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EP0000877A1 - Manipulateur pour positionner des pièces ou d'autres charges - Google Patents

Manipulateur pour positionner des pièces ou d'autres charges Download PDF

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Publication number
EP0000877A1
EP0000877A1 EP78100560A EP78100560A EP0000877A1 EP 0000877 A1 EP0000877 A1 EP 0000877A1 EP 78100560 A EP78100560 A EP 78100560A EP 78100560 A EP78100560 A EP 78100560A EP 0000877 A1 EP0000877 A1 EP 0000877A1
Authority
EP
European Patent Office
Prior art keywords
screw
gear
ball
plunger
gears
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.)
Granted
Application number
EP78100560A
Other languages
German (de)
English (en)
Other versions
EP0000877B1 (fr
Inventor
Hans-Th. Grisebach
Rudolf Betzing
Volker Betzing
Klaus Betzing
Ulrich Betzing
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Grisebach Hans-Theodor
Original Assignee
Grisebach Hans-Theodor
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
Priority claimed from DE2739136A external-priority patent/DE2739136C2/de
Priority claimed from DE19772742163 external-priority patent/DE2742163A1/de
Priority claimed from DE19772745404 external-priority patent/DE2745404A1/de
Priority claimed from DE19782814228 external-priority patent/DE2814228A1/de
Application filed by Grisebach Hans-Theodor filed Critical Grisebach Hans-Theodor
Publication of EP0000877A1 publication Critical patent/EP0000877A1/fr
Application granted granted Critical
Publication of EP0000877B1 publication Critical patent/EP0000877B1/fr
Expired legal-status Critical Current

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Classifications

    • 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
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • 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
    • B25J19/0091—Shock absorbers
    • 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
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar 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
    • 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
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
    • 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
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/2015—Means specially adapted for stopping actuators in the end position; Position sensing means
    • 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
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/2021—Screw mechanisms with means for avoiding overloading
    • 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
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
    • F16H25/2204—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with balls
    • 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
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/2062—Arrangements for driving the actuator
    • F16H2025/2075—Coaxial drive motors
    • 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
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/2062—Arrangements for driving the actuator
    • F16H2025/2087—Arrangements for driving the actuator using planetary gears

Definitions

  • the invention relates to an arrangement and design of screw gears with one or more ball spindles and ball nuts for converting a rotating into a reciprocating movement.
  • Screw gears are generally used in technology for adjustment tasks, e.g. in machine tools, but also in aircraft for adjusting the flaps, extending the landing gear, etc., and as actuators for a variety of tasks.
  • screw gears In contrast to pneumatic or hydraulic cylinders, the telescopic parts of such screw gears can be made insensitive and rigid. An advantage that is normally not exploited with these devices. Screw gears have already been used to move loads in space, but these screw gears always had to be used in such a way that they were not themselves directly carriers of the load and were directly subjected to bending or other forces.
  • the invention also intends to achieve a very light construction, and to design the screw gearing entrusted with this task itself into a particularly rigid support, and thus the use of such screw gears improved in the sense of the invention for the task of "adjusting loads in space” by an advantageous arrangement which makes it possible to use such an arrangement in many different ways, in particular also for manipulation tasks within the industrial production area.
  • the characterizing part of claim 1 specifies a certain arrangement in space by which it is necessary that the load to be lifted or lowered by a screw gear can be arranged at a considerable distance from the longitudinal axis of the screw gear without the bending forces on the screw gear influence the position of the load in the room and the function of the screw gear too strongly.
  • the load is also given the opportunity to move in circular paths with respect to the screw gear, and further degrees of freedom of movement are added by combination with other elements.
  • the claim 6 relates to the formation of a screw transmission, which is particularly advantageous because it is made up of very simple basic elements, forms a very resistant carrier and thus a foolproof function with little production effort, especially in arrangements according to the invention, but also about this Orders beyond, ensures. Refinements are contained in claims 7, 8 and 9.
  • the claim 10 relates to a screw gear as a clamping element for collets or the like. That is, for such in combination with holding members, which can be used extremely advantageously within the scope of the invention but also beyond. Hydraulic or pneumatic devices are mostly used to clamp holding members such as collets and the like. Also electrically operated, for. B. with magnets or other actuated organs have been proposed. The absolute foolproofness that is required today for safety reasons has so far not allowed the use of such electrical clamping devices.
  • a screw gear which is preferably designed according to the information of the invention, is used as a carrier of the collets and actuates the clamping jaws with its plunger, being between the plunger and the latter Lift mechanism are interposed.
  • the claim 18 is concerned with a swivel mechanism which, as a modular element, also has to accomplish the task of unlimited rotation of a part supplied with current conductors, since each angle limitation in a swivel mechanism causes considerable functional restrictions.
  • the claim 19 has independent character again, because it relates to an extremely important, horizontally articulated subdivision in the context of the invention as a suspension for the screw gears, by means of which the arrangement according to the invention can be moved in further degrees of freedom, in total in a horizontal plane . It is particularly important here that every degree of freedom must be able to be driven and braked.
  • Claim 20 once again summarizes important features of the invention which are important in the context of the application of the invention to a manipulator.
  • Claim 27 makes it possible to assemble a device of larger overall length and long stroke from several shorter standard devices, the drive elements forming stiffening nodes of a bamboo-like carrier.
  • the lifting speeds add up or add up, depending on the switching of the individual devices. Lifting speeds can be achieved that would otherwise be unthinkable.
  • the teaching of the An is particularly advantageous pronoun 27 in combination with the aforementioned features of the invention.
  • Claim 28 provides an example of a teaching for a hand-held handling device, in which the control possibility of such a device is shown, the application of such a control also being able to go beyond the scope of the invention.
  • This control is particularly suitable for a handling device with an articulated arm boom as a suspension.
  • the conditions have been created to move even larger loads in the space defined and non-positively, so that, to name just one example, within the load range of 250 kg to 2 tons at lifting heights of up to 5 meters, with the help of Screw-driven, the load can be moved or fixed and held in space.
  • an arm 6 serves as the suspension, which is pivotably connected to the arm 5 via a joint 26, swivel mechanism 22, brake 27, motor 80, which in turn is connected via the joint 26', axis 2, Carrier member 1 and with the swivel mechanism 22, brake 27 and motor 80 is fastened to a wall, for example.
  • the screw gear 7 is fastened with its outer telescopic part 4 in a clamping block 81 which, for example, has a toothed crank mechanism 83 which engages with a toothed rack 82 in order to adjust the outer telescopic part 4 vertically.
  • a swivel mechanism 22 'with the drive elements 18 can be installed in the cavity within the support profile of the arm 6 and carry out a propeller-like pivoting of the outer telescopic part 4 and thus of the screw gear 7 so that the load packed by the holding members 9 over the arm 6 pivoted up and from there can be pushed up by the screw gear 7.
  • a bearing body 15 is rotatably fastened, from which, for example, a support bracket 84 extends for special purposes.
  • the bearing body 15 forms connection surfaces 16, to which, for example, the screw gear 7 'can be connected with its drive elements 18, preferably pivotable by at least 90 °.
  • the holding members 9 form a pull-off and press-in device 12.
  • the screw gear 7 'can serve as a spacer 17.
  • FIG. 2 the arm 6 is broken off and, instead of the toothed crank mechanism 83, an additional lifting device 28 is provided, with which the actual screw gear mechanism is used Can be adjusted in height.
  • the lifting device 28 can be any actuator 25.
  • a pivot mechanism 22 has pivoted the second screw gear 7 'by 90 °, so that the holding members 9 can push a shaft 86 out of a workpiece 85.
  • the function of a collet 31 is shown in FIG. 3.
  • a drive block 71 with a motor 80 and a closed-circuit brake 27 ' is connected to a shaped tube which forms the outer telescopic part 4.
  • the ball screw 70 is guided with the spindle guide 87 within the plunger 11.
  • the ball nut 10 is housed within the plunger 11.
  • the circular plunger is positively guided in the outer telescopic part 4 with the sliding block 14 and the sliding guide bush 61.
  • a sleeve 202 is inserted by means of an internal thread 65.
  • a connecting part 200 is guided inside the sleeve and has a flange 88, on the two sides of which plate spring assemblies 79 are arranged in the sleeve 202 in a prestressed manner.
  • the connecting part 200 ends in a fork head 203, the bolt 204 of which engages the ends 216 of the inner legs 214 via elongated holes 217. Movement of the legs 214 in one direction or the other changes the force ratio only minimally. Beams 215 are welded to the outer telescopic part 4.
  • the angle levers 210 with their jaw levers 211 and their inner legs 214 are mounted at 212 on the carriers 215 at the intersection of these legs.
  • Form plates 230 are rotatably supported by ball bearings and, as shown by arrows, can be swiveled or moved from the inside to the outside.
  • Figure 4 shows a perspective view. Here it can be seen how an operator actuates a master switch 111 with which the function of the screw gear 7 and the screw gear 7 'and thus the holding member 9 is controlled by the operator.
  • a furnace 110 was drawn into which the workpiece is to be inserted.
  • the holding members 9 of FIG. 4 show an enlarged illustration of FIG. 4 A.
  • Spindles (not shown) drive a drive pinion 127 and this drives the adjustment of a bearing plate 30, so that a swivel mechanism 22 "is created.
  • FIG. 5 instead of the lifting mechanism 28, actuator 25 shown in FIG. 2, the lifting and lowering of the entire cantilever arm 3 with the partial arms 5 and 6 is shown via a lifting spindle 32 which is mounted in upper and lower spindle tension bearings 33.
  • the entire support member can also be rotatably supported via a ball slewing ring 89.
  • Special drive means, swivel mechanism 22 can be provided for this.
  • the arrangement of spacer elements 18, drive elements and tensioning mechanisms 23 will be explained later.
  • Figure 6 shows only a top view, the motion sequences and the joints.
  • FIG. 7 now supplements the teaching according to FIG. 5.
  • FIG. 8 shows an exploded view of the arrangement of the drive elements 18, swivel mechanisms 22 'and bearing body 15 on the tappet 11 according to the invention.
  • the bearing body 15 is rotatable relative to the tappet 11, which, as can be shown later, also by means of a Swivel mechanism 22 'with power distributor (slip ring body 220) can go on.
  • the motor 80 is attached to one of the connection surfaces 16 of the bearing body 15 by means of screws 91, it being possible for this to take place that, as shown by arrows, pivoting by 360 0 can be made depending on the task.
  • the motor housing 90 of the motor 80 is in turn coupled to drive elements 18, gear housing 92 or spacer elements 17 with a current distributor 220, to which a connecting cable 154 leads to the brush holder 153.
  • the current distributor 220 with its housing 24 is also a bearing body.
  • a powerful drive shaft 219 emerges from it and the cables connected to it, which can now pivot with the axis.
  • a sleeve 155 can be plugged onto the drive shaft 219, which in turn can be connected to the collet unit 225, in which two screw gears 7 'are arranged so that they overlap each other so that their collets 31 with the outer legs 213 of the jaw lever 211 point in different directions and can now turn propeller-like with the axis.
  • the tensioning opening is designated by 218, while the screw gear 7 'forms the actual tensioning mechanism 23. It is important that the mold plates 230 can pivot about the holding pins 231 and thus can clamp both from the inside out and from the outside in.
  • FIG. 9 shows a slightly changed arrangement.
  • the lower connection surface of the bearing body 15 has been used here.
  • FIG. 10 shows the current distributor 220 with the housing 24, which is designed as a slip ring body, in a sectional illustration, see FIG. 8.
  • the connection means 154 are introduced into the brush holder 153 and ultimately lead the current over this and the slip rings up to the flange 234 and thence to the collets 31.
  • the powerful shaft bearings 221 make the current distributor 220 a bearing body 15.
  • FIGS. 11 and 12 show that a slip ring body 220 or Power distributor 220 can be provided, which can then immediately form the bearing body 15 but does not necessarily have to.
  • the vertical bearing body 15 is connected to a slip ring body 220 in a horizontal arrangement, which in turn is designed as a power distributor 220 and carries on its drive shaft 219 a pinion which is in drive connection via a toothed belt 223 with a corresponding pinion of a gear shaft 224 and thus a swivel gear 222 forms.
  • the collet unit 225 is arranged in a propeller-like manner above the sleeve 155, as has already been shown in a similar form in FIG.
  • the handwheels 237 are arranged such that they can turn the drive elements 95, 80, 90, 21, the bearing being carried out via the shaft bearings 221 within the power distributor 220 or bearing body 15.
  • the closing plane of the collets 31 can thus be adjusted in the direction of the arrow about the center axis shown, and each position can be determined via the brake shoe 235, brake disk 236.
  • These disc brakes are primarily assigned as a component to other swivel mechanisms. Above all, you can replace the brakes 27 on the joints 26, 26 ', for which extremely high braking forces are required.
  • FIG. 11 also shows a limit switch 43 that may be required.
  • the current distributor 220 is practically a connection block 232 and is fastened on the end face to the current distributor 220, which in turn serves as a bearing body 15 on the plunger 11. This arrangement is preferred if only one collet 31 is provided.
  • FIG. 13 does not require any description, since here only the redesign of a collet according to FIG. 3 with two Clamping jaws should be shown in one with three clamping jaws.
  • the limit switch 43 was shown rotated by 90 ° in order to be able to show its function better.
  • the limit switch 43 is a flat housing since the screw shaft 7 is arranged on the side faces of the drive shaft.
  • the rotor 93 is seated on the rotor shaft 40 of the electric motor 80 in the motor housing 90 within the stator winding 94.
  • the motor compartment is closed off by the bearing cover 95.
  • a idle current brake 27 'then adjoins the rotor shaft 40 and to this a drive wheel 96 mounted on the shaft end or on a shaft end which can be coupled to the rotor shaft.
  • This drives a drive belt 42 via the drive wheel 96' and thus a rolled spindle 97 this spindle is seated by a nut 98.
  • This acts on switching elements 99 via corresponding cam systems.
  • the switching elements 99 can be displaced by means of screw spindles 250 via handles 251.
  • the motor housing 90 which is open at the bottom, is closed by a cover 252 which, as a bearing cover, supports the output shaft end of the motor and at the same time has a recess on its underside which forms part of a gear housing or a gear housing section 92.
  • the other part of this housing is formed by a turning of the bearing body 15 '. If several reduction stages of the planetary gear 45 are required, corresponding intermediate pieces are used.
  • the output shaft journal is the carrier of the transmission sun gear and is connected to it via plug connection 44. Since the structure of planetary gears is known, this need not be described in more detail.
  • the planet gear carrier 160 is connected to the plug pin 48 of the intermediate shaft 47 via the plug connection 44 ′.
  • This intermediate wave has a flange 51 which is clamped between the ball bearing inner rings 50 in order to be able to transmit compressive and tensile forces.
  • the intermediate shaft forms a threaded bush 49 on the driven side, into which a corresponding threaded end of the ball screw 70 is screwed and secured.
  • An end-side recess 52 in the bearing body 15 serves to attach the non-circular outer tube 55 (corresponding to telescopic part 4) via the foot 54 and corresponding screws 56.
  • a plate 53 is inserted between the foot 54 and the bottom of the cutout, which is provided with a damping cushion 57 Vulcanization is connected, wherein a stop plate 59 is also vulcanized on the top of the damping cushion.
  • the damping cushion (57, 57 ') tapers conically in order to have play in the event of deformation.
  • the ball nut 10 can be stopped by the damping cushion 57 when it hits the stop plate 59, the peak forces being reduced.
  • the recirculating ball nut is screwed to a sliding block carrier 64, which carries the sliding block 14, via the internal thread 68.
  • the slide carrier 64 itself ends in a threaded sleeve, the external thread of which is screwed into the internal thread 65 of the plunger and thus presses the slide block against an end flange 66 of the slide block carrier via an inserted disk 67.
  • the spindle end is guided over the spindle guide piece 87 within the tappet.
  • the plunger 11 is guided in the sliding guide bush 61, the inner end 62 of which is connected to a carrier of the damping cushion 57 '.
  • the plunger 11 is a simple, smooth, circular tube, provided at both ends with an internal thread 34, 65.
  • the upper internal thread 65 serves to connect the ball nut 10 via the sliding block carrier 64, while the lower internal thread 34 serves to connect an intermediate shaft mounted in the bearing body 15.
  • Figures 15 and 15a show a ball screw 70 with ball nut 10, which only needs to transmit tensile forces. It is supported at both ends in spindle train bearings 33. These leave little axial play.
  • the ball nut 10 carries two lateral connecting parts 113 with torsionally elastic damping pads 77 and the parts 112 for connection to the tappet with the rollers 13, roller bearings 73.
  • the rollers 13 run in slots 123 of a column 72 firmly connected to the drive parts.
  • a square tube 121 composed of two profiles forms the plunger 11 and surrounds the square tube 116, which forms the column 72 and has the slots 123 in which the rollers 13 are guided.
  • the column 72 carries the upper spindle tension bearing 33 at its free end (not shown).
  • the slotted square tube 116 is now formed by four tubes 114, the individual columns 74 which are fixed to the drive elements e.g. 71 connected pillar 72 form. At their upper end they carry the bearing bracket 75 and the upper tension bearing 33 of the spindle 70 (not shown).
  • the webs 115 serving as a connection to the ball nut 70 and firmly connected to the plunger 11 correspond to the connecting parts 113, 77 and 112 in FIG. 15, only these are arranged in a cross shape.
  • the plunger 11, consisting of a square tube 116 is itself guided once again in a third telescopic part 76, which, like the individual columns 74, is rigidly connected to the drive blocks 71.
  • Such a telescopic part 76 can be used to carry the bending forces, but it can also be just a simple protective tube.
  • FIG. 17 shows a side view of a plunger 11 in its end region.
  • the pestle should be Release forces via damping-elastic intermediate links.
  • the force-transmitting part is an axially movable connecting eye 117 damped in both directions by plate spring assemblies 79.
  • This connecting eye 117 can also be seen in plan view in FIGS. 18 and 19.
  • the plunger 11 according to FIG. 17 corresponds to the top view according to FIG. 19, which in turn shows approximately the same structure with FIG. 21.
  • FIG. 18 it was shown in a simplified top view that the invention opens up a wide range of design variations.
  • the plunger 11 is formed by individual columns 74 arranged in a triangle. However, these are located outside the carrier 75 of the upper spindle tension bearing 33, which can be formed by a triple-slotted triangular tube or three angle brackets.
  • FIG. 20 is intended to show that inside the plunger 11 forming an outer tube, ball nuts 10 can be connected in a damping-elastic manner to the inside of the plunger tube, while the individual columns 74 carry the upper spindle tension bearing 33 as in FIG. 22, in which the plunger 11 is formed by a triangular tube .
  • FIG. 21, comparable to FIGS. 17 and 19, shows once again in perspective view the possibility of dividing the plunger 11 into a plurality of individual columns 74 and guiding them in the upper bearing bracket 75, in which the upper spindle tension bearing 33 of the ball screw 70 is also arranged.
  • the ball nuts 10 or the one ball nut 10 shown is accommodated in the tappet tube cover 118, which is penetrated by the individual columns 74, which in turn are firmly anchored on the drive block 71.
  • the tappet tube cover 118 Between the bottom At the end of the plunger 11 and the drive block 71, there is a variable free space 124 which can be closed off by bellows 125 or the like or by a further guide tube as a third telescopic part 76.
  • the pillars 74 carry at their upper end the bearing bracket 75 for the upper spindle tension bearing 33, which can be guided with guide stones, rollers 122, 126 or the like in the interior of the tappet tube.
  • Figure 23 shows a very simple embodiment of the actuator. Similar to FIG. 16, the plunger 11 is formed by a square tube 121, to which the ball nuts 10 or spindle nuts 10 'are fastened, similar to that in FIG.
  • the square tube 121 or rectangular tube 152 comprises a double T-beam 150 and is guided thereon.
  • the double T-beam 150 ends in a manner not shown at its upper end in a closing piece as a bearing bracket 75 which carries the spindle tension bearings 33 for the two ball spindles 70 or lifting spindles 32.
  • An outer tube 76 can be provided as a third telescopic part.
  • the recirculating ball nuts protrude into channels 151.
  • the plunger 11 is in turn a closed triangular tube, surrounded by an outer protective tube, telescopic part 76.
  • the ball nut 10 includes the spindle 70 and is embedded in a triangular support body 119. Its angular ends are connected to the plunger 11 via torsionally elastic damping means 120.
  • the individual columns 74 serve to guide the plunger 11 and are therefore movable relative to the plunger and the carrier of the ball nut 10.
  • FIG. 25 shows a variant of FIG. 16.
  • the individual columns 74 are square tubes 121, these are guided through the guide rollers 122 relative to the tappet 11, which also forms a square tube 121, and rollers 13 can also be used be provided between the square tubes 12 which are mounted on the webs 115.
  • FIG. 26 is intended to show that the individual columns 74 which form the plunger 11 on the one hand and those which form the other telescopic part can be shaped in such a way that together they form approximately a closed circle which is still surrounded by a third telescopic part 76 can.
  • FIG. 27 shows the connection in series of individual actuating devices 7 "in any design, in particular, however, in which the ball screws are only loaded in tension.
  • the drive blocks 71 form nodes of a bamboo-like beam in such a way that bending forces can be expected of the overall beam, which can be expected from the same
  • the lifting speeds of the individual actuators can add up or subtract if the direction of movement is reversed. This can be very important if, for example, actuators are to move large loads slowly but small loads very quickly.
  • the total transferable tensile or compressive forces in the combination of a plurality of 7 "screw gears are not significantly different from those of individual devices, but stroke lengths and speeds can be achieved which previously achieved only with great effort were noticeable.
  • FIG. 28 shows the combination of two individual devices by connecting two drive blocks 71 to one another.
  • the cut plunger 11 and cut third telescopic part 76 allow a view of the bearing bracket 75 of the upper spindle tension bearing 33.
  • the bearing bracket 75 is guided, for example, via guide rollers 122 within the tappet 11.
  • a ball screw can be used in standard dimensions that are manufactured in series. It behaves like a rope under tension.
  • FIGS. 29 and 30 show a control device for an application example, for example a handling device.
  • the swivel mechanism 22 and possibly the brakes 27 ' should be able to be handled by the operator by means of the servo forces which he transfers to the device.
  • a slide 104 is guided in guides 107 in the longitudinal direction of the outer cantilever arm part 6.
  • the slide 104 has a slot 102 which is gripped by a lever or guide body 101 provided with a handle.
  • An induction core 105 is fastened to the slide 104 and fits into an induction coil 103 which acts on a sensor 106.
  • the guide body 101 is embedded in a rubber cushion, spring cushion or the like 100, the restoring forces of which must correspond to the forces to be exerted by the operator for handling.
  • the operator can choose whether he wants the joint 26 ′ of the inner cantilever arm part only to pivot the outer arm relative to the inner arm, or whether it brakes both joints to pivot the extended arm. In both cases, hardly any forces are required.
  • the paths of the induction core within the coil are always proportional to the required angular speeds and / or swiveling forces.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
EP78100560A 1977-08-31 1978-08-01 Manipulateur pour positionner des pièces ou d'autres charges Expired EP0000877B1 (fr)

Applications Claiming Priority (10)

Application Number Priority Date Filing Date Title
DE2739136 1977-08-31
DE2739136A DE2739136C2 (de) 1977-08-31 1977-08-31 Stellgerät mit Spindeltrieb
DE2742163 1977-09-20
DE19772742163 DE2742163A1 (de) 1977-09-20 1977-09-20 Handhabungsgeraet
DE2745404 1977-10-08
DE19772745404 DE2745404A1 (de) 1977-10-08 1977-10-08 Handhabungsgeraet
DE2814228 1978-04-03
DE19782814228 DE2814228A1 (de) 1978-04-03 1978-04-03 Antrieb fuer axial- und rotationsbewegungen, insbesondere fuer handhabungsgeraete
US94348978A 1978-09-18 1978-09-18
US06/209,482 US4428710A (en) 1977-08-31 1980-11-24 Manipulator with a swivel jib

Related Child Applications (3)

Application Number Title Priority Date Filing Date
EP81108994.5 Division-Into 1978-08-01
EP81108902.8 Division-Into 1978-08-01
EP81109672.6 Division-Into 1978-08-01

Publications (2)

Publication Number Publication Date
EP0000877A1 true EP0000877A1 (fr) 1979-03-07
EP0000877B1 EP0000877B1 (fr) 1983-05-18

Family

ID=27544277

Family Applications (3)

Application Number Title Priority Date Filing Date
EP78100560A Expired EP0000877B1 (fr) 1977-08-31 1978-08-01 Manipulateur pour positionner des pièces ou d'autres charges
EP81108994A Withdrawn EP0132442A1 (fr) 1977-08-31 1978-08-01 Appareil de positionnement à entraînement par broche
EP81108902A Withdrawn EP0137050A1 (fr) 1977-08-31 1978-08-01 Appareil de positionnement avec mécanisme d'entraînement à vis et billes

Family Applications After (2)

Application Number Title Priority Date Filing Date
EP81108994A Withdrawn EP0132442A1 (fr) 1977-08-31 1978-08-01 Appareil de positionnement à entraînement par broche
EP81108902A Withdrawn EP0137050A1 (fr) 1977-08-31 1978-08-01 Appareil de positionnement avec mécanisme d'entraînement à vis et billes

Country Status (3)

Country Link
US (1) US4428710A (fr)
EP (3) EP0000877B1 (fr)
BE (1) BE898154A (fr)

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FR2442781A1 (fr) * 1978-12-01 1980-06-27 Beaudoing Andre Appareil de manutention de pieces de type potence
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EP0008386A1 (fr) * 1978-08-23 1980-03-05 Westinghouse Electric Corporation Positionneur de sonde
EP0009121A1 (fr) * 1978-09-18 1980-04-02 Westinghouse Electric Corporation Dispositif d'installation commandé à distance
FR2442781A1 (fr) * 1978-12-01 1980-06-27 Beaudoing Andre Appareil de manutention de pieces de type potence
EP0012237A1 (fr) * 1978-12-07 1980-06-25 Reis GmbH & Co Manipulateur commandé par programme
WO1981001372A1 (fr) * 1979-11-20 1981-05-28 T Svensson Robot a boues
FR2504441A1 (fr) * 1981-04-23 1982-10-29 Bisiach Luciano Robot industriel comportant plusieurs axes de rotation
EP0090357A3 (fr) * 1982-03-25 1986-04-16 Kabushiki Kaisha Sankyo Seiki Seisakusho Tête de travail pour robot industriel
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CN105835049A (zh) * 2016-05-05 2016-08-10 佛山科学技术学院 一种氢燃料电池反应堆的机械手自动抓取运输设备
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CN106064728B (zh) * 2016-07-26 2018-04-17 巨石集团成都有限公司 一种用于纱团自动移载设备
CN106313032A (zh) * 2016-10-18 2017-01-11 冒鹏飞 一种新能源汽车锂电池电芯环形抓取装置
CN109843476A (zh) * 2016-10-20 2019-06-04 黑崎播磨株式会社 平板、平板的保持装置及保持方法
EP3530376A4 (fr) * 2016-10-20 2020-04-01 Krosakiharima Corporation Plaque, et dispositif de maintien de plaque et procédé de maintien
CN109843476B (zh) * 2016-10-20 2021-07-16 黑崎播磨株式会社 平板、平板的保持装置及保持方法
CN108582102A (zh) * 2018-05-02 2018-09-28 阜阳盛东智能制造技术研发有限公司 一种木板叠装打孔机械臂装置
CN109794928A (zh) * 2019-03-11 2019-05-24 江苏安全技术职业学院 一种电气自动化夹持机构
CN111115223A (zh) * 2019-12-16 2020-05-08 北京大学 用于连接无人机和派件小车的三自由度抓取装置
DE102020113046A1 (de) 2020-05-14 2021-11-18 Bayerische Motoren Werke Aktiengesellschaft Bremsvorrichtung für ein Gelenk einer Handhabungsvorrichtung sowie Handhabungsvorrichtung für ein Kraftfahrzeugbauteil

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EP0137050A1 (fr) 1985-04-17
EP0000877B1 (fr) 1983-05-18
BE898154A (fr) 1984-03-01
US4428710A (en) 1984-01-31
EP0132442A1 (fr) 1985-02-13

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