DE19842255A1 - Seven-joint linkage for industrial robot created by adaptation of a four-joint linkage effecting a considerable mechanical simplification - Google Patents
Seven-joint linkage for industrial robot created by adaptation of a four-joint linkage effecting a considerable mechanical simplificationInfo
- Publication number
- DE19842255A1 DE19842255A1 DE1998142255 DE19842255A DE19842255A1 DE 19842255 A1 DE19842255 A1 DE 19842255A1 DE 1998142255 DE1998142255 DE 1998142255 DE 19842255 A DE19842255 A DE 19842255A DE 19842255 A1 DE19842255 A1 DE 19842255A1
- Authority
- DE
- Germany
- Prior art keywords
- joint linkage
- joint
- movement
- adaptation
- industrial robot
- 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.)
- Withdrawn
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
- B25J17/0258—Two-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
- B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
- B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
- B23Q1/5462—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/10—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
Description
Die Erfindung betrifft eine Vorrichtung entsprechend dem Oberbegriff des Anspruch I.The invention relates to a device according to the preamble of Claim I.
Handhabungsprobleme bei denen Werkstücke oder andere Güter trans portiert werden bedingen oft die Realisierung einer reversierenden Start- Stopbewegung zwischen zwei Bearbeitungs- oder Aufnahmestationen. Es ist bekannt, daß hierfür frei programmierbare mehrachsige Manipulatoren, sogenannte Industrieroboter, oder auch Kombinationen von Dreh- und vor allem Schubachsen eingesetzt werden.Handling problems in which workpieces or other goods trans ported often require the realization of a reversing start Stop movement between two processing or recording stations. It it is known that freely programmable multi-axis manipulators, so-called industrial robots, or combinations of rotary and front all push axes are used.
Bei Industrierobotern kommt zu der meist unbefriedigenden Genauigkeit und den langen Zykluszeiten ein hoher Preis. Dies trifft auch für Lösungen mit Führungen zu. Da es sich meist um eine Reihenschaltung von Freiheitsgraden handelt sind entsprechende Antriebe oft mitzubewegen, was zu einem ungünstigen dynamischen Verhalten führt. Aber alleine das Gewicht der um hohe Genauigkeit zu erzielenden meist stabil realisierten Führungen bedarf einer hohen Antriebsleistung. Die Antriebe müssen dabei meist während eines Zyklus eine Richtungsumkehr durchführen.With industrial robots, accuracy is usually unsatisfactory and the long cycle times a high price. This also applies to solutions with guides too. Since it is usually a series connection of Degrees of freedom are involved, corresponding drives are often to be moved, which leads to an unfavorable dynamic behavior. But that alone Weight of the mostly stable realized to achieve high accuracy Guides require a high drive power. The drives must do this usually reverse direction during a cycle.
Aufgabe der Erfindung ist es, eine Handhabungseinrichtung zu schaffen, die es erlaubt bei einer gleichsinnigen Antriebsbewegung eine reversierende Start-Stopbewegung zu realisieren.The object of the invention is to provide a handling device which allows a with a drive movement in the same direction to realize reversing start-stop movement.
Viele Handhabungsprobleme sind Führungsaufgaben die durch Gelenk getriebe realisiert werden können. Viergelenkgetriebe sind mit bekannten Methoden verhältnismäßig einfach zu synthetisieren. Oft ist aber nur ein Teil der Koppelkurve für die Bewegung zu nutzen, was eine Umkehr der Antriebsbewegung nötig macht. Erweitert man aber das Viergelenk um einen Zweischlag der als Antrieb für das existierende Viergelenk dient und der so dimensioniert ist, daß bei einem Umlauf genau der zur Realisierung der Bewegung notwendige Teil der Koppelkurve genutzt wird, kann ein Antrieb ohne Drehrichtungsumkehr benutzt werden.Many handling problems are management tasks caused by articulation gear can be realized. Four-bar gearboxes are known with Methods relatively easy to synthesize. But often there is only one To use part of the coupling curve for the movement, which is a reversal of the Makes drive movement necessary. But if you expand the four-bar linkage a two-stroke that serves as a drive for the existing four-bar linkage and which is dimensioned in such a way that in one cycle exactly the one to be realized part of the coupling curve necessary for the movement can be used Drive can be used without reversing the direction of rotation.
Gegenüber der im Stand der Technik genannten Lösungen weisen Sieben gelenkgetriebe geringe bewegte Massen auf und besitzen dennoch eine hohe Steifigkeit. Da in den Endpunkten des genutzten Koppelkurvenstück das Siebengelenk eine Rast aufweist, muß eventuell die Antriebsdrehzahl nur verringert werden um das Werkstück aufzunehmen oder abzulegen. Dies ist von entscheidenden Vorteil bei der Auswahl und der Dimensio nierung des Antriebsmotors.Compared to the solutions mentioned in the prior art, screens have seven articulated gearbox on small moving masses and still have one high rigidity. Because in the end points of the coupling curve piece used the seven-joint has a rest, the drive speed may have to only be reduced to pick up or put down the workpiece. This is of decisive advantage in the selection and the dimension nation of the drive motor.
Ausführungsbeispiele der Erfindung sind in den Zeichnungen dargestellt und werden im folgenden näher beschrieben.Embodiments of the invention are shown in the drawings and are described in more detail below.
Es zeigen:Show it:
Fig. I Aufgabenstellung, Fig. I task,
Fig. II Geeignetes Viergelenkgetriebe, Fig. II Suitable four-bar linkage,
Fig. III Lösung mittels Siebengelenkgetriebe,
Fig. III solution by means of seven linkage,
- - In Fig. I ist das zu lösende Handhabungsproblem dargestellt. Es handelt sich um eine zyklische Bewegung zwischen der Start- (1) und der Endlage (2) der Arbeits bewegung. Dabei kann es sich um die Realisierung einer Bahnkurve oder zusätzlich um die Einhaltung von Lagen des zu handhabenden Teils (3) handeln.- In Fig. I the handling problem to be solved is shown. It is a cyclical movement between the start ( 1 ) and the end position ( 2 ) of the work movement. This can be the implementation of a trajectory or, in addition, compliance with the positions of the part ( 3 ) to be handled.
- - Fig. II zeigt ein Viergelenk (1) das die geforderte Bewegung in einem Teil seiner Bewegung der Koppelebene (2) realisiert. Das zum Transport oder der Bearbei tung von Teilen notwendige Werkzeug (3) ist mit der Koppelebene verbunden.- Fig. II shows a four-bar linkage ( 1 ) which realizes the required movement in part of its movement of the coupling plane ( 2 ). The tool ( 3 ) required for transporting or machining parts is connected to the coupling plane.
- - Fig. III zeigt das durch einen Zweischlag (1) zum Siebengelenk erweiterte Viergelenk. Der Antrieb durch einen Elektromotor erfolgt an der umlauffähigen Kurbel (2) des Zweischlag und treibt das Viergelenk innerhalb einer Umdrehung in der Weise an, daß der Teil der Bewegung der Koppelebene (3) genutzt wird, der die Anforderungen aus Fig. 1 erfüllt.- Fig. III shows the four-joint extended by a two-stroke ( 1 ) to the seven-joint. The drive by an electric motor takes place on the circulating crank ( 2 ) of the two-stroke and drives the four-bar linkage within one revolution in such a way that the part of the movement of the coupling plane ( 3 ) is used which fulfills the requirements from FIG. 1.
Claims (6)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE1998142255 DE19842255A1 (en) | 1998-09-15 | 1998-09-15 | Seven-joint linkage for industrial robot created by adaptation of a four-joint linkage effecting a considerable mechanical simplification |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE1998142255 DE19842255A1 (en) | 1998-09-15 | 1998-09-15 | Seven-joint linkage for industrial robot created by adaptation of a four-joint linkage effecting a considerable mechanical simplification |
Publications (1)
Publication Number | Publication Date |
---|---|
DE19842255A1 true DE19842255A1 (en) | 2000-03-16 |
Family
ID=7881060
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE1998142255 Withdrawn DE19842255A1 (en) | 1998-09-15 | 1998-09-15 | Seven-joint linkage for industrial robot created by adaptation of a four-joint linkage effecting a considerable mechanical simplification |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE19842255A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
BE1016689A5 (en) * | 2005-07-20 | 2007-04-03 | Baets Luc De | Displacement device comprising pair of crank drive shaft mechanisms, has drive shaft supports separated by distance greater than length of one of these shafts |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2047953A1 (en) * | 1969-10-06 | 1971-04-15 | Siemens Elektrogeraete Gmbh | Joint arrangement for guiding a body in a given path and position |
DE3320565A1 (en) * | 1982-07-19 | 1984-01-19 | John Henry 48010 Birmingham Mich. Brems | ROD FOR GENERATING A STRAIGHT |
DE3905979A1 (en) * | 1989-02-25 | 1990-08-30 | Daimler Benz Ag | GEARBOX WITH CHANGEABLE GEAR RATIO |
-
1998
- 1998-09-15 DE DE1998142255 patent/DE19842255A1/en not_active Withdrawn
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2047953A1 (en) * | 1969-10-06 | 1971-04-15 | Siemens Elektrogeraete Gmbh | Joint arrangement for guiding a body in a given path and position |
DE3320565A1 (en) * | 1982-07-19 | 1984-01-19 | John Henry 48010 Birmingham Mich. Brems | ROD FOR GENERATING A STRAIGHT |
DE3905979A1 (en) * | 1989-02-25 | 1990-08-30 | Daimler Benz Ag | GEARBOX WITH CHANGEABLE GEAR RATIO |
Non-Patent Citations (1)
Title |
---|
VOLMER,Johannes: Getriebetechnik Lehrbuch, VEB Verlag Technik, Berlin, 5.Aufl., 1987, S.62-65,75,76,199-201,203 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
BE1016689A5 (en) * | 2005-07-20 | 2007-04-03 | Baets Luc De | Displacement device comprising pair of crank drive shaft mechanisms, has drive shaft supports separated by distance greater than length of one of these shafts |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
OM8 | Search report available as to paragraph 43 lit. 1 sentence 1 patent law | ||
8122 | Nonbinding interest in granting licenses declared | ||
8130 | Withdrawal |