallest intermediate angle runs and / or the robot arm, which is shorter than the other two robot arms - is arranged so that when the upper arm is swung up beyond the position parallel to the base plane, it does not collide with the robot base, on the underside of which preferably all three Robotic arms are attached.
    c) Embodiments [0035] Embodiments according to the invention are described in more detail below by way of example. Show it:
    1a: a generic, rotationally symmetrical delta robot in a neutral central position in a side view,
    1b: the robot according to FIG. 1ain, seen from above,
    2a: the carrier element from FIG. 1b in an enlarged view of the carrier plane
    Detailed illustration,
    2b: a new design of the carrier element from Fig. 2a,
    3a: another support element in the view of the support level,
    3b: a delta robot that matches the carrier element from FIG. 3a in a view of the latter
    Base plane
    3c, d: the robot according to FIG. 3b in a perspective representation in different designs with regard to the torque and energy supply.
    The basic structure also present in this industrial robot 10 according to the invention, in this case in the form of a so-called delta robot 10 due to the existing three robot arms 1, 2, 3, with parallel kinematics can best be described with reference to FIGS. 1a, b , 2a recognize:
    The three independently movable, controlled drivable, robot arms 1, 2, 3, are each pivotable at one end about an upper arm axis 11 ', 12', 13 'to a - usually stationary - mounted robot base 4 and with its three other ends articulated on a carrier element 5.
    The robot arms 1, 2, 3 each consist of the upper arm 11, 12, 13, which is pivotally fastened to the robot base 4 in a controlled manner, and one forearm rod 21a, b, 22a, b, which runs parallel to one another. 23a, b, forearm 21, 22, 23, the three drive units each being attached to the robot base 4 in the form of a rotary drive 7, 8, 9 for pivoting the upper arms 11, 12, 13, while the forearms 21 , 22, 23 are not actively driven by their own motor.
    The three pairs of forearm poles 21 a, b, 22 a, b, 23 a, b, cause a spatial parallelogram of the support element 4, the support element level 5 ', regardless of its position in space, thus always parallel to the base Plane 4 'lies, while the best are shown in FIGS. 4a, 4b.
    For this purpose, the upper arm axes 11 ', 12', 13 'are only single-axis joints and the multi-axis joints, in particular cardan joints, on the forearm rods 21a, b, 22a, b, 23a, b, joints arranged on both sides as best seen in Fig. 3b.
    These forearm joints on the end facing the robot base 4 are referred to as base-side forearm joints 2iai, 2ibi, 22ai etc. and on the end facing the support element 5 as support-side forearm joints 2ia2, 2ib2. 22a2 and so on.
    As can best be seen in FIG. 2a, the forearm joints 2ia2, 2ib2, 22a2 etc. on the support side and also their joint distances 24 ', 25', 26 'lie between a pair of 21 a2 and 21 b2, 22a2 and 22b2, 23a2 and 23b2, of forearm joints 21 a2, 21 b2, 22a2 on the carrier side in a common plane, the carrier plane 5 '. The one in this
    CH 715 217 A2
    Beam level 5 'lying on the articulated sections 24', 25, 26, perpendicular bisectors 14 ', 15', 16 'meet at a point which is referred to as the beam center TZ.
    The sum of all positions that this carrier center TZ can reach due to the dimensioning and arrangement of the components of the robot 10 is referred to as a mechanical working area 17, which is a three-dimensional working area and as the center 19 of the working area, the center 19 of the projection 18 of the work area 17 defined on the xy plane. In particular if this projection 18 has a shape that is not geometrically determined, the center of gravity of the surface of this projection 18 can be selected as the center 19.
    A robot coordinate system is usually defined as follows on such a delta robot 10:
    - At least two, usually all three, the upper arm axes 11 ', 12'13' and / or at least four, usually all six, of the joints on the support side of the support element 5 each lie in a common plane, the base plane 4 ' on the one hand and the carrier plane 5 'on the other hand, which are parallel to each other and define the orientation of the xy plane, the z direction being perpendicular to this.
    A kinematic center KZ is a straight line that runs parallel to the z-direction and is the intersection of three planes that runs through the middle of the connecting lines 24, 25, 26 of the pairs of base-side forearm joints and perpendicular to them ,
    This kinematic center KZ is defined as the concrete position of the z-axis, and the intersection of the kinematic center KZ with the base plane 4 'as the origin of the robot coordinate system.
    The end effector required for the respective work task, for example a tool in the form of the suction device 27 indicated in FIGS. 4a, 4b, is attached to the carrier element 4 as a gripper for gripping products P by suction, which is usually used for this purpose by the support element 5 strives downwards.
    Such a delta robot is shown in Fig. 1a, 1b, 2a in the common, symmetrical design, in the three upper arm axes 11 ', 12' 13 'form an equilateral triangle, which thus has three equal intermediate angles, and the same applies to the joint sections 24, 25, 26 between the forearm joints on the support side, as can be seen in FIG. 1b and for the support element 5 in FIG. 2a.
    3a shows a carrier element 5, in which two joint sections 25, 26 are at a small intermediate angle a1 of less than 25 ° to one another, the bisector 20 of which is defined as the x-direction of the robot coordinate system and in which the third Joint section 24 of the forearm joints on the support side is also significantly larger than the two other joint sections 25, 26 of the same size.
    The carrier element 5 therefore has an elongated, approximately rectangular shape.
    A top view of the robot base 4 and the FIGS. 3c and 3d in FIG. 3b shows a delta robot 10 that matches the carrier element 5 of FIG. 3a and is only symmetrical about the x-z plane perspective view with slightly different configurations.
    With regard to the features according to the invention, Fig. 2a first shows the known design of a carrier element 5, in which the fastening device 19 for fastening the end effector is arranged on the underside in the carrier center TZ, and flush above it on the top, the coupling 27 for fastening one of the robot base brought up transmission element 30, as shown in Fig. 1a.
    The connection 32 for a supply line for energy, on the other hand, is arranged apart from the fastening device 19 and also the coupling 27, specifically away from the carrier center TZ.
    In contrast to this, according to the invention, the connection 32 is just arranged in the carrier center in FIG. 2b and the coupling 27 is located apart therefrom. In addition, the connection 32 is surrounded by an element 31 such as a hose.
    The same arrangement can also be found in the elongated rectangular support element 5 in FIG. 3a:
    In the carrier center TZ, the connection 32 for the supply line 29 for energy is arranged, while the clutch 27 for cranking a transmission element 30 is arranged apart therefrom. For this reason, the coupling 27 is operatively connected via a belt drive 33 to a pinion which is arranged concentrically around the carrier center TZ and is operatively connected to the fastening device 19 for the end effector 7 which projects downwards in the carrier center TZ.
    3c that the connection 32 for the feed line 29 is located in the carrier center TZ of the carrier element 5, while the drive shaft 30 is laterally offset from this.
    3c it can also be seen that the feed line 29 is received in the interior of a hose 31 which runs between the robot base 4 and the carrier element 5.
    3d, on the other hand, shows a solution in which the drive shaft 30 for the torque transmission ends in a clutch 27 which is arranged in the carrier center TZ of the carrier element 5, but in this case the drive shaft 30 serves as a guide for the feed line 29 as the feed line 29 is loosely helically wound around the drive shaft 30 in at least one turn, thereby preventing the feed line 29 from bulging too much to the side when the distance between the carrier element 5 and the robot base 4 is reduced.
    CH 715 217 A2
    REFERENCE SIGN LIST [0061]
    1 robot arm 2 robot arm 3 robot arm 4 Robot base 4 ' Base level 5 support element 5 * Carrier level 6 End effector, sucker 7 rotary drive 8th rotary drive 9 rotary drive 10 Industrial robots, robots 11 upper arm 11 ' humeral shaft 12 upper arm 12 ' humeral shaft 13 upper arm 13 ' humeral shaft 14 Perpendicular bisector 15 Perpendicular bisector 16 Perpendicular bisector 17 Workspace 18 Projection of the work area 19 fastening device 20 bisecting 21 forearm 21a, b Underarm rod 21a1 forearm joint on the drive side 21 a2 support arm joint 22 forearm 22a, b Underarm rod 22a 1 forearm joint on the drive side 22a2 support arm joint 23 forearm
    CH 715 217 A2
    23a, b Underarm rod 23a 1 forearm joint on the drive side 23a2 support arm joint 24 link 25 link 26 link 24 ' hinge line 25 ' hinge line 26 ' hinge line 27 clutch 28 neckline 29 supply line 30 drive shaft 31 guide element 32 connection 33 belt drive α1, α2, a3 intermediate angle TZ Support center concentration camp kinematic center
    权利要求:
    Claims (15)
    [1]
    claims
    1. Industrial robot with parallel kinematics
    a) a robot base,
    b) a carrier element which can accommodate an end effector,
    c) at least two movable robot arms,
    d) each robot arm having an upper arm movably attached to the robot base and a forearm movably arranged on the upper arm,
    e) wherein each forearm has two parallel forearm rods and each forearm rod is movably connected to the upper arm via a drive-side forearm joint and is movably connected to the carrier element via a forearm joint on the carrier side,
    f) the centers of the forearm joints on the support side of all forearm rods lie in a common support element plane which runs perpendicular to a z-axis of a robot coordinate system and parallel to one through an x-axis and a y-axis of the robot coordinate system spanned xy plane,
    g) a fastening device for coupling an end effector, in particular on the underside, is present on the carrier element,
    h) a coupling for coupling a transmission element, in particular a drive shaft, is present on the carrier element, in particular on the upper side, characterized in that
    I) offset to the side in addition to the fastening device for coupling the transmission element, there is at least one connection with an attached feed line for one type of energy,
    k) in the top view of the carrier element level, the fastening device for the end effector is arranged away from, ie not in alignment with, the coupling for the transmission element.
    [2]
    2. Industrial robot according to claim 1, characterized in that
    the center perpendiculars lying in the plane of the carrier element intersect on the articulation paths of the centers of the two forearm joints of the robot arms on the carrier side in a center of the carrier element (TZ),
    - viewed in the supervision of the carrier element level
    CH 715 217 A2
    either the connection is arranged closer to the carrier center (TZ) than the fastening device, in particular the connection is arranged in the carrier center (TZ),
    - Or the fastening device is arranged closer to the carrier center (TZ) than the connection, in particular the fastening device is arranged in the carrier center (TZ).
    [3]
    3. Industrial robot according to one of the preceding claims, characterized in that the feed line is wound around the transmission element, in particular the drive shaft.
    [4]
    4. Industrial robot according to one of the preceding claims, characterized in that the feed line in a vertical arrangement in the unloaded initial state has a helix shape, in particular with a pitch angle with respect to the axial direction of the helix of more than 60 °, better than 70 °, better more than 80 °.
    [5]
    5. Industrial robot according to one of the preceding claims, characterized in that
    the at least one feed line is guided in a guide cage or guide tube that runs in the area between the robot base and the carrier element and that is length-adjustable in its direction of extension, in particular,
    - The guide cage or guide hose is attached to the robot base and / or on the carrier element and / or on the transmission element.
    [6]
    6. Industrial robot according to one of the preceding claims, characterized in that
    - The upper arms are either linearly attached to the robot base or
    - The upper arm are pivotally attached to the robot base, the upper arm axes of the three robot arms spanning a triangle in a projection onto the x-y plane.
    [7]
    7. Industrial robot according to one of the preceding claims, characterized in that the drives for moving the upper arms are arranged on the robot base.
    [8]
    8. Industrial robot according to one of the preceding claims, characterized in that the industrial robot has three robot arms.
    (1 angle between the joints very small)
    [9]
    9. Industrial robot according to one of the preceding claims, characterized in that
    - stretch the joint sections extending between 2 girdle-side forearm joints to form a straight triangle in the girder plane,
    one of the intermediate angles of the support triangle is less than 25 °, in particular the angle is less than 20 °, preferably less than 18 °, particularly preferably less than or equal to 16 °.
    [10]
    10. Industrial robot according to one of the preceding claims, characterized in that
    the bisector of the angle runs through the smallest of the three between angles parallel to the x-axis of the robot coordinate system,
    the y-axis is perpendicular to the x-axis and perpendicular to the z-axis,
    - In particular, the other two intermediate angles are the same size and the robot is built symmetrically to the x-z plane.
    [11]
    11. Industrial robot according to one of the preceding claims, characterized in that
    - The two upper arm axes, which limit the smallest of the three angles, run in a common base plane, which is the x-y plane, and that the intersection of the z axis with this x-y plane corresponds to the zero value of the z axis
    - In particular the upper arm axes of all three robot arms lie in a common base plane.
    (Distance forearm poles)
    [12]
    12. Industrial robot according to one of the preceding claims, characterized in that
    in one of the robot arms the distance between the centers of the forearm joints on the drive side and / or the forearm joints on the support side is greater than in the case of the other two robot arms,
    - In particular that in the first robot arm the distance is greater than in the second robot arm and in the third robot arm and
    - The distance between the second and third robot arms is the same.
    [13]
    13. Industrial robot according to one of the preceding claims, characterized in that
    in the case of one of the robot arms, the distance between the connecting section of the forearm joints on the drive side and / or the joint section on the carrier-side forearm joints is smaller than in the case of the other two robot arms,
    - In particular that the distance a is in the first robot arm than in the second robot arm and in the third robot arm and
    - The distance between the second and third robot arm is the same.
    [14]
    14. Industrial robot according to one of the preceding claims, characterized in that the carrier element along the y-axis has a greater extent than along the x-axis.
    CH 715 217 A2 (kinematic center)
    [15]
    15. Industrial robot according to one of the preceding claims, characterized in that
    - The kinematic center is a straight line parallel to the z-axis, in which the three planes intersect, each of which runs through the center of the connecting section of the centers of the two drive-side forearm joints of a robot arm and perpendicular to this connecting section and
    - The intersection of the kinematic center with the base plane of the zero point of the z-axis and in particular the zero point of the x-y-z robot coordinate system.
    CH 715 217 A2

    CH 715 217 A2

    CH 715 217 A2

    prior art
    CH 715 217 A2
    CXI


    X
    CH 715 217 A2

    CH 715 217 A2
    22a2

    17, 18
    CH 715 217 A2
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP1129829A1|2000-03-01|2001-09-05|SIG Pack Systems AG|Robot for handling products in a three-dimensional space|
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    JP2013039650A|2011-08-19|2013-02-28|Kyoto Seisakusho Co Ltd|Air tube structure for parallel robot|
    JP2014050898A|2012-09-05|2014-03-20|Fanuc Ltd|Wire body processing structure of parallel link robot|
    JP5682642B2|2013-03-05|2015-03-11|株式会社安川電機|Parallel link robot|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE102018118256.2A|DE102018118256B4|2018-07-27|2018-07-27|3a Robot with eccentric torque supply|
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