ROBOT UNIT HAVING ROTATABLE ARMS

Abstract

The invention relates to a robot unit (1) having—a base (2),—an effector unit (8),—at least two connecting arms (3) 1:7 for connecting the base and the effector unit (8), and—a base motor (10) for each of the at least two connecting arms (3) in order to move the respective connecting arms relative to the base, wherein—a first arm part (4) of each of the at least two connecting arms (3) is arranged on the base (2) and a second arm part (5) of each of the at least two connecting arms (3) is arranged on the effector unit (8), and wherein—each first arm part (4) and its associated second arm part (5) are movably connected to each other by a connecting N element (13). In order to allow improved movability for the effector unit (8), according to the invention,—the at least two connecting arms (3) each have a pivot bearing (15), wherein the pivot bearings (15) each allow rotation of at least one component (7) of the arm parts (4, 5) about an axis of rotation (20) oriented parallel to its direction of extension.

Claims

1. A robot unit comprising: a base; an effector unit; at least two connecting arms configured to connect the base and the effector unit; and a base motor for each of the at least two connecting arms, the base motor configured to move the respective connecting arm relative to the base; wherein a first part arm of each of the at least two connecting arms is arranged on the base, and a second part arm of each of the at least two connecting arms is arranged on the effector unit; wherein the respective first part arm and the respective second part arm are movably connected together by a connecting element; wherein the at least two connecting arms each have a pivot bearing, wherein the pivot bearings each allow rotation of at least one component of the part arms about a rotation axis that is oriented parallel to its extent direction; wherein the second part arms are each divided into two members, and the pivot bearings allow a rotation of a respective one of the members relative to the other of the members as a rotation of the at least one component of the part arms.

2. The robot unit of claim 1, wherein the first part arms are each arranged rotatably on the base via a respective rotation bearing.

3. The robot unit of claim 1, wherein the first and the second part arms of a respective one of the at least two connecting arms are pivotable relative to one another, via the respective connecting element.

4. The robot unit of claim 1, wherein the at least two connecting arms each have at least one arm motor configured to perform the rotation of the at least one component.

5. The robot unit of claim 4, wherein the arm motors are arranged in an interior of a respective first part arm or second part arm.

6. The robot unit of claim 4, wherein the first part arms are each divided into two members and the pivot bearings are configured to provide a rotation of a respective one of the members relative to the other of the members as a rotation of the at least one component of the first part arms.

7. (canceled)

8. The robot unit of claim 6, the arm motors are each arranged on a first of the members and connected to a second of the members via a shaft along the extent direction of the respective part arm.

9. The robot unit of claim 8, wherein the shafts are guided through a tunnel of the respective first member.

10. The robot unit of claim 6, wherein the pivot bearings are each formed by one of the two members.

11. The robot unit of claim 6, wherein a respective rotation axis of the pivot bearings is oriented parallel to a main extent direction of the members of the respective part arm.

12. The robot unit of claim 6, wherein the members of a respective part arm are connected at a straight angle by the pivot bearing.

13. The robot unit of claim 1, further comprising: a control unit configured to control a rotation of the respective first part arm or respective second part arm such that an angle between the base and the effector unit is changed.

14. The robot unit of claim 1, wherein the robot unit comprises precisely three connecting arms.

15. The robot unit of claim 1, wherein the robot unit comprises precisely six actuated degrees of freedom.

Description

BRIEF DESCRIPTION OF THE FIGURES

[0034] FIG. 1 depicts a schematic, perspective view of an embodiment of a robot unit.

[0035] FIG. 2 depicts a schematic, exploded view of a part arm of an embodiment of the robot unit.

[0036] FIG. 3 depicts a schematic overview of the rotation axes of an embodiment of the robot unit.

[0037] FIG. 4 depicts a schematic overview of degrees of freedom of an effector unit of an embodiment of the robot unit.

[0038] FIG. 5 depicts a schematic, exploded view of a part arm of the robot unit according to an embodiment.

DETAILED DESCRIPTION

[0039] FIGS. 1, 3 and 4 each depict a robot unit 1 in different embodiments. The robot unit 1 includes a base 2 on which three connecting arms 3 are arranged. The connecting arms 3 are each arranged on the base 2 rotated through 120°. The connecting arms 3 each include a first part arm 4 and a second part arm 5. The first part arms 4 are rotatably mounted on the base 2 via a respective rotation bearing 12. The first part arm 4 and the second part arm 5 of each connecting arm 3 are connected together via a respective connecting element 13. The second part arms 5 are rotatably mounted on an effector unit 8 via a respective rotation bearing 14. Since the connecting arms 3 are arranged in similar fashion between the base 2 and the effector unit 8, the robot unit 1 is also known as a parallel arm robot or a so-called Delta robot. The effector unit 8, also known as an effector, includes a tool carrier (not shown in detail in the figures), by which a tool, for example a gripper, may be arranged on the effector unit 8.

[0040] The first part arms 4 are each part arms that are arranged directly on the base 2. The second part arms 5 are each part arms that are further away from the base 2. The part arms 5 are thus arranged between the first part arms 4 and the effector unit 8.

[0041] The first part arms 4 are mounted so as to be rotatable or pivotable relative to the base 2 about a respective, precisely one rotation axis 21. In other words, a movement of the part arms 4 may take place only in a respective plane and rotationally about the respective rotation bearing 12. In yet other words, for each of the part arms 4 relative to the base 2, of six degrees of freedom (three translational, three rotational), all except one rotational degree of freedom are blocked by the respective rotation bearing 12.

[0042] The second part arms 5 are mounted so as to be rotatable or pivotable relative to the respective first part arm 4 of the same connecting arm 3 with respect to precisely two rotation axes. In other words, a movement of the second part arms 5 relative to the respective part arm 4 may take place only along a respective ball sphere and only rotationally about the respective connecting element 13. In yet other words, for each of the second part arms 5 relative to the respective part arm 4, of six degrees of freedom (three translational, three rotational), all except two rotational degrees of freedom are blocked by the respective connecting element 13.

[0043] The second part arms 5 are arranged on the effector unit 8 by a respective rotation bearing 14. The second part arms 5 are mounted so as to be rotatable or pivotable relative to the effector unit 8 with respect to precisely two rotation axes. In other words, a movement of the second part arms 5 relative to the effector unit 8 may take place only along a respective ball sphere and only rotationally about the respective rotation bearing 14. In yet other words, for each of the second part arms 5 relative to the effector unit 8, of six degrees of freedom (three translational, three rotational), all except two rotational degrees of freedom are blocked by the respective rotation bearing 14.

[0044] By corresponding movement of the connecting arms 3, a movement of the effector unit 8 is possible. For this, the robot unit 1 has a respective base motor 10 for each of the connecting arms 3. In an embodiment, the base motor 10 is arranged on the base. The respective base motors 10 allow a movement of the connecting arms 3 or part arms 4 in relation to the respective rotation axis 21. The rotation axes 21 are shown in FIG. 3.

[0045] In addition, in the embodiment of the robot unit 1, individual part arms 4, 5 are rotatable in themselves. For this, each of the part arms 4, 5 of a respective connecting arm 3 has a respective pivot bearing 15.

[0046] According to the embodiment of FIGS. 1 to 4, the second part arms 5 of each of the connecting arms 3 are divided into two members 6, 7. This embodiment will be discussed initially: such a second part arm 5 is shown in a schematic exploded illustration in FIG. 2. A first member 6 includes a part of the connecting arm 13 for connection to the respective first part arm 4. A second member 7 includes a part of the rotation bearing 14 for connection to the effector unit 8. In other words, in mounted state, the first member 6 is arranged on the first part arm 4. However, in mounted state, the second member 7 is arranged on the effector unit 8.

[0047] In the present case, the first member 6 forms the pivot bearing 15. The first member 6 is configured to be partially hollow. This creates a tunnel in the middle of the first member 6. The second member 7 is partly inserted in this tunnel. Thus, the pivot bearing 15 is provided by this tunnel. A shaft 16 is guided through the tunnel through the first member 6. The shaft 16 connects an arm motor 11 to the second member 7. The arm motor 11 is arranged on a side of the first member 6 facing away from the second member 7. In other words, the arm motor 11 and the second member 7 are substantially spaced apart from each other by the first member 6.

[0048] The pivot bearing 15 provides a further degree of freedom for each connecting arm 3. These degrees of freedom are actuated or controlled by the respective arm motor 11. In each case, the pivot bearing 15 provides a rotational degree of freedom along a rotation axis 20 (see FIG. 3). A translational movement of the first member 6 and second member 7 relative to each other may be suppressed by the pivot bearing 15. The rotation about the rotation axis 20 is actuated or controlled by the respective arm motor 11 arranged on the first member 6.

[0049] A first part arm 4 is shown in a schematic exploded illustration in FIG. 5. A first member 6 includes a part of the rotation bearing 12 for connection to the base 2. A second member 7 includes a part of the connecting element 13 for connection to the respective second part arm 5 of the respective connecting arm 3. In other words, in mounted state, the first member 6 is arranged on the base 2. However, in mounted state, the second member 7 is arranged on the connecting element 13 or on the second part arm 5.

[0050] In the present case, the first member 6 forms the pivot bearing 15. The first member 6 is configured to be partially hollow. This creates a tunnel 22 in the middle of the first member 6. The second member 7 is partially inserted in this tunnel 22. Thus, the tunnel 22 provides the pivot bearing 15. In addition, an arm motor 11 is arranged in this tunnel 22. The arm motor 11 may be arranged directly on the second member 7. For example, the arm motor 11 is connected to the second member 7 via a shaft 16.

[0051] The pivot bearing 15 provides a further degree of freedom per connecting arm 3. These degrees of freedom are actuated or controlled by the respective arm motor 11. In each case, the pivot bearing 15 provides a rotational degree of freedom along a rotation axis 20. A translational movement of the first member 6 and second member 7 relative to one another may be suppressed by the pivot bearing 15. The rotation about the rotation axis 20 is actuated or controlled by the respective arm motor 11 arranged on the first member 6.

[0052] FIG. 4 depicts the respective degrees of freedom x, y, z, α, β, γ of the effector unit 8. These differ only insignificantly between the embodiments. The six degrees of freedom along the rotation axes 20 and 21 allow a movement of the effector unit 8 along all six possible degrees of freedom x, y, z, α, β, γ(three translational, three rotational). By corresponding control of the arm motors 11 and base motors 10, a movement of the effector unit 8 along all six degrees of freedom x, y, z, α, β, γ is possible. The robot unit 1 may include a control unit 90 that is configured for such control.

[0053] It is to be understood that the elements and features recited in the appended claims may be combined in different ways to produce new claims that likewise fall within the scope of the present invention. Thus, whereas the dependent claims appended below depend from only a single independent or dependent claim, it is to be understood that these dependent claims may, alternatively, be made to depend in the alternative from any preceding or following claim, whether independent or dependent, and that such new combinations are to be understood as forming a part of the present specification.

[0054] While the present invention has been described above by reference to various embodiments, it may be understood that many changes and modifications may be made to the described embodiments. It is therefore intended that the foregoing description be regarded as illustrative rather than limiting, and that it be understood that all equivalents and/or combinations of embodiments are intended to be included in this description.