• 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:
    External robot axis for the movement of the energy package, which can be incorporated into a robot arm (10) with six axes of rotation, where the energy package (1) is held by a front fixing (2), near the end where it is incorporated. the work tool (3) on axes IV to VI, and a rear fixture (4) near the opposite end, on axis III of the robot (10), comprises: a movable carriage (5) in which the fixture is coupled rear (4) of the energy pack (1), so that it moves with the carriage (5) to any point between an advanced position and a delayed position, to regulate the distance between said rear mounting (4) and the front mounting (2) as appropriate; and a servomotor (6) that generates the movement of the carriage (5) controlled by the axis computer of the robot itself (10) as programmed. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2833118A1
    申请号:ES202130388
    申请日:2021-05-03
    公开日:2021-06-14
    发明作者:Coleiro Javier Alvarez
    申请人:Coleiro Javier Alvarez；
    IPC主号:
    专利说明:

    [0001] description
    [0003] e je e x t e r n o d e r o b o t p a r a e l m o v im ie n t o de l p a q u e t e n e r g é t ic o
    [0004] o b j e t o de la in v e n tio n
    [0006] The invention, as expressed in the wording of the present specification, refers to an external robot axis for the movement of the energy pack providing, to the function for which it is intended, advantages and characteristics, which are described in detail below, which represent an improvement of the current state of the art.
    [0008] More specifically, the object of the invention focuses on an external axis applicable for incorporation into a robot arm as a means to control the movement of his energy package according to the position of the different axes of the robot during the course of work, namely to move the rear fixation with which said package is usually held, avoiding undesirable gaps that can be a hindrance or cause deterioration.
    [0010] In v e n tio n a p l ic a tio n c a m p o
    [0012] The field of application of the present invention is framed within the robotics sector, focusing particularly on the field of the industry dedicated to the manufacture of industrial robotic arms and the energy pack manufacturing industry, and more specifically, in the manufacture of fixing accessories for them.
    [0014] a n t e c e d e n t e s de la in v e n tio n
    [0016] In the field of robotics, an energy package is understood as the set of all those cables and / or hoses necessary for the operation of the robot tool that normally go inside a corrugated tube.
    [0018] As can be seen in figure 1, which represents the current state of the art, in robotic arms or robots with several rotation axes (which we will name with Roman numerals), normally, said tube or energy pack is usually held by a front fixing , located near the distal end of the arm in which the work tool is incorporated where they are located I will axes IV to VI, and by a rear attachment located near the opposite end, near the axis 111, meaning that the robot normally comprises up VI rotation axes corresponding to I os different points of articulation and rotation where the axis I is the closest to the starting point or base of the robot and VI is the furthest and where the tool is incorporated.
    [0020] A s I the front mounting position varies depending on movements will I need to make the robot to move the tool that takes shipped. For example, in figure 1, if the robot varies the position of the tool and leaves it perpendicular to the robot arm, the position of the front bracket also varies and therefore the distance between the front bracket and the bracket varies. back, or I , or is it I will, vary the length of the stretch energy package.
    [0022] Currently, the rear fixing of the energy pack is fixed in the forward position, it only recovers its position by means of a spring. Normally the tube is left long enough so that it does not interfere with the movements of the robot. The problem is that this causes said tube to hit the robot arm, against external elements or get caught when the robot's trajectory has too many turns in the axes IV to VI, causing the deterioration of the energy package and, consequently, I will all cables and / or hoses that go inside.
    [0024] The objective of the present invention is, therefore, the development of an external axis that allows solving said problem in a practical and effective way, fixing the package so that it can move controlled by the computer itself that controls the movement of the robot to go according to the same.
    [0026] On the other hand, and as a reference to the current state of the art, it should be noted that, at least by the applicant, the existence of any other external axis for robots, or any other invention of similar application, that has technical characteristics and characteristics is unknown. structural elements equal or similar to those presented here.
    [0028] e x p l ic a tio n of in v e n tio n
    [0030] The external robot axis for the movement of the energy package that the invention proposes is an ideal solution for the aforementioned objective, the characterizing details that make it possible and that distinguish it conveniently included in the final claims accompanying the present description.
    [0032] L or proposed by the invention, as noted above, it is an external axis applicable for incorporation into a robot arm as a means to control the movement of his energy package according to demand, during the working movement at any axis, allows to move the rear fixing with which said package is usually held, avoiding undesirable gaps that can be a hindrance or cause deterioration.
    [0034] More specifically, the function of the external axis to control the movement of the energy pack is to vary the position of the rear fixing, thus varying the distance from the front fixing, as more or less length of the energy pack is needed.
    [0036] For this, the external axis basically comprises a support in the form of an elongated platform, which is longitudinally coupled on the robot arm along its axis 111 and in which, by means of drive means, preferably a servomotor, it moves a carriage in which the rear fixing of the energy pack is incorporated, varying its position between an advanced position, closer to the end, that is to say of the rotation axes IV to VI, and a backward position, closer to the axis III.
    [0038] Thus, when the carriage with the rear fastening is in its most advanced position, the distance from the front fastening is minimal, that is, the energy pack is shrunk or there is the same length of the energy pack with less spacing between the fasteners. This situation will normally occur when, due to the robot's trajectory, the V axis is totally rotated in the opposite direction to the energy package or when the IV or VI axes are very rotated.
    [0040] On the contrary, when the outer axle carriage has the rear fixing in a fully retracted position, it causes the distance with the front fixing to be great, that is, the energy pack is fully stretched or there is the same length of the energy pack with more separation between the bindings. This situation will occur when, due to the robot's trajectory, the V axis is totally rotated in the same direction as the energy package or the IV or VI axes are not rotated.
    [0042] The main advantage of the described external axis is that, by being able to have control over the length of the energy package, it is prevented from hitting or getting caught during the operation. trajectory of the robot and therefore deteriorates.
    [0044] For this, its operation is, basically, the following:
    [0046] The external axis for the energy package behaves like an axis of the robot itself, that is, it is controlled by the robot's axis computer and moves according to programmed points according to interest at each moment that the energy package is stretched or picked up.
    [0048] For this, you can program both the position and the speed of movement to modify its position or the acceleration of said movement. The external axis has a reference point where it is given a value (for example 0) and thus be able to have control over the position of the axis.
    [0050] Preferably the external axis is placed on the robot arm at the height of the axis of rotation
    [0051] i i i.
    [0053] In the preferred embodiment, the external axis for the movement of the energy pack essentially comprises a servomotor that generates the movement. This movement is transmitted to a spindle by means of two pinions located on the motor shaft and the spindle itself and linked by a transmission belt.
    [0055] For its part, the rotation of the spindle moves a carriage, which is coupled on some skids that run on guides provided on the platform that defines the aforementioned support, between both ends of the same. And, in turn, said carriage carries incorporated and subject him fastenings of the energy package, which form the rear attachment, so moving with the movement of the same along the support.
    [0057] d e s c r ip tio n de l o s d ib u j o s
    [0059] To complement the description that is being made and in order to help a better understanding of the characteristics of the invention, the present specification is accompanied, as an integral part thereof, by a set of drawings in which, for illustrative purposes and non-limiting, the following has been represented:
    [0060] Figure number 1.- Shows a perspective view of an example of a robot with its energy pack fixed according to the state of the prior art, as explained in the background section.
    [0062] Figures 2-A and 2-B.- They show two perspective views of another example of a robot in which the external axis for the movement of the energy package object of the invention has been incorporated, which has been represented with the trolley. subjection in respective extreme positions, appreciating their disposition and essential parts.
    [0064] And figures number 3-A and 3-B.- They show respective enlarged views in perspective of the detail of the external shaft according to the invention, appreciating the essential parts and elements that it comprises, as well as their configuration and arrangement.
    [0066] r e a l iz a tio n p r e f e r e n t e de la in v e n c io n
    [0068] In view of the aforementioned figures, and in accordance with the numbering adopted, it can be seen in them, in addition to an example of the prior art, an example of a non-limiting embodiment of the external robot axis for the movement of the energy package of the invention, which comprises what is indicated and described in detail below.
    [0070] Thus , as can be seen in figure 1, according to the prior art, in a robot (10) with six rotation axes (indicated by Roman numerals to distinguish them from the numerical references that indicate the parts of the object), the package energy (1) is secured by a front fixation (2), located near the distal end of the arm in which the work tool is incorporated (3) where the rotation axes IV to VI are located, and by a rear fixation (4 ) located in a fixed way near the opposite end, that is, near the axis 111 of the robot (10).
    [0072] and contrast, as shown in Figures 2-A and 2-B, which the invention proposes is an external axis (100) applicable for incorporation into a robot arm (10) as the above that essentially , understands:
    [0074] - A mobile cart (5) in which the rear attachment (4) of the energy pack (1) is integrally coupled, so that said rear attachment (4) moves with the cart (5) to any point between a position advanced (figure 2-A) and a delayed position (figure 2-B), to regulating the distance between said rear fixing (4) and the front fixing (2) as appropriate; Y
    [0076] - a servomotor (6) that generates the movement of the carriage (5) controlled by the axis computer of the robot itself (10) as programmed. The spindle (7), the skids (12) and the guides (13) will be protected by a protection bellows (15).
    [0078] Considering Figures 3-A and 3-B it can be seen how, in the preferred embodiment, to achieve said displacement of the carriage (5), the external axis (100) comprises a spindle (7) to which the carriage is associated (5) so that its rotation moves it linearly from one end to the other thereof, said spindle (7) being linked to the axis of the servomotor (6) through a transmission belt (8) that transmits the movement of a first pinion (9) integral with the axis of the servomotor (6) to a second pinion (11) integral with the axis of the spindle (7), and where, in addition, preferably, the axis of the servomotor (6) and the spindle axis (7) they are arranged in parallel.
    [0080] Moreover, preferably, to guide movement of the carriage (5) movable along the spindle (7), said carriage (5) is built on a skid (12) which, in turn, slides coupled to respective guides (13) parallel to the spindle (7).
    [0082] Preferably, said guides (13) and the remaining set of elements of the external axis (100) are incorporated on a support (14) defined by an elongated platform that is incorporated longitudinally and fixedly on the robot arm (10) near the turning axis 111.
    [0084] Having sufficiently described the nature of the present invention, as well as the way of putting it into practice, it is not considered necessary to make its explanation more extensive so that any expert in the field understands its scope and the advantages derived from it, stating that, Within its essentiality, it may be put into practice in other forms of implementation that differ in detail from the one indicated by way of example, and to which it will also achieve the protection that is sought provided that its fundamental principle is not altered, changed or modified. .
    权利要求:
    Claims (5)
    [1]
    1. - ROBOT EXTERNAL AXIS FOR MOVING THE ENERGY PACKAGE which, applicable for incorporation into a robot arm (10) with six rotating axes, where the energy package (1) is held by a front fixing (2), located near the distal end of the arm in which the work tool (3) is incorporated in axes IV to VI, and a rear fixture (4) located near the opposite end, in axis III of the robot (10), is characterized by understand:
    - A mobile cart (5) in which the rear attachment (4) of the energy pack (1) is integrally coupled, so that said rear attachment (4) moves with the cart (5) to any point between a position advanced and a rearward position, to regulate the distance between said rear fixing (4) and the front fixing (2) as appropriate; Y
    - a servomotor (6) that generates the movement of the carriage (5) controlled by the axis computer of the robot itself (10) as programmed.
    [2]
    2. - EXTERNAL ROBOT AXIS FOR MOVING THE ENERGY PACKAGE, according to claim 1, characterized in that it comprises a spindle (7) to which the carriage (5) is associated so that its rotation moves it linearly from one end to the other of the The same, said spindle (7) being linked to the axis of the servomotor (6) through a transmission belt (8) that transmits the movement of a first pinion (9) integral with the axis of the servomotor (6) to a second pinion ( 11) attached to the spindle shaft (7).
    [3]
    3. - EXTERNAL AXIS OF ROBOT FOR MOVING THE ENERGY PACKAGE, according to claim 2, characterized in that the axis of the servomotor (6) and the axis of the spindle (7) are arranged in parallel.
    [4]
    4. - ROBOT EXTERNAL AXIS FOR MOVING THE ENERGY PACKAGE, according to claims 2 or 3, characterized in that the carriage (5) is incorporated on a skid (12) which, in turn, slides coupled to respective guides (13 ) parallel to the spindle (7).
    [5]
    5. - ROBOT EXTERNAL AXIS FOR MOVING THE ENERGY PACKAGE, according to claim 4, characterized in that the guides (13) and the remaining set of elements of the external axis (100) are incorporated on a support (14) defined by a elongated platform that is incorporated longitudinally and fixedly on the robot arm (10) near the axis of rotation III.
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    同族专利:
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    ES2833118B2|2021-10-13|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    WO2011025081A1|2009-08-24|2011-03-03|Choi Kwang-Sul|Cable guide system of industrial robot|
    WO2012108226A1|2011-02-09|2012-08-16|本田技研工業株式会社|Cable support device|
    ES2651104T3|2013-01-18|2018-01-24|Leoni Kabel Gmbh|Device for guiding at least one line or conduit of an articulated arm robot as well as articulated arm robot|
    US20150335387A1|2014-05-21|2015-11-26|Michael Atzinger|Medical Examination and/or Treatment Apparatus|
    EP3741522A1|2019-05-13|2020-11-25|Sumcab Specialcable GmbH|Line retraction system|
    法律状态:
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    2021-10-13| FG2A| Definitive protection|Ref document number: 2833118 Country of ref document: ES Kind code of ref document: B2 Effective date: 20211013 |
    优先权:
    申请号 | 申请日 | 专利标题
    ES202130388A|ES2833118B2|2021-05-03|2021-05-03|ROBOT EXTERNAL AXIS FOR MOVING THE ENERGY PACKAGE|ES202130388A| ES2833118B2|2021-05-03|2021-05-03|ROBOT EXTERNAL AXIS FOR MOVING THE ENERGY PACKAGE|
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