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WO1997032695A1 - Robot - Google Patents

Robot Download PDF

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Publication number
WO1997032695A1
WO1997032695A1 PCT/EP1997/001132 EP9701132W WO9732695A1 WO 1997032695 A1 WO1997032695 A1 WO 1997032695A1 EP 9701132 W EP9701132 W EP 9701132W WO 9732695 A1 WO9732695 A1 WO 9732695A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
robot according
linear slide
toothed belt
manipulator
Prior art date
Application number
PCT/EP1997/001132
Other languages
German (de)
English (en)
Inventor
Stefan Kerpe
Original Assignee
KöRa Verpackungsmaschinen
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 KöRa Verpackungsmaschinen filed Critical KöRa Verpackungsmaschinen
Priority to AU20245/97A priority Critical patent/AU2024597A/en
Publication of WO1997032695A1 publication Critical patent/WO1997032695A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

Definitions

  • the invention relates to a robot with at least one linear slide according to the preamble of claim 1.
  • Robots of the type mentioned here are known. They are used in numerous areas, for example in industrial production but also in the processing industry such as packaging technology.
  • the toothed belts used for the drive have to be replaced from time to time in order to be able to transmit the required drive forces and also to ensure exact repeatability in the positioning of the robot. Changing the toothed belt involves more or less extensive disassembly of the robot and is therefore very time-consuming and costly.
  • An exemplary embodiment of the robot is particularly preferred in that it is characterized in that the toothed belt is guided around the basic body of the robot. As a result of this quasi-external arrangement of the toothed belt, it can be removed from the robot without major dismantling work, so that the toothed belt can be replaced simply and quickly.
  • an exemplary embodiment of the robot which has a manipulator which is driven by the drive device via one to three toothed belts, the drive device for the linear carriage (s) of the robot also being used to drive the manipulator. It is readily apparent that a large number of toothed belts are to be provided in such an embodiment and that their replacement is very easy to carry out in the construction chosen here.
  • supply lines are provided for the manipulator in order to supply the manipulator with electricity or a gaseous or liquid medium, for example.
  • the supply lines are routed in such a way that they are separated during assembly. disassembly of one or all timing belts is not necessary. The set-up times when replacing a toothed belt can be reduced to a minimum in this way, so that the costs for operating such a robot are relatively low.
  • FIG. 1 shows a sketchy perspective view of a robot with two linear slides
  • FIG. 2 shows a representation of the robot according to FIG. 1 from a different view
  • Figure 6 is a schematic diagram with respect to the assembly / disassembly of a toothed belt
  • FIG. 7 shows a detailed sketch for the assembly / disassembly of a toothed belt.
  • FIG. 1 schematically shows in perspective a robot 1 which has two linear slides attached to a base element 3, which is designed to be stationary.
  • the first linear slide 5 is movable relative to the base element 3. It can be moved in the longitudinal direction of the elongated base element 3.
  • the second linear slide 7 can also be moved perpendicularly to the first linear slide 5 in the longitudinal direction thereof.
  • the basic element 3 and the linear slide 5 and 7 form the basic body of the robot.
  • Three toothed belts 9, 11 and 13 are guided around the outside thereof.
  • At each of the four corners of the base element 3 there are three deflection rollers 15 to 19 and 21 to 25 lying one above the other.
  • At the end of the base element 3 facing away from the viewer six deflection rollers are again provided.
  • On both sides of the end 27 of the first linear slide 5 facing the base element 3, three deflection rollers 29, 31 and 33 are in turn arranged, which serve to guide the toothed belts 9, 11 and 13.
  • deflection rollers 15 to 25 are attached to suitable deflection axes 35 and 37, the deflection rollers 29, 31, 33 and the corresponding opposite deflection rollers are attached to a yoke 39 which is part of a guide device 41, the supply line, not shown here ⁇ gene for a manipulator 43 attached to the lower end of the second linear slide 7.
  • deflection rollers 45, 47 and 49 are again provided in a suitable manner, around which the toothed belts 9, 11 and 13 are guided.
  • the drive forces for the toothed belts 9, 11 and 13 are provided by a drive device A known per se, which is indicated here by dashed lines at one end of the basic element 3.
  • the drive device A has suitable motors which engage the toothed belts 9, 11 and 13 and introduce the drive forces into them.
  • the manipulator 43 which can also be referred to as a hand axis, is movable about three axes x, y and z.
  • the ranges of movement are indicated by double arrows x, y and z.
  • the drive forces required for the movement about the x, y and z axes are also provided by the drive device A and transmitted to the manipulator 43 via toothed belts.
  • toothed belts namely toothed belts 9, 11 and 13 are shown here, some of which also serve for the linear movement of linear slides 5 and 7 and for the upward and downward movement of the second linear slide .
  • the power supply of the drive device A and for the manipulator 43 takes place via a stand 53, by means of which the base element 3 is supported on an underground and anchored there.
  • the guide device 41 is at a distance a from a lateral boundary surface 55 of the robot 1 or its basic element 3, and also at a lateral distance b and c from the first linear slide 5.
  • the yoke is 39 rigidly connected to the first linear slide 5, so that the distances b and c remain the same even when the second linear slide 7 is displaced.
  • the second linear slide 7 is coupled to the first linear slide 5 via a second yoke 57, which is also part of the guide device 41. It can also be seen here that lateral distances d and e from the lateral boundary surfaces 59 and 61 of the first linear slide 5 are maintained.
  • the manipulator 43 can additionally be supplied with electricity, hydraulic fluid or gas.
  • the corresponding supply lines are routed via the guide device 41 and the yoke 57 to the manipulator 43.
  • This guide device 41 has a so-called first energy chain 51, which supports the supply lines during an upward and downward movement of the second linear slide 7 relative to the first linear slide 5.
  • the guide device 41 is at a distance f from the surface 63 of the robot 1.
  • the energy supply for the drive device A and for the manipulator 43 which takes place via the stander 53 takes place from below, that is to say from a first side of the robot 1, and that the surface 63 has a second side opposite the first side of the robot 1.
  • Figure 2 shows the robot 1 from a different view, quasi from a rear view compared to Figure 1.
  • the same parts are provided with the same reference numerals, so that reference can be made to the description for Figure 1.
  • FIG. 2 it can be seen from FIG. 2 that, at the end of the base element 3 opposite the drive device A, three deflecting rollers 65 to 69 and 71 to 75 lying one above the other are provided, which are mounted on deflecting axes 77 and 79.
  • the rear view shows that the guide device 41 runs on the rear side of the basic element 3 at a distance a from the lateral boundary surface 55 and is connected to a second energy chain 81 which is U-shaped between a support 83 inside the basic element 3 runs to the guide device 41.
  • the end 85 of the yoke 57 facing away from the second linear slide 7 is arranged at a distance d from the rear lateral boundary surface 59 of the first linear slide 5 and forms an abutment for a further energy chain 87, the U- runs between a support 89 and the yoke 57.
  • Supply lines for the manipulator 43 (not visible in FIG. 2) run from the stander 53 via the energy chain 81 of the guide device 41 to the yoke 39, from this to the energy chain 87 and via the yoke 57 to the energy chain 51 in the second linear slide 7 and run in this to the manipulator 43.
  • the first linear slide 5 can be moved along the base element 3, the second linear slide 7 in the longitudinal direction along the first linear slide 5 and perpendicularly to the latter, with a constant guidance the supply lines for the manipulator 43 is ensured.
  • the energy chains also ensure that the supply lines for the manipulator are protected against mechanical influences.
  • FIG. 3 shows a schematic diagram from which it can be seen how a toothed belt is to be guided within the robot in order to realize a movement of the first linear slide 5 relative to the base element 3.
  • the second linear slide 7 is attached, for example, to a fastening element 91 on which the ends of a toothed belt ZR are fastened. If the toothed belt is now moved back and forth by the drive device A indicated here, it rotates around the base element 3, at whose four corners deflection rollers U are provided on the outside.
  • suitable guide can be provided for linear slide 5 and base element 3.
  • a yoke 39 is provided on the end of the first linear slide 5 facing the base element 3, on which in turn deflection rollers U 'are attached.
  • the toothed belt ZR. ⁇ Runs through the yoke 39, specifically within the deflecting roller U 'and along the outer boundary surfaces of the first linear slide 5 up to its end facing away from the base element 3, where a deflecting roller U''is located.
  • the toothed belt ZR- ⁇ thus forms a closed loop, which runs around the outside of the basic body of the robot 1 and into which the drive forces are fed via the drive device A, which lead to a relative movement of the second linear slide 7 along the path indicated by a double arrow 95 Longitudinal direction of the first linear slide 5 leads.
  • the stand 53 is indicated here, via which the robot 1 is fastened to the ground and via which the energy supply for the drive device A and supply lines for the manipulator 43 (not shown here) are introduced into the robot 1 become.
  • a toothed belt can also be used to move the first linear slide 5 back and forth relative to the base element 3, which is indicated by a double arrow 97 placed in brackets.
  • the toothed belt ZR- j ⁇ is, for example, attached to the yoke 39, which is rigid with the first linear slide 5 is connected. If forces are introduced into the toothed belt ZR ⁇ ⁇ by the drive device A, the first linear slide 5 moves along the base element 3.
  • FIG. 4 again shows a schematic diagram, with the aid of which it will be explained how a relative movement of the second linear slide 7 perpendicular to the longitudinal extent of the first linear slide 5 can be realized.
  • the same parts are again provided with the same reference numbers, so that reference is made to the description, in particular of FIG. 3.
  • a toothed belt ZR 2 is guided around the base body 3 of the robot 1 with the aid of deflection rollers U. It runs in a U-shape between two deflecting rollers U 'in the longitudinal direction of the first linear slide 5, at the end of which facing away from the yoke 39 a deflecting roller U''is provided.
  • a deflection frame 99 is provided here, on which two deflection rollers 101 are attached, the center axes of which are arranged parallel to those of the deflection rollers U, U 1 and U ′′.
  • the toothed belt ZR 2 is passed between the deflection rollers 101, so that a U-shaped loop is formed which is guided around a drive wheel 103.
  • This is part of a deflection gear 105 that has an output gear 107, over which a toothed belt 109 is guided, which is fastened to the second linear slide 7.
  • Deflection rollers 111 are provided on the deflection frame 99, which ensure that the toothed belt 109 forms a U-shaped loop over the driven wheel 107 so that the drive device A into the toothed belt ZR 2 Driving forces introduced via the deflecting gear 105 are introduced into the driven wheel 107 and the second linear slide 7, as indicated by a double arrow 113, is moved up or down relative to the first linear slide 5, this movement being perpendicular to the longitudinal axis stretching of the first linear slide 5 takes place.
  • the schematic diagram in FIG. 5 shows how drive forces can be introduced from a drive device A into a driven shaft 115 via a toothed belt ZR 3 , which is coupled to a drive wheel 103 '.
  • the toothed belt is guided here via deflection rollers 101 "of a deflection frame 99 'in a U-shape over the drive wheel 103, so that the forces introduced into the toothed belt ZR 3 lead to a rotation of the drive shaft 115.
  • a plurality, preferably three, of such shafts 115 can be accommodated in the second linear slide 7 in order to provide a three-axis manipulator with drive forces via the drive device A.
  • the rotational movement of the shaft 115 is indicated by a double arrow 117.
  • a relative movement between the first linear slide 5 and the base element 3 can thus take place simultaneously with a relative movement of the second linear slide 7 with respect to the first linear bed, the relative movement of the second linear slide 7 in the direction of the longitudinal axis of the first linear slide 5 and vertically can be done.
  • one or more drive shafts within the second linear slide 7, which are coupled to the manipulator 43, can be driven independently of one another in both directions of rotation.
  • FIG. 6 it will be explained how a toothed belt can be changed.
  • the toothed belt ZR 3 shown in FIG. 5 is shown as an example in FIG. In this figure, further parts of the guide device 41 are entered in addition to the yoke 57 to complete the illustration.
  • the toothed belt after the toothed belt has been relaxed, it can be completely lifted off the robot, namely via its upper side, that is to say over the side opposite the stator 53.
  • the toothed belt can be lifted upwards without the robot 1 having to be disassembled.
  • FIG. 7 shows a section from FIG. 6, namely the upper end of the output shaft 115 ', which is driven via a deflection roller 103'.
  • a bearing device 119 is provided which comprises a bearing 121 which can be plugged onto the upper end and an associated bearing plate 123.
  • the toothed belt ZR 3 is placed over the drive wheel 103 'with a suitable pretension. He is from the pulleys 111 'led.
  • a tension-relieved or relaxed arrangement of the toothed belt is shown by a dash-dotted line. It can be seen that the toothed belt can be guided loosely over the drive wheel 103 '.
  • one end of this toothed belt as indicated by the bold double arrow 125, can be guided over the free end of the shaft 115 'and pulled off.
  • the bearing device 119 can be dispensed with and thus also the removable bearing 121.
  • toothed belts of the robot 1 are assembled or disassembled from the side opposite the energy supply of the drive device A, all of the energy supply lines for the drive device and the supply lines for the manipulator 43 can remain unchanged. In particular, there is no need to separate such lines in order to install or remove the toothed belt. It is only necessary to outside the toothed belt around the base body of the robot, which through the base element 3 and at least one linear slide, formed here by the two linear slides 5 and 7, is demon ⁇ even in the transition area between the basic element 3 and the first linear slide 5 or between the first linear chute 5 and the second linear slide 7 days of the toothed belt easily possible, without requiring disassembly of the robot 1.
  • the toothed belt can be ZR '• lifted and between the diverting pulleys U' over the guide roller U pulled out. Then the toothed belt ZR- ⁇ can be lifted up freely from the base element 3. Accordingly, in a configuration according to FIG. 4, the toothed belt can be lifted off the drive wheel 103 and pulled out between the deflection rollers 101, so that the U-shaped loop is smoothed, that is, it is omitted. Then the toothed belt ZR 2 can be lifted over the deflection roller U ′′ at the end of the first linear slide 5 and then pulled out between the deflection rollers U ′ on the yoke 39. As soon as this has taken place, the complete toothed belt ZR 2 can be completely lifted off the basic element 3 of the robot 1 without the need to disassemble the robot.
  • FIG. 6 clearly shows once again that a toothed belt, here for example the ZR 3 toothed belt, can be easily removed. It can be lifted over the deflection roller U ' • of the first linear slide 5, as well as from the drive wheel 103' of the second linear slide 7. It is lifted over the free end of the shaft 115 ', as was shown in FIG. The U-shaped loop of the tooth belt mens ZR 3 can then be pulled out between the pulleys 111 '. The resulting free ends of the toothed belt are pulled through the space between the yoke 57 and the surface 63 of the robot 1, not shown here, the lateral free distance d and e of the yoke 57 from the first linear slide 5 being decisive for easy assembly .
  • a toothed belt here for example the ZR 3 toothed belt
  • the free end of the toothed belt ZR 3 now lying on the surface 63 of the first linear slide 5 can be pulled through the yoke 39 so that the U-shaped loop between the deflection rollers U 'can be removed.
  • the free end of the toothed belt ZR 3 can be lifted off from the deflection rollers U of the base element 3 opposite the drive device A.
  • the resulting free loop can be pulled between the guide device 41 and the surface 63 of the robot 1.
  • the toothed belt ZR 3 is lifted off the deflection rollers U, which are provided in the area of the drive device A.
  • the toothed belt ZR3 is completely removed.
  • the timing belt is installed in the reverse order. It is not necessary to remove any parts of the robot 1 during installation or removal.
  • linear slide 5 it is possible not only to design the linear slide 5 to be movable along the longitudinal direction of the base element 3, it is also conceivable to make it displaceable perpendicular to the longitudinal extension of the base element.
  • FIGS. 1 to 7 also showed that three drivable axes can be provided for the manipulator and that in addition supply lines for electricity, hydraulic fluid or a gaseous medium can also be led to the manipulator without the advantages of the technical solution described here. It is guaranteed that dental belt of the robot can be easily installed and removed.
  • any other belt or bar-shaped drive devices can also be used. In all cases there is the advantage described that assembly / disassembly of the drive devices is easily possible without disassembling the robot.

Landscapes

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

Abstract

L'invention concerne un robot comportant au moins une coulisse linéaire possédant un système d'entraînement relié à une alimentation en énergie et au moins une courroie dentée entraînée par ce système d'entraînement. Le robot (1) est caractérisé en ce que l'énergie est fournie depuis un premier côté de celui-ci et en ce que la courroie dentée est montée et démontée depuis un deuxième côté situé en regard du premier côté.
PCT/EP1997/001132 1996-03-07 1997-03-06 Robot WO1997032695A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU20245/97A AU2024597A (en) 1996-03-07 1997-03-06 Robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19608844.5 1996-03-07
DE1996108844 DE19608844B4 (de) 1996-03-07 1996-03-07 Roboter

Publications (1)

Publication Number Publication Date
WO1997032695A1 true WO1997032695A1 (fr) 1997-09-12

Family

ID=7787515

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP1997/001132 WO1997032695A1 (fr) 1996-03-07 1997-03-06 Robot

Country Status (3)

Country Link
AU (1) AU2024597A (fr)
DE (1) DE19608844B4 (fr)
WO (1) WO1997032695A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7563067B2 (en) 2003-06-30 2009-07-21 Roboxis B.V. Robot
DE102006017752B4 (de) * 2006-04-11 2010-08-05 AJ Cybertron Gesellschaft für Laborautomationssysteme mbH Positionierantrieb
CN112192595A (zh) * 2020-03-10 2021-01-08 广东顺德为艾斯机器人有限公司 汽车发动机部件桁架机器人

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1310452B1 (it) * 1999-08-12 2002-02-18 Giuseppe Raffoni Apparecchiatura per la realizzazione di cornici rettangolari .
IT1319867B1 (it) 2000-05-11 2003-11-03 Giuseppe Raffoni Sistema automatizzato e mezzi per l'alimentazione dei listelli nelleapparecchiature che realizzano cornici rettangolari.
DE102005003104A1 (de) * 2005-01-22 2006-07-27 Brähmig Fluidautomation GmbH Balancer zur Lastenbewegung und Verfahren zu seiner Steuerung
DE102009006044B4 (de) * 2009-01-24 2016-09-29 Hans-Erich Maul Handhabungsmodule
US8181799B2 (en) * 2009-11-30 2012-05-22 GM Global Technology Operations LLC Actuation system configured for moving a payload
DE202009015682U1 (de) 2009-12-01 2011-04-14 Kuka Systems Gmbh Transporteinrichtung
DE102013006244A1 (de) 2013-04-11 2014-10-16 Volkswagen Aktiengesellschaft Anordnung eines Industrieroboters zur Handhabung, Montage oder Bearbeitung von Werkstücken
DE102014216111B4 (de) * 2014-08-13 2018-10-25 Hsf Automation Gmbh Vorrichtung zum Transferieren eines Bauteils sowie Verfahren zur Übertragung elektrischer Energie
DE102019113372B4 (de) * 2019-05-20 2022-03-31 Gerhard Schubert Gmbh Roboterarm sowie Verfahren zu seiner Steuerung
US20220387902A1 (en) * 2019-11-05 2022-12-08 Wahlberg Holding Aps A linear manipulator for a programmable stage installation, a body for a linear manipulator and use of a linear manipulator
GB2634062A (en) * 2023-09-28 2025-04-02 Ocado Innovation Ltd Supply line management system for a robotic picking station
GB2634065A (en) * 2023-09-28 2025-04-02 Ocado Innovation Ltd Supply line management system for a robotic picking station

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FR2675068A1 (fr) * 1991-04-09 1992-10-16 Mannesmann Ag Mecanisme de manutention compose d'elements modulaires.
FR2676955A1 (fr) * 1991-05-31 1992-12-04 Faveyrial Maurice Robot manipulateur cartesien incorporant des moyens de transmission a courroie.
DE9302372U1 (de) * 1993-02-18 1993-05-13 Engel Maschinenbau Ges.M.B.H., Schwertberg Handhabungsvorrichtung

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JPS61284379A (ja) * 1985-06-06 1986-12-15 本田技研工業株式会社 ロボツト装置
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US5198736A (en) * 1990-11-15 1993-03-30 Canon Kabushiki Kaisha Orthogonal two-axis moving apparatus
DE4140687C2 (de) * 1991-12-11 1995-01-05 Werner Prof Dr Ing Weinert Roboter-Antriebsvorrichtung nach dem kartesischen Prinzip für mehrachsige, räumlich angeordnete Transportsysteme, insbesondere für NC-Linearachsen
US5476358A (en) * 1992-05-22 1995-12-19 Costa; Larry J. Three-axis cartesian robot

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Publication number Priority date Publication date Assignee Title
FR2675068A1 (fr) * 1991-04-09 1992-10-16 Mannesmann Ag Mecanisme de manutention compose d'elements modulaires.
FR2676955A1 (fr) * 1991-05-31 1992-12-04 Faveyrial Maurice Robot manipulateur cartesien incorporant des moyens de transmission a courroie.
DE9302372U1 (de) * 1993-02-18 1993-05-13 Engel Maschinenbau Ges.M.B.H., Schwertberg Handhabungsvorrichtung

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7563067B2 (en) 2003-06-30 2009-07-21 Roboxis B.V. Robot
DE102006017752B4 (de) * 2006-04-11 2010-08-05 AJ Cybertron Gesellschaft für Laborautomationssysteme mbH Positionierantrieb
CN112192595A (zh) * 2020-03-10 2021-01-08 广东顺德为艾斯机器人有限公司 汽车发动机部件桁架机器人

Also Published As

Publication number Publication date
AU2024597A (en) 1997-09-22
DE19608844B4 (de) 2004-04-29
DE19608844A1 (de) 1997-09-11

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