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WO1996008347A1 - Ensemble a bras robotique - Google Patents

Ensemble a bras robotique Download PDF

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Publication number
WO1996008347A1
WO1996008347A1 PCT/NZ1995/000085 NZ9500085W WO9608347A1 WO 1996008347 A1 WO1996008347 A1 WO 1996008347A1 NZ 9500085 W NZ9500085 W NZ 9500085W WO 9608347 A1 WO9608347 A1 WO 9608347A1
Authority
WO
WIPO (PCT)
Prior art keywords
assembly
arm
robotic arm
arm assembly
lineal
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.)
Ceased
Application number
PCT/NZ1995/000085
Other languages
English (en)
Inventor
Malcolm Geoffrey Taylor
Mark Leonard Page
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.)
Callaghan Innovation Research Ltd
Original Assignee
Industrial Research Ltd
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
Application filed by Industrial Research Ltd filed Critical Industrial Research Ltd
Priority to AU34874/95A priority Critical patent/AU686454B2/en
Publication of WO1996008347A1 publication Critical patent/WO1996008347A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type

Definitions

  • the present invention relates to improvements in and relating to a robotic arm assembly.
  • Robot is used throughout this specification in respect of any type of controllable manipulator. Robots have assumed a major role in industry performing tasks ranging from the automatic welding of car bodies to the automatic dressing of animal carcasses.
  • a robotic arm assembly comprising:
  • a robotic arm assembly as defined immediately above wherein said support means includes an inner enclosed plate assembly adapted to accommodate thereon said rotational and lineal drive means.
  • Figure 1 shows a rear, diagrammatic view, of a robotic arm assembly according to one possible embodiment of the invention
  • Figure 2 shows a front view of the assembly of Figure l;
  • Figure 3 shows very diagrammatically a left side view of the assembly of Figures 1 and 2;
  • Figure 4 shows very diagrammatically a right side view of the assembly of the preceding Figures
  • Figure 5 shows partial and cross sectional view of the assembly according to one possible embodiment of the invention but with the telescopic arm omitted;
  • Figure 6 shows the support plate assembly for use in a preferred embodiment of the invention
  • Figure 7 shows diagrammatically a cross sectional view through the telescopic arm according to one possible embodiment of the invention.
  • the present invention has therefore sought to achieve a robotic arm assembly which is suited to working in a harsh environment but which can be readily cleaned such as by washing down with high pressure hoses with water at high temperatures.
  • the robotic arm assembly is referenced generally by arrow 1 and is shown comprising a telescopic arm 2 accommodated for pivotal movement in a direction indicated by arrows A within housing 3. Only one arm is shown but a plurality of arms 2 is envisaged.
  • the housing 3 is shown provided, front and rear, with an arcuate shell housing 4 to accommodate the pivoting movement of the arm 2.
  • the front end 5 of the arm 2 is shown in its raised position within the front shell 4 in the housing 3 but as required, the arm 2 can be pivoted so as to lower the front end 5 so that the rear end 7 (see Figure 1) then moves towards accommodation in the rear shell 4.
  • the front end 5 of the arm 2 will suitably include, or be attachable to, the appropriate tooling such as a cutting, welding or gripping tools or the like with the capability of rotating the tool preferably through 360° in clockwise or anti clockwise directions as indicated by the arrows B.
  • the tool is shown by way of example as a gripping means 32.
  • the arm 2 may suitably be able to pivot about one of the downwardly depending legs 8 of housing 3 about a suitable pivot point 6 indicated in profile very diagrammatically in Figure 2.
  • a housing 9 will suitably accommodate a motor for controlling the pivoting of the arm 2 and to also provide a drive for one or more of the rotational or lineal movements required of the assembly 1.
  • the assembly 1 may suitably comprise a polar configuration mountable on a horizontal linear axis and, depending on its required application, in one embodiment providing for example a total of four degrees of freedom of movement (DOF) which in the illustrated embodiment may be identified as follows:
  • a concertina housing 10 is shown provided on both sides of the housing 3 which is then able to expand or contract in accommodating the linear movement.
  • the housings 10 are shown closed off by respective plate members 11.
  • the housing 3, plates 11, telescopic arm 2 and housings 9 and 10 thus combine to provide a very simple design which presents a minimal number of surfaces required to be cleaned and those that are present can be readily washed down such as with a high pressure hose.
  • the telescopic arm will preferably comprise a pair of co-axial stainless steel tubes providing a stepped portion 12 (see Figure 2) .
  • the concertina structures 10 may suitably be of some plastic material which provides both a flexible and a washable surface.
  • a part cross sectional view of the assembly 1 illustrates the drive motor 20 positioned within the housing 9 and mounted to the side of a plate 18 which is shown in greater detail in Figure 6.
  • the plate 18 includes provision at 19 for a suitable gear box such as an harmonic drive gear box connectable to the drive motor through a suitable cantilevered arrangement.
  • a drive wheel 20 is shown providing a drive through a suitable belt to a recirculating ball screw or the like 21 engageable with a fixed threaded shaft 22 so as to provide for the lineal motion of the assembly 1.
  • a pair of parallel linear bearings 23 are shown engaging with a horizontal support member 24 which will provide the required support for the assembly external thereto as it traverses horizontally.
  • the plate 18 thus provides a main vertical support for the assembly 1 and the supporting link of the arm 2 to the horizontal carriage way 24.
  • the plate 18, which may be machined from solid metal such as aluminium is also supporting the linear axis motor and the lead screw actuation system.
  • the overall support for the assembly 1, which may in any particular embodiment weigh in the region of 100kg, can be by means for example of a suspension from a cantilever from a chain superstructure; such an arrangement avoids any support from below which could affect the ability of cleaning beneath the robotic arm assembly 1.
  • the plate assembly 18 is able to achieve a combination of functions in providing the support for the drive and drive connections to the assembly 1 thus enabling the single cover assembly 3 to provide the simple yet effective pivotal support for the arm 2.
  • the arm 2 is shown with its front manipulator end 5 at the front end of an inner tube 2A telescopically slideable within an outer tube 2B along a shaft 25.
  • the telescopic movement can be controlled by means of a screw/threaded rod arrangement, piston and cylinder hydraulic arrangement, or the like.
  • a bearing assembly may comprise a linear bearing 31 at one end and a nickel impregnated Teflon (Registered Trade Mark) bearing 30 or the like at the other end. This may avoid the need for exact tolerances in the manufacture of the arm 2 and hence reduce costs .
  • a further aspect of one embodiment of the present invention relates to the manufacture of the tubes 2A, 2B.
  • Their mass and stiffness are very important but normal construction can be difficult.
  • software routines may be written for a CAD package which automatically produces the flat developments of the intersection of the tubes and these drawings are exported as DXF files.
  • the DXF files may then be read by a laser cutting machine or the like to accurately cut the shapes from sheet material.
  • the shapes may then be folded or rolled and fitted into special jigs where they are welded together. The welded joints can then be ground and polished.
  • the present invention provides a robotic arm assembly which has a substantially compact design resulting in a minimum of exposed surfaces but which surfaces can substantially be provided so as to be readily washable.
  • the assembly is therefore adapted for use in environments where hygiene considerations are important.
  • the compact design also enables a relatively small number of joints to be required between the various components having external surfaces and where any exposed joints are present these may be readily sealed so as to prevent the ingress of water or other material or where such ingress may be unavoidable the compact design can ensure that this will not adversely affect the operation of the assembly.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Ensemble à bras robotique (1) comprenant une structure porteuse (3) dans laquelle sont montés un bras pivotant (2), et des organes d'entraînement linéaire et rotatif permettant d'animer ledit bras (2) d'un mouvement linéaire ou rotatif et d'un mouvement de pivotement, l'ensemble présentant une surface facile à nettoyer utilisable dans les environnements agressifs.
PCT/NZ1995/000085 1994-09-16 1995-09-15 Ensemble a bras robotique Ceased WO1996008347A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU34874/95A AU686454B2 (en) 1994-09-16 1995-09-15 Robotic arm assembly

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NZ26447094 1994-09-16
NZ264470 1994-09-16

Publications (1)

Publication Number Publication Date
WO1996008347A1 true WO1996008347A1 (fr) 1996-03-21

Family

ID=19924933

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NZ1995/000085 Ceased WO1996008347A1 (fr) 1994-09-16 1995-09-15 Ensemble a bras robotique

Country Status (3)

Country Link
AU (1) AU686454B2 (fr)
CA (1) CA2199984A1 (fr)
WO (1) WO1996008347A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0937550A4 (fr) * 1997-07-14 2001-11-14 Fanuc Ltd Robot industriel
EP1527851A1 (fr) * 2003-10-29 2005-05-04 KUKA Roboter GmbH Manipulateur, en particulier pour l'industrie alimentaire
WO2010022991A1 (fr) * 2008-08-27 2010-03-04 Abb Research Ltd. Robot pour environnement extérieur rude

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0000877A1 (fr) * 1977-08-31 1979-03-07 Grisebach, Hans-Theodor Manipulateur pour positionner des pièces ou d'autres charges
SU984859A1 (ru) * 1980-06-23 1982-12-30 Институт Технической Кибернетики Ан Бсср Модуль манипул тора
EP0016330B1 (fr) * 1979-03-19 1983-07-06 International Business Machines Corporation Manipulateur pourvu d'un dispositif de compensation de l'effet de la pesanteur
SU1033309A1 (ru) * 1982-05-10 1983-08-07 Кировоградский институт сельскохозяйственного машиностроения Промышленный робот
BE898517A (fr) * 1983-03-01 1984-04-16 Dart Ind Inc Manipulateur à bras télescopique.
DE3314836A1 (de) * 1983-04-23 1984-10-25 Hans-Hermann 7513 Stutensee Schaper Handhabungssystem, insbesondere fuer kleine lasten und/oder begrenzte zugriffswege
FR2590197A2 (fr) * 1985-09-20 1987-05-22 Renault Unite de translation et de rotation d'une tete de travail de machine, notamment de robot
SU1315228A1 (ru) * 1986-01-07 1987-06-07 Всесоюзный Проектно-Технологический Институт Тяжелого Машиностроения Манипул тор

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0000877A1 (fr) * 1977-08-31 1979-03-07 Grisebach, Hans-Theodor Manipulateur pour positionner des pièces ou d'autres charges
EP0016330B1 (fr) * 1979-03-19 1983-07-06 International Business Machines Corporation Manipulateur pourvu d'un dispositif de compensation de l'effet de la pesanteur
SU984859A1 (ru) * 1980-06-23 1982-12-30 Институт Технической Кибернетики Ан Бсср Модуль манипул тора
SU1033309A1 (ru) * 1982-05-10 1983-08-07 Кировоградский институт сельскохозяйственного машиностроения Промышленный робот
BE898517A (fr) * 1983-03-01 1984-04-16 Dart Ind Inc Manipulateur à bras télescopique.
DE3314836A1 (de) * 1983-04-23 1984-10-25 Hans-Hermann 7513 Stutensee Schaper Handhabungssystem, insbesondere fuer kleine lasten und/oder begrenzte zugriffswege
FR2590197A2 (fr) * 1985-09-20 1987-05-22 Renault Unite de translation et de rotation d'une tete de travail de machine, notamment de robot
SU1315228A1 (ru) * 1986-01-07 1987-06-07 Всесоюзный Проектно-Технологический Институт Тяжелого Машиностроения Манипул тор

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
DERWENT ABSTRACT, Accession No. 83-805938/44, Class P-62; & SU,A,984 859, (AS BELO TECH CYBERNETICS), 5 January 1983. *
DERWENT ABSTRACT, Accession No. 84-112963/18, Class P-62; & SU,A,1 033 309, (KIROVOGRAD GRIC EQUIP), 7 August 1983. *
DERWENT ABSTRACT, Accession No. 88-019897/03, Classes P-56, P-62; & SU,A,1 315 228, (HEAVY EQUIP CONS TE), 7 June 1987. *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0937550A4 (fr) * 1997-07-14 2001-11-14 Fanuc Ltd Robot industriel
EP1527851A1 (fr) * 2003-10-29 2005-05-04 KUKA Roboter GmbH Manipulateur, en particulier pour l'industrie alimentaire
US7603927B2 (en) 2003-10-29 2009-10-20 Kuka Roboter Gmbh Manipulator with automatic control, especially for the food industry
WO2010022991A1 (fr) * 2008-08-27 2010-03-04 Abb Research Ltd. Robot pour environnement extérieur rude
US8627740B2 (en) 2008-08-27 2014-01-14 Abb Research Ltd. Robot for harsh outdoor environment

Also Published As

Publication number Publication date
AU3487495A (en) 1996-03-29
AU686454B2 (en) 1998-02-05
CA2199984A1 (fr) 1996-03-21

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