Industrial robot

Abstract

An industrial robot with parallel kinematics comprises a robot base, a carrier element for receiving a gripper, a tool or a machine element, at least two moveable actuating units, which are connected at their one end to actuating unit drives arranged on the robot base and of which the other ends are moveably connected to the carrier element, a first rotational axis, which is designed as a hollow body and which has a continuous cavity running in the axial direction, a first rotational axis drive, which is arranged on the robot base and which generates a first torque and transmits it to the first rotational axis, a second rotational axis, which is arranged at least partially in the first rotational axis, a second rotational axis drive, which is arranged on the robot base and which generates a second torque and transmits it to the second rotational axis.

Claims

1. Industrial robot with parallel kinematics, comprising: a robot base, with a carrier element for holding a gripper, a tool or a machine element, with at least two moveable actuating units that are connected at one end to actuating unit drives arranged on the robot base and are moveably connected at the other end to the carrier element, with a first rotational axis in a form of a hollow body which has a continuous, axially-running cavity, with a first joint which has a continuous cavity and with several degrees of freedom by means of which the first rotational axis is connected directly or indirectly to the robot base, with a second joint which has a continuous cavity and with several degrees of freedom by means of which the first rotational axis is moveably connected to the carrier element, whereby the cavities of the first joint, the first rotational axis and the second joint form a continuous channel from the robot base to the carrier element, with a first rotational axis drive on the robot base which generates a first torque, whereby the first rotational axis drive is linked to the first rotational axis, which transmits the first torque to a gripper, a tool or a machine element on the carrier element, with second rotational axis in a form of a universal shaft which is at least partially arranged in the continuous channel, with a second rotational axis drive on the robot base which generates a second torque, whereby the second rotational axis drive is linked to the second rotational axis, which transmits the second torque to a gripper, a tool or a machine element on the carrier element.

2. Industrial robot according to claim 1, wherein the second rotational axis, is a drive shaft with at least two universal joints having several degrees of freedom and a variable-length intermediate shaft.

3. Industrial robot according to claim 1, wherein the first rotational axis is variable in length.

4. Industrial robot according to claim 3, wherein the first rotational axis has at least two tubes that can be displaced within one another in a telescopic manner.

5. Industrial robot according to claim 1, wherein the second rotational axis is variable in length and has at least two tubes that can be displaced within one another in a telescopic manner and that the two tubes are arranged inside one another secured against twisting.

6. Industrial robot according to claim 1, wherein the second rotational axis takes the form of an elongated hollow body with a continuous cavity running in the axial direction that together with hollow universal joints arranged on the second rotational axis forms a continuous channel from the robot base to the carrier element.

7. Industrial robot according to claim 6, wherein a third rotational axis is arranged at least partially in the continuous channel of the second rotational axis, that a third rotational axis drive which generates a third torque is arranged on the robot base and that the third rotational axis is linked to the third rotational axis drive which transmits the third torque to a gripper, a tool or a machine element on the carrier element.

8. Industrial robot according to claim 1, wherein the rotational axes are arranged coaxially.

9. Industrial robot according to claim 1, wherein several second rotational axes are arranged at least sectionally parallel to one another in the first rotational axis.

10. Industrial robot according to claim 1, wherein at least one pneumatic and/or hydraulic and/or electric and/or optical supply line for a gripper arranged on the carrier element, a tool arranged on the carrier element or a machine element arranged on the carrier element is arranged in the continuous channel of the first rotational axis.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) The drawing shows a model embodiment of the invention which is described in more detail below. Illustrations:

(2) FIG. 1 First model embodiment of an industrial robot with parallel kinematics in a perspective view

(3) FIG. 2 Industrial robot as shown in FIG. 1 in a view from the side

(4) FIG. 3 Industrial robot as shown in FIG. 1 in a perspective view from above

(5) FIG. 4 Industrial robot as shown in FIG. 1 in a view from above

(6) FIG. 5 Industrial robot as shown in FIG. 1 in a view from below

(7) FIG. 6 Detail of a vertical section through the robot base of the industrial robot as shown in FIG. 1

(8) FIG. 7 Vertical section through the carrier element of the industrial robot as shown in FIG. 1

(9) FIG. 8 Perspective view from below of the robot base of the industrial robot as shown in FIG. 1

(10) FIG. 9 Perspective view from below of the carrier element of the industrial robot as shown in FIG. 1

(11) FIG. 10 Perspective view from above of the carrier element of the industrial robot as shown in FIG. 1

(12) FIG. 11 Second model embodiment of an industrial robot with parallel kinematics in a perspective view

(13) FIG. 12 Industrial robot as shown in FIG. 11 in a vertical section

DETAILED DESCRIPTION OF THE INVENTION

(14) FIGS. 1 to 10 show a first model embodiment of an industrial robot with parallel kinematics according to the delta principle having a robot base 1, a carrier element 2 to which a gripper, a tool or a machine element can be arranged, and three actuating units 4 in the form of control arms. The gripper, the tool or the machine element are not shown in the drawing. Each of the three actuating units is connected by means of a drive shaft 5 to an actuating unit drive 6 in the form of a motor. All three actuating units 4 have the same design. The actuating units 4 comprise an upper arm section 7 and a lower arm section 8. The upper arm section 7 is characterised by high stability and low weight. The lower arm section 8 comprises two parallel running rods 9 and 10. The two rods 9 and 10 of the lower arm section 8 of an actuating unit 4 are connected by means of joints 11 at their upper end to the upper arm section 7 of the actuating unit 4 and by means of joints 12 to the carrier element 2.

(15) The industrial robot is further equipped with a first rotational axis 13 in the form of a hollow body. It is used to transmit a torque of a first rotational axis drive 14 discernible in FIG. 4 that is arranged on the robot base 1 to a gripper or tool or machine element not shown in the drawing on the carrier element. The first rotational axis 13 comprises two tubes 15 and 16 that can be displaced within one another in a telescopic manner. The displaceable mounting allows variations in distance between the robot base 1 and the carrier element 2 in a movement of the actuating units 4 to be compensated. The upper tube 16 is moveably connected by means of a first joint 17 to the robot base 1. The first joint is particularly discernible in FIG. 6 and in FIG. 8. The first joint 17 comprises two joint parts 18 and 19 which are rotatably arranged around axes 20 and 21 running perpendicular to one another. This is a cardan joint or universal joint. The two joint parts 18 and 19 comprise a continuous cavity through which a universal shaft 22 extends. This is discernible in FIGS. 6 and 7. The continuous cavity can also be referred to as a channel.

(16) The lower tube 15 of the first rotational axis 13 is moveably connected to the carrier element 2 by means of a corresponding second joint 23. This is represented in FIGS. 7 and 10. The two joints 17, 23 allow the variable-length first rotational axis 13 to follow a deflection of the carrier element 2 relative to the robot base 1.

(17) FIG. 4 shows the industrial robot in a view from above. This representation shows the first rotational axis drive 14, which is arranged in a fixed position on the robot base 1 and drives the first rotational axis 13 to rotation by means of a toothed belt 24. FIG. 4 also shows a shaft stub 25 that is connected to the universal shaft 22. To this shaft stub a second rotational axis drive is linked which is not represented in the drawing, that drives the second rotational axis 22 to rotation. This second rotational axis drive is likewise arranged in a fixed position on the robot base. In the representation shown in FIG. 4 the upper arm sections 7 of the actuating units 4, the rods 9 and 10 of the lower arm sections 8 and the actuating unit drive 6 are also discernible.

(18) FIG. 5 shows the industrial robot in a view from below. In this representation the carrier element 2 and a ring 26 rotatably arranged in the carrier element 2 are discernible. The ring is connected by means of the joint 23 to the first rotational axis 13. The torque of the first rotational axis drive 14 is transmitted by means of the hollow joints 17, 23 and the first rotational axis 13 to the ring 26.

(19) FIG. 6 shows a detail of a vertical section through the robot base 1. In this representation an upper section of the tube 16 of the first rotational axis, a joint fork 18 of the first joint with the axis 20, the universal shaft 22 with a first universal joint 27 and a shaft stub 25 connected to the first universal joint are discernible.

(20) FIG. 7 shows a vertical section through the carrier element 2. In this representation the rods 9, 10 of the lower arm sections of the actuating units with their joints 12, the tube 15, a joint fork 28 of the hollow joint 23, the ring 26 linked to the joint 23, the universal shaft 22, a second universal joint 29 of the universal shaft 22 and a second shaft stub 30 are discernible. The second shaft stub 30 is linked to the second universal joint 29. A gripper, tool or machine element can be connected to it. These are not illustrated in the drawing.

(21) FIG. 8 shows a perspective view of an upper part of the tube 16 of the first rotational axis with the two joint forks 18, 19 of the first hollow joint and the associated perpendicular axes 20 and 21, the second rotational axis 22 and the first universal joint 27 arranged on the second rotational axis 22.

(22) FIG. 9 shows the carrier element 2 in a perspective view from below. In this representation the ring 26, which is linked to the first rotational axis 13 by means of the second hollow joint 23, and the second shaft stub 30, which is linked to the universal shaft by means of the second universal joint, are discernible.

(23) FIG. 10 shows the carrier element 2 in a perspective view from above. In this representation the joint forks 28, 31 of the second hollow joint 23 and the second universal joint 27 of the second rotational axis are discernible.

(24) FIGS. 11 and 12 represent a second model embodiment of an industrial robot 40 with parallel kinematics. In contrast to the first model embodiment, the industrial robot 40 shown in FIG. 11 has not three but two actuating units. It is equipped with a robot base 41, a carrier element 42 on which a gripper, a tool or a machine element can be arranged, and two actuating units 44 in the form of control arms. The gripper, the tool or the machine element are not represented in the drawing. Each of the two actuating units 44 is connected by means of a drive shaft 45 to an actuating unit drive 46 in the form of a motor. The actuating units 44 comprise an upper arm section 47 and a lower arm section 48. The upper arm section 47 comprises two parallel struts 47a and 47b that are arranged with their one end on the drive shaft 45. The parallel struts 47a and 47b form an upper arm pair. The lower arm section 48 comprises two parallel running rods 49 and 50 that form a lower arm pair. The two rods 49 and 50 of the lower arm section 48 are connected by means of joints 51 at their upper end to the struts 47a and 47b of the upper arm section 47 and by means of joints 52 to the carrier element 42.

(25) Exactly as in the first model embodiment, the industrial robot according to the second model embodiment is equipped with a first rotational axis 53 in the form of a hollow body. On the robot base 41 a first rotational axis drive is arranged that is not discernible in the drawing. This first rotational axis drive generates a first torque that is transmitted by means of the first rotational axis 53 to a gripper or tool or machine element not represented in the drawing on the carrier element 42. In accordance with the first model embodiment, the first rotational axis 53 is moveably connected to the robot base 41 by means of a first joint 57 and to the carrier element 42 by means of a second joint 63. The two joints 57 and 63 are cardan joints and essentially coincide with the corresponding joints 17 and 23 of the first model embodiment.

(26) Exactly as in the first model embodiment, a second rotational axis 62 in the form of a universal shaft is arranged in the first rotational axis 53. On the robot base 41 a second rotational axis drive is arranged to which the second rotational axis is linked and whose torque the second rotational axis transmits to a gripper, tool or machine element on the carrier element 42. The second rotational axis is discernible in FIG. 12. The second rotational axis drive is not discernible in the drawing.

(27) A first two-armed lever 64 is connected to the struts 47a and 47b of the upper arm section 47 of the left actuating unit 44. A first arm of this first lever 64 is connected to the carrier element 42 by means of the struts 65 and 66. A second arm of the first lever 64 is connected to a second lever 69 by means of the struts 67 and 68. This second lever 69 takes the form of a one-armed lever. While the one end of the second lever 69 is connected to the struts 67, 68, the other end of the second lever 69 is connected to the drive shaft 45 of the right actuating unit 44. The first lever 64, the second lever 69 and the struts 65, 66, 67, 68 ensure that the carrier element 42 is always aligned parallel to the robot base 41 regardless of the movement and the setting of the actuating units 44. In this manner a tipping of the carrier element 42 is prevented.

(28) FIG. 12 shows the industrial robot according to FIG. 11 in a vertical section along the longitudinal axis of the vertically aligned first rotational axis 53. The second rotational axis 62, which is arranged coaxially to the first rotational axis 53 in the first rotational axis 53, is discernible in this representation. The diameter of the second rotational axis 62 is smaller than the diameter of the first rotational axis 53. The second rotational axis 62 extends through the first rotational axis 53, the first joint 57 and the second joint 63. The second rotational axis is equipped with universal joints at the end projecting upwards and downwards beyond the first rotational axis.

(29) The industrial robot represented in FIG. 12 is equipped with a reinforcing cross 70 that is arranged on the rods 49 and 50 of the lower arm section 48.

(30) All features of the invention can be material to the invention both individually and in any combination.

REFERENCE NUMBERS

(31) 1 Robot base

(32) 2 Carrier element

(33) 3

(34) 4 Actuating unit

(35) 5 Drive shaft

(36) 6 Actuating unit drive

(37) 7 Upper arm section

(38) 8 Lower arm section

(39) 9 Rod

(40) 10 Rod

(41) 11 Joint

(42) 12 Joint

(43) 13 First rotational axis

(44) 14 First rotational axis drive

(45) 15 Tube

(46) 16 Tube

(47) 17 First joint

(48) 18 Joint fork

(49) 19 Joint fork

(50) 20 Axis

(51) 21 Axis

(52) 22 Second rotational axis

(53) 23 Second joint

(54) 24 Toothed belt

(55) 25 Shaft stub

(56) 26 Ring

(57) 27 First universal joint

(58) 28 Joint fork

(59) 29 Second universal joint

(60) 30 Second shaft stub

(61) 31 Joint fork

(62) 40 Industrial robot

(63) 41 Robot base

(64) 42 Carrier element

(65) 44 Actuating unit

(66) 45 Drive shaft

(67) 46 Actuating unit drive

(68) 47 Upper arm section

(69) 47a Strut

(70) 47b Strut

(71) 48 Lower arm section

(72) 49 Rod

(73) 50 Rod

(74) 51 Joint

(75) 52 Joint

(76) 53 First rotational axis

(77) 57 First joint

(78) 62 Second rotational axis

(79) 63 Second joint

(80) 64 First lever

(81) 65 Strut

(82) 66 Strut

(83) 67 Strut

(84) 68 Strut

(85) 69 Second lever

(86) 70 Reinforcing cross