CA1234998A - Gearhead for manipulators - Google Patents
Gearhead for manipulatorsInfo
- Publication number
- CA1234998A CA1234998A CA000473353A CA473353A CA1234998A CA 1234998 A CA1234998 A CA 1234998A CA 000473353 A CA000473353 A CA 000473353A CA 473353 A CA473353 A CA 473353A CA 1234998 A CA1234998 A CA 1234998A
- Authority
- CA
- Canada
- Prior art keywords
- axis
- head piece
- gearhead
- drive shafts
- shaft
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
- B25J17/0291—Three-dimensional joints having axes crossing at an oblique angle, i.e. other than 90 degrees
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Gear Transmission (AREA)
- Supporting Of Heads In Record-Carrier Devices (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
- Vehicle Body Suspensions (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
ABSTRACT
The invention relates to the design of gearheads for manipulators which, according to the state of the art, have three axes intersecting at one point. Through this, however, the danger arises that the gearhead can no longer be controlled in its extended position. To avoid this disadvantage, the invention provides for all the axes of the gearhead to be positioned dia-gonally to one another. Thus the swivelling axis for the rear head piece is never coaxial to the axis of the concentric drive shafts, and that ambiguities in the computer control of the gearhead are thus ruled out.
772-555 str
The invention relates to the design of gearheads for manipulators which, according to the state of the art, have three axes intersecting at one point. Through this, however, the danger arises that the gearhead can no longer be controlled in its extended position. To avoid this disadvantage, the invention provides for all the axes of the gearhead to be positioned dia-gonally to one another. Thus the swivelling axis for the rear head piece is never coaxial to the axis of the concentric drive shafts, and that ambiguities in the computer control of the gearhead are thus ruled out.
772-555 str
Description
~ 17 The inve11tion relates to a gel1rlle.1c1 ~or manip~ tors hclving thc features ~nown frol11 the preamble of the main claim of German .-\.S. 27 -~5 932.
A previously known ma]1ipulator generally has six swivelling axes of which the last three swivelling axes are loca-ted in the area of the gearhead.
The first three swivelling axes are disposed on a base having a bogie and a cantilever arm on which the gearhead is located. The basis for the arrange-ment of these swivelling axes can be gleaned from the German O.S. 24 35 156.
The concentric arrangement of three drive shafts in an arm carrying the gear-head, as is ~nown from the German A.S. 24 02 829, has proven suitable for clriving the gearhead containing the ]ast three swivelling axes. The mobility of a 11and is imitated by this known gear, according to whic]1 a middle housing corresponding to the hand with the carpal joint is disposed over a cross shaft on a front housing co-rresponding to the arm, whereby a rear housing, which corresponds -to a fil1ger of the hand, is p:ivotably mounted on the middle housing.
The clrive of the rear housing occurs by means of bevel gear sets with -the aid of the transverse intermediate shaft.
In this state of the art, which in principle also belongs to the German A.S. 26 l9 336, it is considered disadvantageous that in the extended position of the articulatecl head the rear housing cannot carry out any acute-angled, in particular no right-angled swivelling movements with no appreciable interruption. Rather, the front head piece must first of all carry out a swivelling movement before the rear head piece can be brought into the desired position. Thus, such installations are not in a position to guide the tool along spatially curved lines without interruption and continuously.
For this reason the German O.S. 29 27 485 and the German A.S.
27 45 932 teach guiding the middle head piece rotatably along an inclined plane 772-555 str - l -~.,D
3'~a~
on -the -Eront head piece. .~ccorclingly, the ;nte-rmed:iate sha:Ft in the gearhead is -to be inclined to the axis o~ the concelltric drive shaEts. ~ith the con-centric bearing arrangelnent of the rear heacl piece -to the front head piece, the swivellillg axis of the rear head piece and thus the tool flanged th~reto can always be perpendiclllar to a point oE a spherical section which can be reached by the gearhead. In addition, with this known arrangement it is pos-sible to guide the tool along syatially curved lines without interruption and continuously, i.e. permit a continuous-pat}l control.
Ilowever, in this state of the art the swivelling axis of the rear head piece (6th axis) in the extendecl position of the gearheacl is coaxial to the axis of the concentric drive shaf-ts. This normal position causes dif-Ei-culties during the computer-controlled movement of th~ man:ipulator. Rotation of the -tool about its own swivelling ax:is ~G-th axis), as preset by the program, leaves opell, when carrying out the computer given clata, whetller the gearllead is to be rotated about the axis of concelltric clrive shafts (~Ith axis) or whether the rear head piece alone should be rotated about th:is axis. This ambiguity could so far only be overcome by program or control engineering mani-pulations, however~ only ~msatisfactorily.
The invention is therefore based on the object of -Eirst of all designing a gearhead for manipulators such that the above-noted ambiguities can-not even occur. This object is new. Furthermore, it is the aim o:E the invention to attain with the gearhead a substantially enlarged range of move-ment with a more compact cons-truction of the gearhead.
The object according to the invention is solved by a gearhead for manipulators comprising three head pieces disposed behind one another and mounted about axes inclined to one another, having three drive shafts disposed q3~
concelltrically to one allotller, o~ wllicll one of tlle inller clrive shaEts is con-nected via bevel gear pairs ancl a tiltecl in-terllledia-te sha-ft "~h:ich Eorms the swivellillg axis -Eor the micldle hecld p:ic~ce, to the rear head piece having a flanged surface for carrying the tool and the o-ther inner clri~e shaft with a bevel gear pair "~hose output gear concentrically encloses the intermediate shaft with play, is coupled in rotationally positive manner to the middle head piece~ characterized in that the swivelling axis of the rear head piece lies at a 90 exclusive angle (cY) compared with the flanged surface for the tool and at a 180 exclusive angle (e.g. 180 -c~) compared with the axis of the drive shaf-ts, and that at least one high gear-reducing reduction gear is arrangecl in the middle head piece for driving the rear gearhead, preferably such a reduction gear is also provided -Eor driving the middle gearlleacl.
Due to -the inclined rotatabili-ty of the rear heacl piece compared with that of the midclle head piece, the tool atains a substan-eially enlarged range o-E action. ~lowever, since the oUtyllt shaft does no-t lie coax:ially to the drive shaft, ambiguities in the comyu-ter control are avoicled.
In a Eirst exemplary embodiment the inventioll varies Erom the teacil-ing of the state o~ the art which permits the swivellillg axes of the gearhead (axes ~ to 6) to intersect at a common point~ Rather, in the extended position of the gearhead according to the invention the swivelling a.Yis of the rear head piece (6th axis) is in an angular position compared with the axis of the concentric drive shaft. It is accordingly imyossible for the two axes to come into a position concentric to one another during any movement. Therefore, no ambiguities during computer-controlled movement of the individual gear axes can occur. This does not rule out, however, that -the work yiece can be rotated about an axis coaxial to the axis of the drive shafts, namely because in accordance w:i-tll a ~)re~errecl Eeatu:rc o~ the inveJlt:ion the Elangecl sur:Eace o:E
the rear hc?ad piece in particular cnn be d:isl)osed perpencl:icular to the a~is of the drive shafts. The aforenamed movement can therefore be brought about in the extended position of the gearhead by the rotary movement of the front head piece about the axis of the concentric drive shafts. Furthermore, the in-vention also offers the possibility of arranging the flanged surface in other pl anes .
Withiil the framework of an equivalent variant, it is taught how the same effect can be achieved if the axes of the intermec.iate shaft and the output shaft nevertheless intersect at a poin-t coaxial to the axis of the drive shafts. Such a measure has the advantage of a less complicated calc-llation as the basis for a continuous-path control. I-lowever, through tllis the centriilg axis of the flanged surface is offset -to the drive axis. In orcler -to neverthe-less attain a coaxial pOSitiOll o:f the tool to the drive axis, whic}l would be advantageous with respect to motion -teclulology :Eor some opera-tions, measures can be taken to guide the tool in a movable and tightenable manner along -the flanged surface in the radial direction.
The subject matter of the invention gives the prerequisite for the particularly compact construction of the gearhead since, in accordance with -the invention, the reduct:ion gears can be disposed at the output end and in the middle gearhead piece. A:Lthough the dimension of the middle gearhead piece is necessarily increased thereby in the direction of the drive axis, a sub-stantially enlarged range of movement o:E the gearhead piece nevertheless results, which even makes it possible to move the flanged surface of the rear head piece by substantially more than 90~ even up to 180 from the ex-tended position of the gearhead.
1~;3~
It is possible, without substall-tial e~penclitllre to convert a mani-pulator comprisillg 6 a~es to a 5-acis con-trol and thus only 5 drive motors mus-t be used. Such maniplllators can easily be used for specific tas~s, for e.Yample gas-sllielded welding.
Further particulars of the invention can be gleaned from the draw-ings in which the invention is illustrated in exemplary and schematic manner, wherein Figure 1 shows a schematic side view of a gearhead in its e~tended position, Figure 2 shows a side view of the gearhead according to Figure 1 with an angular position of the rear head piece, Figure 3 shows a side view ot the gearheacl according to Figure 2 witl a position of the gearheacl rotatecl 180~, Figure ~I shows a side view of the gearlleacl accorcling to ~:igure 1 with a tilted position of the micldle head piece, Figure 5 shows a side view of -thc? gearhead accorcling to Figure 1 with a tilted position of the middle and rear head pieces, Figure 6 shows a schematic longitudinal section -throllgh the gearhead with its drive trains corresponding to an arrangement according to Figure 1, Figure 7 shows a longitudinal section through the gearhead according to Figure 6 with a drive variant, and Figure 8 shows a longitudinal section of a variant of Figure 6.
In the embodimen-t of Figure 1 -the gearhead according to the invention in its geometric structure is illustrated entirely schematically as a tubular body~ According to this, the gearhead has a front head piece 1, a middle head piece 2 and a rear head piece 3. The front head piece 1 is rotatable about the axLS -I which generally corresponds to thc longituclinal axis oE the canti-lever arm of a manipulator. The middle head piece 2 is mounted on this front head piece l to rotatc about the swivelling axis 5. Both axes 4, 5 intersect at a point of intersec-tion 7. The rear head piece 3 is again mounted on the middle head piece 2 to rotate about the swivelling axis 6. This swivelling axis 6 intersects axis 4 at the point of intersection 8. The point of inter-section 9 of the swivelling axes 5, 6 is, however, radially spaced from the axis 4. The swivelling axes 5, 6 Eorm an obtuse angle ~ which results in the separating planes of the head pieces 1, 2 or 2, 3 being at an acute angle to one another. Preferably the angles are chosen in such a way that symmetry results. In the example the sloping plane between the individual head pieces l, 2 or 2, 3 forms an equal angle, howcver, in -the opposi-te inclinat:ion to -the longitudinal ax:is 4 of the gearllead l, 2~ 3. 'I'hc invelltioll, however, ls not restricted to an obtuse angle ~ between the swivelling axes 5, 6. The grea-ter the total bending desired oE-the head pieces 1, 2, 3 -to one another, the small-er the angle ~ can be selected ~even beyond the right angle).
Furthermore, in the interests oE symmetry it is assumed that the axes 5 and 6 are at an equal angle ~ to the longitudinal axis 4.
On the rear head piece 3 there is a flanged plate lQ with a flanged surface 12 for fastening the tool not illustrated~ -for example, a welding tool.
~eference numeral 11 symbolically identifies a marking pin which shows the position of the tool as a function of the swivelling possibilities described later.
In the example of Figure 2 the first simple swivelling possibility is illustrated according to which the rear head piece 3 is rotated 180 about the swivelling axis 6. On the assumption that the swivelling planes between -the individuaL heacl pieces 1, 2, 3 are symmc?trical to OnC? .Inother .ITId form tlle angle 90 -~ to thc? axis ~, t'ne rota-tion o:E the renr head piecc 3 about its swivelling axis 6, namely by lS0, results in the d:isplacement of this heacl piece 3 by the angle 2c~.
If the gearheacl in the position shown in Figure 2 is rotated lS0 about axis 4, as is illustrated in Figure 3, the mirror-inverted position of the rear head piece 3 compared to the position in Figure 2 results. From the position of the axes 5, 6 it can be seen that the swivelling axis 6 does not come to lie coaxially to the axis ~ in any position since in every case the ;10 point of intersection 9 of the axes 5, 6 moves in an orbit about the axis 4.
Consequently, ambiguity of the axis position is ruled out. .~ccordingly, no program or control engineering manipulations need be carried out as in the state of the art.
The arrangement according to -the :invention oE r:;gllre 1 moreover offers fur-ther possibilities o-E movement oE the art;culated head which can ex-tend beyond that o:E the state oE the ar-t. ~igure ~ shows that when pivoting the middle head piece 2 about the swivelling axis 5 an angular position results which corresponds to that of Figure 3 withou-t, however, -the front head piece 1 being rotated. In the position shown in Figure ~ the rear head piece 3 can be rotated about the swivelling axis 6 so that an angle oE rotation of the rear head piece 3 compared to the front head piece 1 by the amount ~cY results.
If, in this position, the front head piece 1 is rotated about the axis ~, then a maximum range of movemen-t results for the symbolically illustrated marking pin 11 ~Figure 5).
This range of movement is larger than that of the obvious state of the art. In addition, the arrangement according to the invention results in the aclv1ntagc that the d.ll~ger of acckle1lt during swiv~ lg of the pieces 1
A previously known ma]1ipulator generally has six swivelling axes of which the last three swivelling axes are loca-ted in the area of the gearhead.
The first three swivelling axes are disposed on a base having a bogie and a cantilever arm on which the gearhead is located. The basis for the arrange-ment of these swivelling axes can be gleaned from the German O.S. 24 35 156.
The concentric arrangement of three drive shafts in an arm carrying the gear-head, as is ~nown from the German A.S. 24 02 829, has proven suitable for clriving the gearhead containing the ]ast three swivelling axes. The mobility of a 11and is imitated by this known gear, according to whic]1 a middle housing corresponding to the hand with the carpal joint is disposed over a cross shaft on a front housing co-rresponding to the arm, whereby a rear housing, which corresponds -to a fil1ger of the hand, is p:ivotably mounted on the middle housing.
The clrive of the rear housing occurs by means of bevel gear sets with -the aid of the transverse intermediate shaft.
In this state of the art, which in principle also belongs to the German A.S. 26 l9 336, it is considered disadvantageous that in the extended position of the articulatecl head the rear housing cannot carry out any acute-angled, in particular no right-angled swivelling movements with no appreciable interruption. Rather, the front head piece must first of all carry out a swivelling movement before the rear head piece can be brought into the desired position. Thus, such installations are not in a position to guide the tool along spatially curved lines without interruption and continuously.
For this reason the German O.S. 29 27 485 and the German A.S.
27 45 932 teach guiding the middle head piece rotatably along an inclined plane 772-555 str - l -~.,D
3'~a~
on -the -Eront head piece. .~ccorclingly, the ;nte-rmed:iate sha:Ft in the gearhead is -to be inclined to the axis o~ the concelltric drive shaEts. ~ith the con-centric bearing arrangelnent of the rear heacl piece -to the front head piece, the swivellillg axis of the rear head piece and thus the tool flanged th~reto can always be perpendiclllar to a point oE a spherical section which can be reached by the gearhead. In addition, with this known arrangement it is pos-sible to guide the tool along syatially curved lines without interruption and continuously, i.e. permit a continuous-pat}l control.
Ilowever, in this state of the art the swivelling axis of the rear head piece (6th axis) in the extendecl position of the gearheacl is coaxial to the axis of the concentric drive shaf-ts. This normal position causes dif-Ei-culties during the computer-controlled movement of th~ man:ipulator. Rotation of the -tool about its own swivelling ax:is ~G-th axis), as preset by the program, leaves opell, when carrying out the computer given clata, whetller the gearllead is to be rotated about the axis of concelltric clrive shafts (~Ith axis) or whether the rear head piece alone should be rotated about th:is axis. This ambiguity could so far only be overcome by program or control engineering mani-pulations, however~ only ~msatisfactorily.
The invention is therefore based on the object of -Eirst of all designing a gearhead for manipulators such that the above-noted ambiguities can-not even occur. This object is new. Furthermore, it is the aim o:E the invention to attain with the gearhead a substantially enlarged range of move-ment with a more compact cons-truction of the gearhead.
The object according to the invention is solved by a gearhead for manipulators comprising three head pieces disposed behind one another and mounted about axes inclined to one another, having three drive shafts disposed q3~
concelltrically to one allotller, o~ wllicll one of tlle inller clrive shaEts is con-nected via bevel gear pairs ancl a tiltecl in-terllledia-te sha-ft "~h:ich Eorms the swivellillg axis -Eor the micldle hecld p:ic~ce, to the rear head piece having a flanged surface for carrying the tool and the o-ther inner clri~e shaft with a bevel gear pair "~hose output gear concentrically encloses the intermediate shaft with play, is coupled in rotationally positive manner to the middle head piece~ characterized in that the swivelling axis of the rear head piece lies at a 90 exclusive angle (cY) compared with the flanged surface for the tool and at a 180 exclusive angle (e.g. 180 -c~) compared with the axis of the drive shaf-ts, and that at least one high gear-reducing reduction gear is arrangecl in the middle head piece for driving the rear gearhead, preferably such a reduction gear is also provided -Eor driving the middle gearlleacl.
Due to -the inclined rotatabili-ty of the rear heacl piece compared with that of the midclle head piece, the tool atains a substan-eially enlarged range o-E action. ~lowever, since the oUtyllt shaft does no-t lie coax:ially to the drive shaft, ambiguities in the comyu-ter control are avoicled.
In a Eirst exemplary embodiment the inventioll varies Erom the teacil-ing of the state o~ the art which permits the swivellillg axes of the gearhead (axes ~ to 6) to intersect at a common point~ Rather, in the extended position of the gearhead according to the invention the swivelling a.Yis of the rear head piece (6th axis) is in an angular position compared with the axis of the concentric drive shaft. It is accordingly imyossible for the two axes to come into a position concentric to one another during any movement. Therefore, no ambiguities during computer-controlled movement of the individual gear axes can occur. This does not rule out, however, that -the work yiece can be rotated about an axis coaxial to the axis of the drive shafts, namely because in accordance w:i-tll a ~)re~errecl Eeatu:rc o~ the inveJlt:ion the Elangecl sur:Eace o:E
the rear hc?ad piece in particular cnn be d:isl)osed perpencl:icular to the a~is of the drive shafts. The aforenamed movement can therefore be brought about in the extended position of the gearhead by the rotary movement of the front head piece about the axis of the concentric drive shafts. Furthermore, the in-vention also offers the possibility of arranging the flanged surface in other pl anes .
Withiil the framework of an equivalent variant, it is taught how the same effect can be achieved if the axes of the intermec.iate shaft and the output shaft nevertheless intersect at a poin-t coaxial to the axis of the drive shafts. Such a measure has the advantage of a less complicated calc-llation as the basis for a continuous-path control. I-lowever, through tllis the centriilg axis of the flanged surface is offset -to the drive axis. In orcler -to neverthe-less attain a coaxial pOSitiOll o:f the tool to the drive axis, whic}l would be advantageous with respect to motion -teclulology :Eor some opera-tions, measures can be taken to guide the tool in a movable and tightenable manner along -the flanged surface in the radial direction.
The subject matter of the invention gives the prerequisite for the particularly compact construction of the gearhead since, in accordance with -the invention, the reduct:ion gears can be disposed at the output end and in the middle gearhead piece. A:Lthough the dimension of the middle gearhead piece is necessarily increased thereby in the direction of the drive axis, a sub-stantially enlarged range of movement o:E the gearhead piece nevertheless results, which even makes it possible to move the flanged surface of the rear head piece by substantially more than 90~ even up to 180 from the ex-tended position of the gearhead.
1~;3~
It is possible, without substall-tial e~penclitllre to convert a mani-pulator comprisillg 6 a~es to a 5-acis con-trol and thus only 5 drive motors mus-t be used. Such maniplllators can easily be used for specific tas~s, for e.Yample gas-sllielded welding.
Further particulars of the invention can be gleaned from the draw-ings in which the invention is illustrated in exemplary and schematic manner, wherein Figure 1 shows a schematic side view of a gearhead in its e~tended position, Figure 2 shows a side view of the gearhead according to Figure 1 with an angular position of the rear head piece, Figure 3 shows a side view ot the gearheacl according to Figure 2 witl a position of the gearheacl rotatecl 180~, Figure ~I shows a side view of the gearlleacl accorcling to ~:igure 1 with a tilted position of the micldle head piece, Figure 5 shows a side view of -thc? gearhead accorcling to Figure 1 with a tilted position of the middle and rear head pieces, Figure 6 shows a schematic longitudinal section -throllgh the gearhead with its drive trains corresponding to an arrangement according to Figure 1, Figure 7 shows a longitudinal section through the gearhead according to Figure 6 with a drive variant, and Figure 8 shows a longitudinal section of a variant of Figure 6.
In the embodimen-t of Figure 1 -the gearhead according to the invention in its geometric structure is illustrated entirely schematically as a tubular body~ According to this, the gearhead has a front head piece 1, a middle head piece 2 and a rear head piece 3. The front head piece 1 is rotatable about the axLS -I which generally corresponds to thc longituclinal axis oE the canti-lever arm of a manipulator. The middle head piece 2 is mounted on this front head piece l to rotatc about the swivelling axis 5. Both axes 4, 5 intersect at a point of intersec-tion 7. The rear head piece 3 is again mounted on the middle head piece 2 to rotate about the swivelling axis 6. This swivelling axis 6 intersects axis 4 at the point of intersection 8. The point of inter-section 9 of the swivelling axes 5, 6 is, however, radially spaced from the axis 4. The swivelling axes 5, 6 Eorm an obtuse angle ~ which results in the separating planes of the head pieces 1, 2 or 2, 3 being at an acute angle to one another. Preferably the angles are chosen in such a way that symmetry results. In the example the sloping plane between the individual head pieces l, 2 or 2, 3 forms an equal angle, howcver, in -the opposi-te inclinat:ion to -the longitudinal ax:is 4 of the gearllead l, 2~ 3. 'I'hc invelltioll, however, ls not restricted to an obtuse angle ~ between the swivelling axes 5, 6. The grea-ter the total bending desired oE-the head pieces 1, 2, 3 -to one another, the small-er the angle ~ can be selected ~even beyond the right angle).
Furthermore, in the interests oE symmetry it is assumed that the axes 5 and 6 are at an equal angle ~ to the longitudinal axis 4.
On the rear head piece 3 there is a flanged plate lQ with a flanged surface 12 for fastening the tool not illustrated~ -for example, a welding tool.
~eference numeral 11 symbolically identifies a marking pin which shows the position of the tool as a function of the swivelling possibilities described later.
In the example of Figure 2 the first simple swivelling possibility is illustrated according to which the rear head piece 3 is rotated 180 about the swivelling axis 6. On the assumption that the swivelling planes between -the individuaL heacl pieces 1, 2, 3 are symmc?trical to OnC? .Inother .ITId form tlle angle 90 -~ to thc? axis ~, t'ne rota-tion o:E the renr head piecc 3 about its swivelling axis 6, namely by lS0, results in the d:isplacement of this heacl piece 3 by the angle 2c~.
If the gearheacl in the position shown in Figure 2 is rotated lS0 about axis 4, as is illustrated in Figure 3, the mirror-inverted position of the rear head piece 3 compared to the position in Figure 2 results. From the position of the axes 5, 6 it can be seen that the swivelling axis 6 does not come to lie coaxially to the axis ~ in any position since in every case the ;10 point of intersection 9 of the axes 5, 6 moves in an orbit about the axis 4.
Consequently, ambiguity of the axis position is ruled out. .~ccordingly, no program or control engineering manipulations need be carried out as in the state of the art.
The arrangement according to -the :invention oE r:;gllre 1 moreover offers fur-ther possibilities o-E movement oE the art;culated head which can ex-tend beyond that o:E the state oE the ar-t. ~igure ~ shows that when pivoting the middle head piece 2 about the swivelling axis 5 an angular position results which corresponds to that of Figure 3 withou-t, however, -the front head piece 1 being rotated. In the position shown in Figure ~ the rear head piece 3 can be rotated about the swivelling axis 6 so that an angle oE rotation of the rear head piece 3 compared to the front head piece 1 by the amount ~cY results.
If, in this position, the front head piece 1 is rotated about the axis ~, then a maximum range of movemen-t results for the symbolically illustrated marking pin 11 ~Figure 5).
This range of movement is larger than that of the obvious state of the art. In addition, the arrangement according to the invention results in the aclv1ntagc that the d.ll~ger of acckle1lt during swiv~ lg of the pieces 1
2 3 rela-tivc to onc allother coulcl be reclucecl substclntillly b~ avoic1ing ~arrow and constricted poillts~ On -the other hand the subject matter of the invention is in a position to s~ivel the work piece in the e~ctended position of the gearhead about the axis 4 oE the drive shafts as is shown in Figure 1. For this purpose the flanged plate 10 need merely be disposed perpendicular to the axis 4 on the rear head piece 3. If this concentrici-ty of the pin 11 to the axis ~ of the drive shafts is not desired then one is at liberty to position the flanged plate 10 in a different angle.
The cxemplary embodime11t according to Figure 6 shows the struc-tural design of the gearhead according to the invention in the extenclecl position o~
its pieces. According to this an inner drive shaft 13 is connected by means of bevel gears 1~ 15 to a hollow sha-Et 16 whic11 is conllected in rotationally positive manner to the midclle head piece 2 hy means oE a recluc-tioll gcar 17.
This middle head piece 2 is rotated abou-t the swivelling axis 5 via -this bevel gear arrangement 14 15. It is guided over suitable bearings 011 the -Eront head piece 1 about a plane perpendicular to the swivelling axis 5.
The middle drive shaft 18 acts via the bevel gears 19 20 on the intermediate shaft 21 which lies on the swivelling axis 5. Bevel gears 22 33 are provided at the end of the intermediate shaEt 21 to drive the output shaft 24 located in the rear head piece 3 which for its part is rotatably mount-ed in comparison to the micldle head piece 2 namely abou-t the swivelling axis 6. A reduction gear 25 is also provided here between the output shaft 2~l and the rear head piece 3.
The outer drive shaft 26 acts via the reduction gear 27 directly on the front head piece 1 which is disposed coaxially to -the cantilever arm _ ~ _ a~3~3~
2S and is rotatably mounted on lt.
~ 11 recluction gc-?ars 17, 25, 27 are consequently disposed at thc-? ou-t-put end which results in a gearhead construction extc?nsively free Erom play, spatially comr)act ancl thus constructc?d small. These reduction gc-?ars 17, 25, 27 are provided for high gear reductions.
Surprising variants can be derived when starting with this arrange-ment. It is thus illustrated in Figure 7, for example, that a drive motor can be dispensed with if the middle and rear head pieces 2, 3 are driven by the same drive shaft 13. The bevel gear 1~l thc?reby drives the hollow shaft 16 which acts on the output shaEt 24 via bevel gears 22, 23. The gear ratio of the bevel gears 22, 23 should preferably be 1 : 1 and the reduction ratio of the gears 17, 25 should be equal.
I~ith a corrc~sponcling indicatioll oE the clirec-tion oE rotation through the drive train 1~, 16, 22, 23, 2~, 25 :it Eollows from this tha-t -the rear head piece 3 rota-tes in the oppos:ite direction to thc? middle head piece 2. Thus, an overlap can be controlled, as can be sec?n in Figure 5, althougll one less drive motor is available. Such arrangements are adequate and suitable, for example, for gas-shielded welding.
If the rear head piece 3 is to be moved in the same direction of rotation to the middle head piece 2, then a corresponding direction of rotation in the drivetrainl~, 16, 22, 23, 2~, 25, for example by means of an inter-mediate gear, must be spec:ified. Such a case results in the same overlapping of space, however, the programmer can survey the course of movement less easily. The orientation of the rear head piece 3, changed in the intermediate area vis-à-vis the first possibility, can, however, also oEfer advantages to skilled programmers, depending on the spatial conditions.
The cxemplary embodime11t according to Figure 6 shows the struc-tural design of the gearhead according to the invention in the extenclecl position o~
its pieces. According to this an inner drive shaft 13 is connected by means of bevel gears 1~ 15 to a hollow sha-Et 16 whic11 is conllected in rotationally positive manner to the midclle head piece 2 hy means oE a recluc-tioll gcar 17.
This middle head piece 2 is rotated abou-t the swivelling axis 5 via -this bevel gear arrangement 14 15. It is guided over suitable bearings 011 the -Eront head piece 1 about a plane perpendicular to the swivelling axis 5.
The middle drive shaft 18 acts via the bevel gears 19 20 on the intermediate shaft 21 which lies on the swivelling axis 5. Bevel gears 22 33 are provided at the end of the intermediate shaEt 21 to drive the output shaft 24 located in the rear head piece 3 which for its part is rotatably mount-ed in comparison to the micldle head piece 2 namely abou-t the swivelling axis 6. A reduction gear 25 is also provided here between the output shaft 2~l and the rear head piece 3.
The outer drive shaft 26 acts via the reduction gear 27 directly on the front head piece 1 which is disposed coaxially to -the cantilever arm _ ~ _ a~3~3~
2S and is rotatably mounted on lt.
~ 11 recluction gc-?ars 17, 25, 27 are consequently disposed at thc-? ou-t-put end which results in a gearhead construction extc?nsively free Erom play, spatially comr)act ancl thus constructc?d small. These reduction gc-?ars 17, 25, 27 are provided for high gear reductions.
Surprising variants can be derived when starting with this arrange-ment. It is thus illustrated in Figure 7, for example, that a drive motor can be dispensed with if the middle and rear head pieces 2, 3 are driven by the same drive shaft 13. The bevel gear 1~l thc?reby drives the hollow shaft 16 which acts on the output shaEt 24 via bevel gears 22, 23. The gear ratio of the bevel gears 22, 23 should preferably be 1 : 1 and the reduction ratio of the gears 17, 25 should be equal.
I~ith a corrc~sponcling indicatioll oE the clirec-tion oE rotation through the drive train 1~, 16, 22, 23, 2~, 25 :it Eollows from this tha-t -the rear head piece 3 rota-tes in the oppos:ite direction to thc? middle head piece 2. Thus, an overlap can be controlled, as can be sec?n in Figure 5, althougll one less drive motor is available. Such arrangements are adequate and suitable, for example, for gas-shielded welding.
If the rear head piece 3 is to be moved in the same direction of rotation to the middle head piece 2, then a corresponding direction of rotation in the drivetrainl~, 16, 22, 23, 2~, 25, for example by means of an inter-mediate gear, must be spec:ified. Such a case results in the same overlapping of space, however, the programmer can survey the course of movement less easily. The orientation of the rear head piece 3, changed in the intermediate area vis-à-vis the first possibility, can, however, also oEfer advantages to skilled programmers, depending on the spatial conditions.
3~
If one ~ishes to ta~e advalltage of both poss-ihil-itics, the arrange-men-t o-E a change-speed gear between the head pieces 2, 3 would be necessary, said change-speed gear yermitting, with the aid oE a coupling (as is common with machine tools), the rotary movement of these head pieces 2, 3 to be switched in the same or opposite direc-tion.
Finally, the llead pieces 2, 3 can also be connected by means of a coupling to a holding brake in that the middle and rear head pieces 2, 3 are held in rotationally positive malmer to one another by means oE a suitable switching arrangement through which movements according to the state of the art are also possible.
In the embodiment of the invelltioll accorcling to Figure S the poin-t of intersection 9' of axis 5 oE the intermecliate sha-Et 2l with the axis 6 of the output shaft 24 lies coaxial to the commorl axis ~ oE the drive shaEts L3, 18, 26. For this purpose the head piece l ln the examl)le is divided into Elanged parts 30, 31 o-f which -Elanged part 30 is -ro-tatably mountecl on the cantilever arm 28; flanged part 31 silpports the bearing Eor the middle head piece 2. With the lateral misaligmnent o-E-the Elanged par-t 31, the position of -the axis 5 is offset at right angles to the axis 4 so that the point of in-tersection 9' oE axes 5 and 6 comes into the desired coaxial position to axis In the embodiment the flanged surface 12 is aligned radially to the axis 4. If a tool is to rotate coaxially to the axis ~, it need only be dis-placed radially along the flanged surface 12 until concentricity is given. In this case the drive of the intermediate shaEt 21 and the output shaft 24 is blocked.
Under the condition that the flanged surface 12 is radial to the a~is 1~ i-t is possib:Le in -this way to move the tooL connecte~ to the ~langecl surface 1~ coa.~ial:ly to the a.~is ~1 (or d:isL~Lacecl ~arallc?l to the a.~cis)l whicll is of particular importance for those mallipulators wllose -indiv:iducll members are movably guided according to the rect~ngular space coordinates and l~hich carry a gearhead clesiglled in accordance Wit}l the invention.
It is to be noted that both gear}leads according to the e~cemplary embodiments in Figures 6 and 8 are in a position to avoid ambiguities in the computer control and, according to Figure 5, reach a subs-tan-tially enlarged radius of action co~npared with the state of the art.
If one ~ishes to ta~e advalltage of both poss-ihil-itics, the arrange-men-t o-E a change-speed gear between the head pieces 2, 3 would be necessary, said change-speed gear yermitting, with the aid oE a coupling (as is common with machine tools), the rotary movement of these head pieces 2, 3 to be switched in the same or opposite direc-tion.
Finally, the llead pieces 2, 3 can also be connected by means of a coupling to a holding brake in that the middle and rear head pieces 2, 3 are held in rotationally positive malmer to one another by means oE a suitable switching arrangement through which movements according to the state of the art are also possible.
In the embodiment of the invelltioll accorcling to Figure S the poin-t of intersection 9' of axis 5 oE the intermecliate sha-Et 2l with the axis 6 of the output shaft 24 lies coaxial to the commorl axis ~ oE the drive shaEts L3, 18, 26. For this purpose the head piece l ln the examl)le is divided into Elanged parts 30, 31 o-f which -Elanged part 30 is -ro-tatably mountecl on the cantilever arm 28; flanged part 31 silpports the bearing Eor the middle head piece 2. With the lateral misaligmnent o-E-the Elanged par-t 31, the position of -the axis 5 is offset at right angles to the axis 4 so that the point of in-tersection 9' oE axes 5 and 6 comes into the desired coaxial position to axis In the embodiment the flanged surface 12 is aligned radially to the axis 4. If a tool is to rotate coaxially to the axis ~, it need only be dis-placed radially along the flanged surface 12 until concentricity is given. In this case the drive of the intermediate shaEt 21 and the output shaft 24 is blocked.
Under the condition that the flanged surface 12 is radial to the a~is 1~ i-t is possib:Le in -this way to move the tooL connecte~ to the ~langecl surface 1~ coa.~ial:ly to the a.~is ~1 (or d:isL~Lacecl ~arallc?l to the a.~cis)l whicll is of particular importance for those mallipulators wllose -indiv:iducll members are movably guided according to the rect~ngular space coordinates and l~hich carry a gearhead clesiglled in accordance Wit}l the invention.
It is to be noted that both gear}leads according to the e~cemplary embodiments in Figures 6 and 8 are in a position to avoid ambiguities in the computer control and, according to Figure 5, reach a subs-tan-tially enlarged radius of action co~npared with the state of the art.
Claims (11)
PROPERTY OR PRIVILEGE IS CLAIMED ARE DEFINED AS FOLLOWS:
1. A gearhead for manipulators comprising three head pieces disposed behind one another and mounted about axes inclined to one another, having three drive shafts disposed concentrically to one another, of which one of the inner drive shafts is connected via bevel gear pairs and a tilted inter-mediate shaft, which forms the swivelling axis for the middle head piece, to the rear head piece having a flanged surface for carrying the tool and the other inner drive shaft with a bevel gear pair, whose output gear concentric-ally encloses the intermediate shaft with play, is coupled in rotationally positive manner to the middle head piece, characterized in that the swivelling axis of the rear head piece lies at a 90° exclusive angle (.alpha.) compared with the flanged surface for the tool and at a 180° exclusive angle (e.g. 180 ° -.alpha.) compared with the axis of the drive shafts, and that at least one driving gear-reducing reduction gear is arranged in the middle head piece for driving the rear gearhead, preferably such a reduction gear is also provided for driving the middle gearhead.
2. A gearhead according to claim 1, characterized in that the swivel-ling axis of the rear head piece intersects with the axis of the intermediate shaft at a point distanced from the axis of the drive shafts.
3. A gearhead according to claim 1, characterized in that the swivel-ling axis of the rear head piece intersects with axis of the intermediate shaft at a point coaxial to the axis of the drive shafts.
4. A gearhead according to claim 2, characterized in that the front head piece consists of two laterally offset flanged parts, connected to one 722-555 str 12 another, whereby the axes of the intermediate shaft and the out-put shaft are offset at right angles to the axis of the drive shafts.
5. A gearhead according to claim 1 characterized in that the inner of the concentric drive shafts is coupled in rotationally positive manner to the middle head piece.
6. A gearhead according to claim 5, characterized in that the middle head piece is connected via a reduction gear supported on the middle head piece to its drive shaft by means of a hollow shaft enclosing the intermediate shaft with play.
7. A gearhead according to claim 1, characterized in that the flanged surface of the rear head piece for the tool is disposed perpendicular to the axis of the drive shafts.
8. A gearhead according to claim 1, characterized in that the middle and rear head pieces are driven by a common drive shaft.
9. A gearhead according to claim 8, characterized in that the rear head piece is driven in the opposite direction to the middle head piece.
10. A gearhead according to claim 8, characterized by the arrangement of a switchable change-speed gear between the drive trains of the middle and rear head pieces.
11. A gearhead according to claim 8, characterized by the arrangement of a clutch coupling with holding brake between the middle and rear head pieces.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19843428748 DE3428748A1 (en) | 1983-08-03 | 1984-08-03 | TRANSMISSION HEAD FOR MANIPULATORS |
| DEP3428748.5 | 1984-08-03 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1234998A true CA1234998A (en) | 1988-04-12 |
Family
ID=6242343
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000473353A Expired CA1234998A (en) | 1984-08-03 | 1985-02-01 | Gearhead for manipulators |
Country Status (9)
| Country | Link |
|---|---|
| EP (2) | EP0169942B1 (en) |
| JP (1) | JPS6144592A (en) |
| KR (1) | KR920008805B1 (en) |
| AT (1) | ATE47685T1 (en) |
| AU (1) | AU580759B2 (en) |
| CA (1) | CA1234998A (en) |
| DE (1) | DE3480331D1 (en) |
| ES (1) | ES8606055A2 (en) |
| SU (1) | SU1600621A3 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3525806A1 (en) * | 1985-07-19 | 1987-01-29 | Kuka Schweissanlagen & Roboter | TRANSMISSION HEAD FOR MANIPULATORS |
| DE3545068A1 (en) * | 1985-12-19 | 1987-06-25 | Kuka Schweissanlagen & Roboter | TRANSMISSION HEAD FOR MANIPULATORS |
| DE3631024A1 (en) * | 1986-09-09 | 1988-03-17 | Mannesmann Ag | ROBOT ARM |
Family Cites Families (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3712481A (en) * | 1971-12-23 | 1973-01-23 | Mc Donnell Douglas Corp | Actuator |
| DE2225476C3 (en) * | 1972-05-25 | 1975-04-24 | Engel, Heinrich, 6407 Schlitz | Actuator |
| US4046262A (en) * | 1974-01-24 | 1977-09-06 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Anthropomorphic master/slave manipulator system |
| DE2435156C2 (en) * | 1974-07-22 | 1983-09-01 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | Program controlled manipulator |
| JPS5841996B2 (en) * | 1976-02-27 | 1983-09-16 | 株式会社椿本チエイン | Industrial robot wrist mechanism |
| DE2717870C3 (en) * | 1977-04-22 | 1983-05-19 | Volkswagenwerk Ag, 3180 Wolfsburg | Handling device |
| US4151390A (en) * | 1977-08-04 | 1979-04-24 | Luciano Bisiach | Tool holder head, particularly for welding yokes and guns |
| SU766856A1 (en) * | 1978-09-28 | 1980-09-30 | Проектно-Конструкторско-Технологическое Бюро По Вагонам | Working member of manipulator |
| JPS56163624A (en) * | 1980-05-20 | 1981-12-16 | Umetani Youji | Active cord mechanism |
| DE3048067C2 (en) * | 1980-12-19 | 1984-08-09 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | Gear arrangement for the joint head of a manipulator |
| US4402234A (en) * | 1981-08-13 | 1983-09-06 | General Motors Corporation | Three-axis wrist mechanism |
| US4502347A (en) * | 1982-09-21 | 1985-03-05 | Westinghouse Electric Corp. | Robotic wrist |
| ATE27561T1 (en) * | 1983-08-03 | 1987-06-15 | Kuka Schweissanlagen & Roboter | GEAR HEAD FOR MANIPULATORS. |
| SE454659B (en) * | 1983-09-01 | 1988-05-24 | Asea Ab | ROBOT WRIST |
-
1984
- 1984-12-22 DE DE8484116215T patent/DE3480331D1/en not_active Expired
- 1984-12-22 AT AT84116215T patent/ATE47685T1/en not_active IP Right Cessation
- 1984-12-22 EP EP84116215A patent/EP0169942B1/en not_active Expired
- 1984-12-22 EP EP84116216A patent/EP0169943B1/en not_active Expired
-
1985
- 1985-01-04 KR KR1019850000005A patent/KR920008805B1/en not_active IP Right Cessation
- 1985-01-28 ES ES539887A patent/ES8606055A2/en not_active Expired
- 1985-02-01 CA CA000473353A patent/CA1234998A/en not_active Expired
- 1985-02-18 SU SU3856878A patent/SU1600621A3/en active
- 1985-03-15 AU AU40013/85A patent/AU580759B2/en not_active Ceased
- 1985-03-29 JP JP60064007A patent/JPS6144592A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| SU1600621A3 (en) | 1990-10-15 |
| DE3480331D1 (en) | 1989-12-07 |
| JPS6144592A (en) | 1986-03-04 |
| AU4001385A (en) | 1986-02-06 |
| KR860001696A (en) | 1986-03-22 |
| JPH0530599B2 (en) | 1993-05-10 |
| KR920008805B1 (en) | 1992-10-09 |
| EP0169942A1 (en) | 1986-02-05 |
| ATE47685T1 (en) | 1989-11-15 |
| EP0169943B1 (en) | 1989-11-02 |
| ES539887A0 (en) | 1986-04-01 |
| EP0169943A1 (en) | 1986-02-05 |
| ES8606055A2 (en) | 1986-04-01 |
| AU580759B2 (en) | 1989-02-02 |
| EP0169942B1 (en) | 1989-11-02 |
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| Date | Code | Title | Description |
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| MKEX | Expiry |