WO2010146014A2 - Mécanisme de mouvement, système et installation de fabrication - Google Patents

Mécanisme de mouvement, système et installation de fabrication Download PDF

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Publication number
WO2010146014A2
WO2010146014A2 PCT/EP2010/058301 EP2010058301W WO2010146014A2 WO 2010146014 A2 WO2010146014 A2 WO 2010146014A2 EP 2010058301 W EP2010058301 W EP 2010058301W WO 2010146014 A2 WO2010146014 A2 WO 2010146014A2
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WO
WIPO (PCT)
Prior art keywords
drive
output
drive member
joint point
movement device
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/EP2010/058301
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German (de)
English (en)
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WO2010146014A3 (fr
Inventor
Thomas Beetz
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Individual
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Individual
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Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of WO2010146014A2 publication Critical patent/WO2010146014A2/fr
Publication of WO2010146014A3 publication Critical patent/WO2010146014A3/fr
Anticipated expiration legal-status Critical
Ceased 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—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • B25J9/107—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms of the froglegs type

Definitions

  • the present invention relates to a movement apparatus comprising a base portion, a working portion spaced from the base portion, a hinge assembly interconnecting the base portion and the working portion, and a drive portion coupled to the lo hinge assembly for transmitting movement driving force to engage the working portion in FIG With respect to the base portion to move linearly between at least one working position and at least one retraction position
  • the hinge assembly comprises: a first drive member which is drivable by the drive portion for pivotal movement about a i5 arranged at the base portion first drive link point, a second drive member, which by the drive portion for the pivoting movement about a arranged at the base portion second drive joint point is driven, a first output member, which at a first intermediate joint point at a distance
  • the invention relates to an arrangement based on a combination of second such movement devices and a manufacturing plant for producing a shaped body.
  • Moving devices in the form of robot arms are known from the industrial production and assembly of various items in large numbers. Moving devices become nowadays, it is widely used everywhere, where certain work processes are to be carried out in cyclical repetition in succession or a certain work is dangerous or impossible for a person.
  • Moving devices are used, for example, in production plants for producing a shaped body by a shaping process, in particular injection molding or stamping processes, where they serve, in particular, for removing the molded bodies from a mold and for transferring the molded body to a subsequent processing station.
  • molded articles are mass-produced at a substantial portion (e.g., 20 million molded articles per year), so that shortening the cycle time for the production of a single molded article is of high economic importance. Shortening the cycle time by just a few milliseconds can quickly add up to considerable financial savings.
  • Movement device mostly six-axis robot used.
  • Such robots have six degrees of freedom and have the advantage of being modeled on the kinematics of the human arm, including the hand and therefore can comprehend essentially all movements and orientations in space.
  • a force acting on the distal working section (eg a gripper) of the six-axis robot eg a weight force of a gripped product or an inertial force due to a rapid acceleration of the robot, in a six-axis robot from joint to Joint is transmitted while at least some of the plurality of driven axles always loaded in the direction of rotation.
  • loads can be absorbed by the drive means of the joints hardly play and thus require a significant oversizing of the components of the robot.
  • Joint assembly to produce a linear movement between a base portion and a working portion.
  • Moving devices that allow not only linear movement of the working section in space, this results in the problem of ensuring a linear movement between the working portion and base portion a defined orientation of the working portion relative to the base portion, for example, a gripped molding during the linear movement in the desired constant Orientation to the earth's surface to keep.
  • the known moving devices use a belt transmission, a chain transmission or a gear transmission, which runs parallel to the joint arrangement between the base section and the working section and transmits orientation information from the base section to the working section.
  • a movement device comprising a base portion, a working portion at a distance from the base portion, a hinge assembly interconnecting the base portion and the working portion, and a drive portion connected to the hinge assembly for transmitting motion driving force is coupled to the
  • the hinge assembly comprises: a first drive member, which by the drive portion for pivotal movement about an am
  • a second drive member which is drivable by the drive portion for pivotal movement about a arranged at the base portion second drive link point, a first output member, which at a first intermediate joint point at a distance from the first
  • a power take off coupling unit which pivotally couples the first and second output members together.
  • Moving device with at least these features is hereinafter referred to as a moving device with closed kinematic chain or as a moving device with scissors kinematics.
  • a universally usable movement device according to the first aspect of the invention is further characterized in that the first output member has a first transmission point arranged at a distance from the first intermediate point and the output coupling unit, to which a first
  • Transmission member is pivotally supported, that the second output member has a spaced from the second intermediate joint point and the output coupling unit second transmission joint point on which a second transmission member is pivotally held, that the transmission members further each one
  • connection points are arranged coaxially or at a fixed distance from each other, that the working portion comprises a carriage, wherein the carriage at the first and at the second connection pivot point is pivotally coupled to the first and the second transmission member and at the
  • Output coupling unit is held displaceably relative to this, or wherein the carriage is slidably supported relative to the first and the second transmission member and is pivotally supported relative to the output coupling unit.
  • the connecting joint points and the at least one slidable slide on the distal portion of the moving device can be achieved with structurally simple means the effect that the carriage and thus the working section in a constant Orientation can be maintained with respect to the base portion when the hinge assembly is operated for linear displacement of the working section.
  • Additional belt transmissions, chain transmissions or gear transmissions, as required in conventional motion devices to maintain the orientation of the working section can thus be dispensed with.
  • the stability of the limbs and Accordingly, hinge points of the moving device need not be designed to accommodate the high preload forces necessary for operation with parallel belt transmissions.
  • the movement device according to the invention, 5 which works without belts or chains, particularly suitable for use in clean rooms or for very precise movements, since the necessarily associated with belt and chain transmissions or gear transmissions game deleted.
  • Transmission coupling unit is coupled and linearly slidably coupled to the output coupling unit, by the special arrangement of transmission elements, connecting joints and slide simultaneously i5 another important technical effect of significantly increasing the speed of linear movement of the working section with respect to the base portion. Due to the special lever ratios, a displacement of the carriage in a linear movement takes place during a pivotal movement of the first and the second drive member by a certain angle
  • the output coupling unit may have an output coupling axis, at which the first and the second output member are pivotally supported relative to each other, wherein on the output coupling axis preferably further a slide guide for linearly displaceable guidance of the carriage can be held so that the carriage guide is pivotable relative to the first and second transmission member.
  • a common output coupling axis creates a particularly simple and low-play construction of the output coupling unit.
  • the output coupling unit has a plurality of axes, or even separate axes for the two members held thereon and for the carriage guide, wherein the plurality of axes are then mounted or attached to a coupling body connecting them.
  • a power take-off coupling unit has proven with a driven coupling shaft, wherein one of the two output members is rotatably mounted on the output coupling axis, the other of the two output members is rotatably connected to the output coupling axis, and wherein a carriage guide for linearly displaceable guide Slides is rotatably mounted on the output coupling axis.
  • the output members could be formed as elongate struts, on each of which the transmission joint point, the output joint point and the Eisengeienk Vietnamese in line.
  • the arrangement of the hinge points can be considered as variants: (1) of Output joint point is disposed between the transmission joint point and the intermediate joint point, or (2) the transmission joint point is disposed between the output joint point and the intermediate joint point. In the latter alternative, however, the carriage would move in the opposite direction to the output coupling unit.
  • a particularly favorable ratio of achievable acceleration effect and expended drive energy is achieved in one embodiment of the movement device according to the invention, in lo which an angle between a connecting line between the
  • Output coupling unit and the second transmission joint point in a range of about 10 degrees to 170 degrees, preferably in a range of about 75 degrees to about 115 degrees, most preferably at about 95 degrees. In the angle range between approximately
  • a distance between the first and second transmission joint point and the first and second connection joint point is greater than a distance between the first and second transmission joint point and the output coupling unit.
  • a movement device of this embodiment is operable with a particularly large stroke between the maximum retracted and maximum extended position.
  • connection points are arranged between the base section and the output coupling unit.
  • the transmission elements are formed by rigid, strut-like components.
  • Transmission members are designed as linear actuators (for example in the form of electrical or hydraulic / pneumatic piston-cylinder assemblies or linear motors). Such linear actuators could achieve additional acceleration of the working section in the feed movement with appropriate control. Further, by means of at least one such linear actuator rotation of the working portion regardless of the rotation of the drive and driven members (additional pivot axis) or a fine-tuning of the orientation of the working portion conceivable.
  • first drive joint point and the second drive joint point have coaxial axes of rotation or a common axis of rotation.
  • a movement device comprising a
  • the hinge assembly comprises: a first drive member, which is driven by the drive portion for pivoting movement about a disposed at the base portion first drive link point, a second drive member, which by the i5 drive portion for pivoting movement a second drive joint point arranged on the base section can be driven, a first output member, which is pivotably coupled to the first drive member at a first intermediate joint point at a distance from the first drive joint point, a second output member which is connected to a second
  • intermediate pivot point is pivotally coupled to the second drive member at a distance from the second drive link point, and a power take-off coupling unit which pivotally couples the first and second output members together, wherein the hinge assembly is cantilevered.
  • a bearing of the joint assembly in which a forces of the joint assembly (inertial forces and weight forces) to a significant proportion receiving connection between joint assembly 0 and base portion substantially only on one side of an imaginary
  • Level is present, which is spanned by the pivotal movement of the first and / or the second drive member, that is, by a plane which is perpendicular to the axis of rotation of the first or / second drive member runs and the first and second drive member intersects.
  • a moving device of the second aspect of the invention had to be disadvantageous to a person skilled in the art at a first glance because of apparent drawbacks, and therefore was not obvious.
  • a one-way flying bearing requires a more stable construction for receiving the tilting moments in the region of the connection between the hinge assembly and base portion.
  • a one-way cantilevered movement device increases the radius of action of the device to an extent that the additional effort to stabilize the storage and possibly to transmit the driving force overcompensated.
  • the inventively mounted hinge assembly can be pivoted so that the working portion is rotatable about a practically arbitrary angle of 360 degrees freely around the base portion, so that complex movements in the complete environment of the movement device are possible.
  • the drive section comprises a first drive unit for transmitting movement drive force to the first drive member, that the first drive unit is attached to the base section, that the first drive member is on one side of the hinge arrangement at the base section or / and is cantilevered on the first drive unit, and that the second drive member is cantilevered on the same side as the first drive member or is cantilevered on the first drive member.
  • the driving section includes a first drive unit for transmitting motive driving force to the first drive member and a second drive unit for transmitting motive motive force to the second drive member, wherein the drive units are preferably independent can be controlled from each other.
  • the two lo drive members can be set in pivotal movement relative to each other, so that the working section moves between the retreat position and the at least one working position, the direct drive of each drive member is particularly reliable and flexible by its own drive unit.
  • the two drive units independently i5 are controlled from each other, so the working portion not only linearly from the base portion or move to this, but can with movement components in the circumferential direction about the drive joint point and thus within the range of the movement device almost at each point be positioned by the 2o pivotal movement of the joint assembly plane.
  • a simple circular movement of the working section about one of the drive joint points is simply possible because only one of the two drive units is operated.
  • the drive units are each formed by motor units, each of the motor units comprising: a motor having a stator and a rotor, and an output element, the through the rotor of the engine or
  • motor 30 is formed by a moving element of a driven by the rotor of the engine transmission.
  • motors eliminates the need to convert the motion of the drive units into a rotary motion to pivot the drive links.
  • suitable reduction gear between the rotor of the motor and the output element recommend.
  • torque motors can be used which can provide a particularly accurate and powerful rotor output at a suitable speed.
  • the stator of the first motor unit is rotationally fixed with respect to the base portion that the output member of the first motor unit is rotationally fixed with respect to the first drive member that the stator and / or a transmission housing of the second motor unit is rotationally fixed with respect to the second drive member and that the output member of the second motor unit is rotationally fixed with respect to the output member of the first motor unit or identical thereto.
  • the second motor unit can be partially or completely supported on the first motor unit and, more preferably, a support of the second motor unit can be completely eliminated, in this way a flying storage of the movement device can be realized with simple means.
  • the drive units are formed from motor units, it is conceivable for the construction of the drive section with respect to the base section and the hinge arrangement of several variants:
  • the first motor unit is fastened to the base section and the second motor unit, the hinge arrangement and the working section are essentially held cantilevered only at the output element of the first motor unit.
  • the first and the second motor unit can be constructed substantially identical to one another and the output elements of the two motor units can be connected to each other be attached. Due to the identical structure, a reliable synchronization of both drive units and thus reliable positioning of the working section can be ensured.
  • the joint arrangement (viewed in the direction of the axes of rotation of the motors) may be arranged between the two motor units.
  • the motor units according to the invention allow movement of the drive members using directly driven gears. On play-related transmission elements can thus be dispensed with, so that a very accurate movement of the drive members and thus of the working section is possible.
  • a flying mounting of the moving device, in particular on one of the drive units, also achieves the kinematic effect that with a symmetrical structure, in particular the same rotational moment of inertia of the two
  • the two motor units are arranged on the same side of the hinge assembly, which has particular advantages in With regard to the connection of the motor units, since supply lines of the motor units do not have to be guided through the pivoting path of the joint arrangement.
  • a movement device of the second variant can be realized with constructive advantages, for example, that the two motor units are fixed to the base portion, that the output member of the first motor unit drives the first drive member, and that the output member of the second motor unit drives a shaft or is formed by a shaft wherein the shaft passes through a through opening of the first drive member and drives the second drive member.
  • a movement device is particularly well suited for any transfer tasks in which a product is to be transported through the working section, when the working section has holding means for capturing and holding at least one product and between the at least one Work position and the retreat position to move.
  • a movement device developed in this way is then especially designed for operation in a production plant for producing a shaped body by a shaping process, e.g. an injection molding or pressing or
  • the object of the invention is achieved independently or in combination with the first and / or the second aspect of the invention by an assembly comprising a base portion, a first moving device and a second moving device, each of the moving devices spaced from the base portion and working portion a hinge assembly interconnecting the base portion and the working portion, and wherein the Joint arrangement of each movement device comprises: a first drive member, which is drivable by the drive portion for pivotal movement about a arranged at the base portion first drive joint point, a second drive member, which is driven by the drive portion for pivotal movement about a disposed at the base portion second drive link point, a first output member, which a second output member which is pivotally coupled to the second drive member at a second intermediate joint point spaced from the second drive joint point, and an output coupling unit comprising the first and second output members pivotally coupled to each other, wherein the first drive member of the first movement device and the first drive member of the second movement device of a common first central drive bsglied are formed or are
  • Central drive member are formed or are fixedly connected to a common second central drive member so that they are pivotable about the same second drive joint point, and wherein the arrangement further comprises a drive portion which is coupled to the first and / or the second central drive member for transmitting movement driving force to move the working portions of the moving devices with respect to the base portion between at least one working position and at least one retreating position.
  • both moving devices can be held on a common base portion and driven by a common drive section, whereby manufacturing and operating costs and
  • the arrangement according to the invention is, according to its basic principle, a single device, with which two working sections can be operated simultaneously in precise synchronism with one another.
  • the arrangement can operate two machines at the same time, removing two moldings from a mold at the same time, for example.
  • the two working sections can not be moved independently of each other due to the common central drive members of both movement devices, however, the inventor has realized that just in the field of industrial manufacturing and assembly or in other applications one and the same operation is advisable to perform at two spatially separated locations and that a symmetrical movement of the working section is then even desirable in particular.
  • the arrangement according to the invention can simultaneously discharge two injection molds arranged at a distance, thanks to the construction according to the invention in reliable temporal and spatial symmetry, so that the abovementioned restriction in such a production plant even proves to be an additional advantage.
  • a further important advantage of the arrangement according to the invention lies in the possibility of making the mass distribution around the mounting of the arrangement on the base section more symmetrical with simple means.
  • the first and the second central drive member are formed by rigid struts, which cross substantially centrally, wherein the first and the second drive joint point at the intersection of the struts, so a substantially symmetrical mass distribution can be achieved and the storage of the arrangement in the Base section or drive section acting forces can be significantly reduced.
  • a substantially symmetrical arrangement also offers the decisive advantage that during the movement of the Glenkanowskien occurring inertial forces occur simultaneously and substantially the same size in opposite directions and thus cancel each other and not in the storage of the arrangement at the base portion or on the drive section be initiated.
  • each of the two movement devices may be a movement device of the first or / and the second aspect of the invention, wherein the features relating to the drive portion or the base portion are preferably provided only once, namely for the common drive portion and the common base portion, etc.
  • an inventive arrangement comprise more than two movement devices of the type described, which are also independently movable.
  • a lift system can be realized, which executes several movements simultaneously with several working sections and is held at a common base section and is driven by one or more drive sections.
  • the invention relates to a manufacturing plant for producing a product, wherein the manufacturing plant comprises at least one tool and a transfer device for loading or / unloading the tool.
  • Such manufacturing plants are well known in the art and use as a transfer device mostly six-axis robot.
  • Six-axis robots are relatively expensive, as they are a host of stand-alone having driven axles, which are for the substantially linear movement during loading and unloading of the tool largely unnecessary. Due to the large number of joints which are pivotally driven in different directions, external forces always acting on the transfer device from the side of the tool or product are always also partly introduced directly into the drive devices. Accordingly, the six-axis robots would usually have to be oversized, resulting in further costs.
  • the present invention according to the fourth aspect provides a manufacturing plant of the type mentioned, which has lower acquisition costs and more economical, in particular with shorter cycle time works by at least one moving device with closed kinematic chain is provided according to the invention as a transfer device.
  • Movement device can cause a linear movement of the working section in a simple manner by changing the angle between the two drive links.
  • the movement device comes with only a driven axle, while the at least three further axles can be manufactured as passive axles inexpensively and stably in order to absorb the external forces acting on the working portion.
  • the transfer device of the manufacturing plant according to the invention operates without belt or chain transmissions and without gears between the individual members and has over conventional solutions reduced acquisition and maintenance.
  • the drive links are swiveling and can therefore be controlled directly, precisely and without play by motor units. Expensive linear guides can be dispensed with as far as possible.
  • Another particular advantage of a manufacturing plant with a moving device with a closed kinematic chain lies in the simple possibility, in addition to the linear movement of the working section, of carrying out a further movement with a movement component perpendicular to the axis of the linear movement.
  • the drive section is simply controlled such that the two drive members are pivoted with respect to the base portion at different speeds or pivoted in the same direction.
  • This feature is of particular importance in the specific application, namely a manufacturing plant for the production of a shaped body, since e.g. when removing a molded body regularly the mold initially linearly withdrawn from the mold and then at another position, which is located at a distance from the axis of the linear movement, filed or passed to another device. It is to be regarded as merit of the inventor to have first recognized the special suitability of a conventional closed kinematic chain motion device for the particular requirements and motion sequences of a forming process, thus claiming independent protection for such a manufacturing facility.
  • the transfer device may include a Moving device of the first or second aspect of the invention or an arrangement according to the third aspect of the invention.
  • the manufacturing plant of the fourth aspect of the invention comprises at least two molds, wherein both molds are loaded or unloaded with the same movement device, in particular a movement device according to the invention, or with the same inventive arrangement of the third aspect.
  • the drive joint points of the first and the second drive member or the drive joint points of the first and second central drive member are substantially centered on a connecting line between two
  • FIGS. 2a, 2b show perspective views of the movement device shown in FIGS. 1a-1c in the retracted position;
  • 3a, 3b are perspective views of the movement device shown in Figures 1a - 1c in the working position;
  • Figures 4a, 4b are perspective views of the output members of the movement device shown in Figures 1a - 1c;
  • FIG. 5 shows a cross-section of a distal section of the movement device shown in FIGS. 1a-1c according to a section line V-V in FIG. 1c;
  • FIG. 6 is a cross-sectional view of a proximal portion of the movement device shown in FIGS. 1a-1c according to a section line VI-VI in FIG. 1b;
  • FIG. 7 shows a movement device of a second embodiment of the invention in a cross-sectional view corresponding to FIG. 6;
  • FIG. 8 shows a movement device of a third embodiment of the invention in a cross-sectional view corresponding to FIG. 6;
  • Figures 9a, 9b is a schematic representation of a manufacturing plant according to a fourth embodiment of the invention in a retracted position and in a working position
  • Figures 10a, 10b is a schematic representation of a manufacturing plant according to a fifth embodiment of the invention in a working position and a retracted position
  • FIGS. 11a, 11b simplified schematic representations of
  • FIGS. 1a to 3b show side views and perspective views, respectively, of a movement device, generally designated 10, to which reference will now be made.
  • the moving device 10 of the first embodiment comprises a base portion 12, through which the moving device 10, e.g. is held stationary on a base frame, not shown.
  • the base portion 12 could be disposed on a slidable, mobile, and / or rotatable support.
  • a working section 14 has a gripping tool 16 for gripping a molding, not shown.
  • the gripping tool 16 comprises two gripping elements 16a, 16b, each with six suction cups 17, so that at the same time twelve shaped bodies can be held on the gripping tool 16.
  • a hinge assembly 18 connects the base portion 12 and the
  • Working section 14 includes a first drive member 20a, a second drive member 20b, a first output member 22a and a second output member 22b, wherein the four members 20a, 20b, 22a, 22b are interconnected by mutually parallel axes 24, 26, 28, 30 that they form a dragon quadrangle.
  • the first and second drive members 20a, 20b are pivotally connected to each other about the drive shaft 24, the first drive member 20a and the first output member 22a are pivotally connected to each other at the first intermediate axis 26, the second Drive member 20b and the second output member 22b are pivotally connected to each other at the second intermediate axis 28 and the first and the second output member 22a, 22b are pivotally connected to each other on the output shaft 30.
  • the first and second drive member 20a, 20b and the first and the second output member 22a, 22b extend in all pivot positions substantially parallel to a plane perpendicular to the axes 24, 26, 28, 30 (in FIGS. 1a to 3b a vertical plane). , Accordingly, the space requirement of the moving device 10 in the direction of the axes 24, 26, 28, 30 is limited.
  • the drive members 20a, 20b are each formed by strut-like lever members.
  • the axles 24, 26, 28 are respectively disposed at opposite end portions of the drive members 20a, 20b.
  • the output members 22a, 22b are substantially L-shaped and each comprise a main portion 32a, 32b and an extension portion 34a, 34b.
  • the main portion 32a and the extension portion 34a of the first output member 22a are fixedly connected to each other.
  • the main portion 32b and the extension portion 34b of the second output member 22b are fixedly connected to each other.
  • the main sections could alternatively also be integrally connected to their respective extension sections, so that the output members are formed from a one-piece L-lever.
  • the two transmission members 38a, 38b are at their other ends pivotally attached to respective connecting link points 39a, 39b, respectively, at a proximal portion of a carriage 40 which carries the gripping tool 16 at its distal portion.
  • the two extension sections 34a, 34b and the two transmission links 38a, 38b together again essentially form a kite quadrilateral.
  • the carriage 40 is slidably guided in a carriage guide 42 which is connected to the output shaft 30 so as to be pivotable with respect to the first and second output members 22a, 22b.
  • FIG. 5 shows a section along a section line V-V in FIG. 1b.
  • the main portion 32b of the second output member 22b is fixedly attached to one end of the output shaft 30 so as to rotate together with the output shaft 30. Also firmly connected to the output shaft 30 is the extension portion 34b of the second output member 22b, so that this also rotates together with the output shaft 30. Between the main portion 32b and the extension portion 34b of the second output member 22b, the first one
  • the extension portion 34a is formed of two parallel plates 46, 48 which sandwich the main portion 32a of the first output member 22a and are fixedly connected thereto.
  • the rolling bearings 44 are disposed between the main portion 32 a and the output shaft 30.
  • the slide guide 42 is rotatably mounted on the output shaft 30 via roller bearings 50, so that the slide guide 42, the first output member 22a and the second output member 22b are each held pivotably in pairs. It can also be seen in FIG. 5 that the slide guide 42 has two guide rails parallel to one another 52 which engage associated rails 54 of the carriage 40 so as to be linearly slidable on the carriage guide 42.
  • the moving device 10 is substantially symmetrical with respect to the spatial arrangement of the hinge points and the length and orientation of the individual members 20a, 20b, 22a, 22b, 38a, 38b, respectively are arranged on a plane E, which contains the drive axle 24 and the output shaft 30.
  • the length of the transmission members 38a, 38b is each slightly larger than the length of the extension portions 34a, 34b, each measured between the respective hinge points.
  • An angle ⁇ between the main portion 32a, 32b and the extension portion 34a, 34b is for both output members 22a, 22b, each slightly greater than 90 degrees, for example, 95 degrees in the embodiment.
  • FIG. 6 shows a cross-sectional view corresponding to a line VI-VI in FIG. 1b.
  • a carrier ring 56 has a mounting flange 58 with screw holes, so that it can be fixedly attached to a stationary machine part or the like, not shown.
  • a stator 62a of a first electric motor 64a is fixedly connected to the carrier ring 56 via a first gear housing 60a.
  • a rotor 66a of the first electric motor 64a carries a first transmission input gear 68a of a first transmission 70a, which converts the rapid rotational movement of the rotor 66a into a slower rotational movement of a first transmission output gear 72a (reduction planetary gear).
  • a gear 70a here preferably a harmonic drive gear is used, as it is manufactured and sold by the company "Harmony Drive AG".
  • the harmonic drive transmission includes the transmission input gear 68a, which has an elliptical shape and as Wave generator of the harmonic drive transmission is used. Via a ball bearing 84, the elliptical wheel 68a deforms a cylindrical, deformable steel bushing 86, the so-called flexspline, which carries an outer toothing.
  • the flex spline 86 is part of the transmission output member 72a or
  • the flex spline 86 has two teeth less than the circular spline 60a, so that one half rotation of the elliptical transmission input gear 68a results in a relative movement between the flex spline 86 and the circular spline 60a about one tooth.
  • the Flexspline 86 is part of the transmission output member 72a or is rotatably coupled with this, so that the rotor rotation with strong
  • Harmonic drive gear of the type described high torque can be transmitted almost no play. They are relatively easy to maintain due to a small number of components and have high efficiency.
  • the invention is not limited to
  • a proximal end portion of the first drive member 20a is received between the first transmission output gear 72a and a first attachment plate 74a.
  • the first attachment plate 74a, the first drive member 20a and the first transmission output gear 72a are fixedly connected to each other.
  • the first transmission output gear 72a is rotatably mounted in the first transmission housing 60a.
  • a second electric motor 64b has a stator 62b and a rotor 66b, wherein the axis of rotation of the rotor 66b is coaxial with the axis of rotation of the rotor 66a of the first electric motor 64a and wherein the two rotors 66a, 66b of the two electric motors 64a, 64b face each other.
  • the stator 62b of the second electric motor 64b is fixedly connected to a second gear housing 60b which also rotatably holds on its outer periphery a proximal portion of the second drive member 20b, so that the stator 62b of the second electric motor 64b rotates together with the second drive member 20b.
  • a second transmission input 68b of a second harmonic drive transmission 70b is mounted, which is substantially identical to the first harmonic drive transmission and which rotates the faster rotation of the rotor 66b of the second electric motor 64b in a slower rotational movement of a second Geretesgangsrads 72b converts.
  • the second transmission output gear 72b is rotatably supported by cross roller bearings 78b on an inner circumference of the second transmission case 60b.
  • the first transmission output gear 72a, the first drive member 20a, the first attachment plate 74a, the second attachment plate 74b, and the second transmission output gear 72b are connected together in a rotationally fixed manner to form an intermediate unit. While the first electric motor 64a drives this intermediate unit including the first drive member 20a, the operation of the second electric motor 64b causes the stator 62b and the second drive member 20b to rotate together around this intermediate unit.
  • the first drive member 20a and the second drive member 20b must rotate in opposite directions at the same angular velocity, which is achieved by rotating the first drive member 20a around the base portion 12 by the first electric motor 64a at a certain angular velocity ⁇ , while the second drive member 20b through the second electric motor 64b at a speed of -2 x ⁇ , ie with double and counter-rotating speed around which interconnected transmission output members 72a, 72b is rotated.
  • Drive members 20a, 20b then rotate in opposite directions with respect to the base portion at the same angular velocity ⁇ .
  • the movement device 10 of the exemplary embodiment is cantilevered on the base-fixed carrier ring 56 or on the first electric motor 64a. Accordingly, both drive members 20a, 20b can rotate about full 360 degrees around the carrier ring 56 and thus around the base portion 12. This is achieved by the first drive member 20a is mounted on the side of the first electric motor 64a flying on the base portion 12 and the second drive member 20b is mounted on the above-mentioned intermediate unit flying on the first drive member 20a.
  • Figure 7 shows a cross-sectional view corresponding to Figure 6, but for a second embodiment of the invention.
  • a first electric motor 64a 1 and a second electric motor 64b 1 are fixedly secured to a base fixed support ring 56 'via an intermediate plate 60 ", so that both electric motors 64a 1 , 64b 1 with respect to the base portion, ie, an external fixation
  • the working section and hinge arrangement of the movement device of the second embodiment are analogous to the first embodiment and will not be described again in the following: In Fig. 7, only the proximal sections of the first drive member 20a and the second of the hinge arrangement of the second embodiment are shown Both drive members 20a, 20b are pivotable about the axis of a drive shaft 61 '.
  • a first pulley 67a 1 is attached to a rotor 66a 'of the first electric motor 64a'.
  • a second pulley 68a ' is free to rotate about the drive shaft 61'.
  • the second pulley 68a 1 is non-rotatably connected to a drive sleeve 71a 1 which is separated from the outer periphery of the drive shaft 61 'by an annular gap so that it can rotate with respect to the drive shaft 61'.
  • the drive sleeve 71a 1 communicates with an input element of a first planetary gear 70a 1, not illustrated in detail in FIG. 7, which converts the rapid rotation of the rotor 66a 'into a slower rotation of a first transmission output element 72a'.
  • the transmission output member 72a 1 is rotatably supported by cross roller bearings 78 'on an inner periphery of a first transmission case 60a ö fixedly connected to the carrier ring 56'.
  • the proximal portion of the first drive member 20a between a first mounting plate 74a 1 and received the first transmission output element 72a 1 and the three elements 74a 1 , 20a and 72a ' are rotatably connected to each other by a plurality of distributed around the axis of rotation around arranged fixing screws 76'.
  • the second planetary gear 70b 1 converts the rapid rotation of the second drive sleeve 71b 'into a slower rotation of a second transmission output member 72b'.
  • a transmission base portion or transmission housing 75 ' (the portion of the transmission relative to which both the transmission input member and the transmission output member are rotatable) is fixedly connected to the second drive member 20b so as to be integral with the second drive member 20b about the second transmission output member 72b'. can turn.
  • Mounting plate 74b 1 by means of a plurality of distributed around the axis of rotation of the drive shaft 61 'arranged around screws 80' firmly connected. Furthermore, the first fastening plate 74a 1 and the second fastening plate 74b 1 are firmly connected to one another by means of a plurality of screws 82 'distributed around the axis of rotation, so that the first fastening element 74a 1 , the first drive element 20a, the first fastening plate 74a 1 , the second attachment plate 74b 'and the second transmission output member 72b', a non-rotatable intermediate unit is formed.
  • the first electric motor 64a 1 rotates the aforesaid non-rotatable intermediate unit including the first drive member 20a at a predetermined speed about the axis of the drive shaft 61 ', and the second electric motor 64b 1 rotates the second drive member 20b around the non-rotatable intermediate unit.
  • the first drive member 20a and the second drive member 20b must rotate in opposite directions at the same angular velocity, which is achieved by rotating the first drive member 20a around the base portion 12 by the first electric motor 64a 'at a certain angular velocity ⁇ while the second drive member 20b is driven by the second electric motor 64b 'at a speed of -2 x ⁇ , ie at double and counter-rotational speeds around the interconnected transmission output members 72a ', 72b' is rotated. Both drive members 20a, 20b then rotate in opposite directions with respect to the base portion at the same angular velocity ⁇ .
  • FIG. 8 shows a third exemplary embodiment of the invention in a sectional view corresponding to FIG. 6 and FIG. 7.
  • the driving portion of the third embodiment differs from the driving portion of the second embodiment only in that the second rotor 66b "does not transmit its driving force directly to the drive shaft 61". Instead, the second rotor 66b carries "a first pulley 67b", an end of the drive shaft 61 "facing the motors rotatably carries a second pulley 68b” and a belt 69b “is wound around the first pulley 67b" and the second pulley 68b " Construction of the third embodiment allows a more symmetrical force introduction into the drive shaft 61 "and offers larger
  • the drive shaft 61 is itself formed as a hollow shaft and the second pulley 68b" has a central opening, so that cables or access lines can be passed through the second pulley 68b “and the drive shaft 61" to supply additional equipment (not shown) on the side of the mover opposite the base section.
  • the first, second and third exemplary embodiments of the invention according to FIGS. 6, 7 and 8 have in common that the transmission output elements 72a, 72b; 72a 1 , 72b 1 ; 72a ", 72b" of the two motor units are fixed to each other, so that they rotate together.
  • the exemplary embodiments differ in the support and fastening of the electric motors or their gearboxes with respect to the base section.
  • Figure 11a corresponds to the first embodiment of Figure 6.
  • the stator 62a of the first electric motor 64a is fixed with respect to the base portion 12.
  • the rotor 66a of the first electric motor 64a drives the first gear 70a, the first gear housing 60a with the
  • Base section 12 is firmly connected.
  • the output of the first gear 70a is fixedly connected both to the output of the second gear 70b and to the first drive member 20a.
  • the second transmission case 60b is fixedly connected to the second stator 62b of the second electric motor 64b and to the second drive member 20b.
  • the second rotor 66b of the second motor 64b rotates the transmission input member of the second transmission 70b.
  • FIG. 11 b is a schematic representation of the drive section according to the second and third embodiments ( Figures 7 and 8).
  • the first stator 62a ' is also in the second and third exemplary embodiments; 62a "of the first electric motor 64a 1 ; 64a” and the housing of the first gear 70a “;70a” are fixed to the base portion 12.
  • the outputs of the two transmissions 70a are 1 ; 70a "and 70b ';70b" are fixedly connected in common with the first drive member 20a, and the second drive member 20b is connected to the second transmission case 60b 1 ; 60b ", the rotors 66a 1 ; 66a” and 66b '; 66b “of the two electric motors 64a ', 64a” and 64b'; 64b “respectively drive the transmission input elements of the two transmissions 70a ', 70a” and 70b';
  • the second stator 62b 1 ; 62b is not connected to the second gear housing 60b '; 60b "but also firmly connected to the base section 12.
  • Figures 9a and 9b show a fourth embodiment of the invention in the form of a manufacturing plant for producing a shaped body 196 in an injection molding process.
  • the manufacturing plant 100 comprises an injection mold 190 with two mold halves 192, 194, which form a mold cavity between them in the closed state. In the mold cavity liquid Kunststoffmateriai is injected, which then cools and hardens. The mold halves 192, 194 are then opened and the molded body 196 is removed from the mold.
  • the manufacturing plant 100 further comprises a movement device 110, for example, with the configuration according to the first, second or third embodiment of Figures 1a to 8.
  • a working portion 114 with gripping tool for gripping the molded part 196 can through the
  • Moving device 110 are moved linearly along a line L between a retreat position shown in Figure 9a and a working position shown in Figure 9b.
  • the electric motors disposed at the location of the base portion 112 may be driven so that the mover 110 including the working portion 114 rotates around the base portion 112.
  • Movement device 110 are thus moved to an arbitrary position within a flat annulus 122, wherein the inner radius 124 of the annulus 122 is given by the distance between the working portion 114 and base portion 112 in the retracted position and the
  • Working section 114 and base section 112 is given in the working position. In the manufacturing plant of the embodiment shown, the working section 114 always moves in a vertical plane.
  • the entire movement device 110 is cantilevered on the base portion 112, it is freely rotatable 360 degrees around the base portion 112, thereby providing flexible applications.
  • Figures 10a and 10b show a manufacturing plant 200 according to a fifth embodiment of the invention, which comprises two injection molds 290-1, 290-2, which are arranged at a distance from each other and at the same time can produce injection-molded parts.
  • the loading and Unloading, in particular the removal of the cooled mold parts 296-1, 296-2 from the two injection molds 290-1, 290-2 is effected by a single arrangement 210, which is driven at the base section 212 by a drive section 255.
  • the arrangement 210 represents a combination of two movement devices according to the invention, for example the constructions shown in FIGS. 1a-8b, wherein the drive members of both movement devices are in each case formed as central drive members 220a, 220b in the form of a longitudinal strut, the longitudinal struts being approximately centered at the storage point of the base portion 212 and being driven at this point of intersection by the driving portion 255 so as to be set in a manner of scissors at different angles to each other.
  • FIGS. 10a and 10b are cantilevered on the base portion 212 so that the working portions 214-1, 214-2 within an annular disc 222 can be positioned substantially at any point.
  • Figure 10b illustrates a double arrow x the linear movement of the working sections, while a double arrow ⁇ the
  • Base section 212 around indicates. It can also be seen in FIGS. 10a and 10b that the installation 210 of the fifth exemplary embodiment has a distribution which is symmetrical about the hinge point on the base section 212 both with regard to the weight force of the two
  • the arrangement of the fourth embodiment may simultaneously serve two or more tools (e.g., two or more injection molds 190).
  • the power stroke e.g., about 30 seconds
  • the mover can operate the tools one at a time without the tools "having to wait" for the mover.
  • a plurality of tools can be operated with only one mover.
  • the arrangement 210 can also cooperate with only one tool (eg only the injection mold 290-1). In a particularly effective method can then be provided that the working portion 214-2 (which faces away from the tool 290-1) is being loaded with inserts, while the first working portion 214-1 before the tool 290-1 already loaded with inserts is held in a waiting position near the tool 290-1.
  • second working section 214-2 bring in the waiting position in front of the tool 290-1 and the emptied first working section 214-1 in the of Tool facing away to drive position, where it is equipped with new inserts.
  • the assembly must be rotated by 180 ° per cycle, instead of 360 °, as in the case of a conventional one-arm robot.
  • the invention is not limited to the embodiments described above, but includes other embodiments not described or illustrated in detail.
  • the length of the drive members are changed in relation to the output members, it is either possible that the drive members are significantly longer than the output members, or that the drive members are significantly shorter than the output members.
  • a simple control and symmetrical balance of power are achieved, however, when the two drive members or the two central drive members are formed substantially identical to each other, and when the two output members are formed substantially identical to each other. The same applies to the transmission elements.
  • the construction of the moving devices using identical components also brings advantages in terms of acquisition and maintenance costs and with regard to the control of the devices.
  • Will be about two substantially identical electric motors for the Used driving the drive members the drive can be standardized and a linear movement is to accomplish by simpler sign reversal or doubling or halving the supply voltages and thus by electronic means reliably and accurately.
  • the two electric motors are in the embodiments shown by the associated coaxial transmission output elements inherently coupled concurrently with each other, so that no interpolation over several driven axes is necessary to determine the position of the working section in space, since essentially only one drive is taken into account.
  • Moving devices and arrangements of the invention are preferably designed as robotic devices, i. of the
  • Drive section is driven by an electronic control unit according to a specific sequence program to perform certain movements periodically or in response to measured variables.
  • Each working section can then grasp and / or transport two or more mold parts at the same time.
  • the working section 114 can simultaneously handle two shaped bodies, and in the manufacturing plant of FIGS. 10a, 10b the two working sections 214-1, 214-2 can simultaneously handle two or more molded parts in each case.
  • Movement device as a so-called top-loader for an injection mold or a mold possible in which the shape from above loading or unloading, the pivoting plane of the drive and driven members essentially vertical.
  • the weight of the moving device to be moved during a pivoting movement about the drive axis can be compensated in a simple manner pneumatically or by means of a counterweight. A more advantageous mass distribution is possible for a 5 lying application of the movement device.
  • directly driven gears without belts, chains or rows of gears can be used, e.g. the harmonic drive described above, lo so that the control of the joint assembly with maximum accuracy and minimal play is possible.
  • Embodiments of the invention are operable with less energy.
  • all electric motors can be kept stationary with respect to the base portion i5 so that they do not shift with the working portion. Energy for linear acceleration of the motors can thus be omitted. Further, recoil energy in the acceleration of the working section, in contrast to conventional linear motion devices and telescopic robots, for the most part (depending
  • the device uses a small number of components, so that less friction and less accelerated mass is taken into account.
  • the movement device according to the invention also has relatively high stability.
  • toothed belts or the like for positioning the working section 30 may be dispensed with and the links and hinge points need not be designed to withstand the high biasing forces of the belts.
  • the working sections of the moving devices of the above-mentioned embodiments are telescoped in total three times relative to the base section due to the transmission members according to the invention and the slide held thereon. With a slight angular movement of the drive links is already a strong

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Lining And Supports For Tunnels (AREA)

Abstract

Mécanisme de mouvement qui comporte une partie de base (12), une partie de travail (14) située à une certaine distance de la partie de base, un système d'articulation (18) qui relie la partie de base à la partie de travail, et une partie d'entraînement (55) qui est couplée au système d'articulation pour la transmission d'une force d'entraînement de mouvement, afin de déplacer la partie de travail par rapport à la partie de base entre au moins une position de travail et au moins une position de retour. Ledit système d'articulation présente un ensemble à cinématique de cisaillement composé de deux parallélogrammes des forces reliés l'un à l'autre et d'un chariot guidé mobile sur ces parallélogrammes. La présente invention concerne en outre une installation de fabrication pour la fabrication d'un produit faisant appel au mécanisme de mouvement décrit.
PCT/EP2010/058301 2009-06-17 2010-06-14 Mécanisme de mouvement, système et installation de fabrication Ceased WO2010146014A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009025262.2 2009-06-17
DE200910025262 DE102009025262A1 (de) 2009-06-17 2009-06-17 Bewegungsvorrichtung, Anordnung und Herstellungsanlage

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WO2010146014A3 WO2010146014A3 (fr) 2011-03-31

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Cited By (1)

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Publication number Priority date Publication date Assignee Title
WO2014185879A3 (fr) * 2013-05-13 2015-01-08 Coşkunöz Metal Form Maki̇na Endüstri̇ Ve Ti̇c. A.Ş. Mécanisme de commande

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013203242B4 (de) 2013-02-27 2024-05-29 Schaeffler Technologies AG & Co. KG Einrichtung zur Handhabung von Gegenständen
DE102013214453B9 (de) * 2013-07-24 2019-06-27 Ovalo Gmbh Linearversteller

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Publication number Priority date Publication date Assignee Title
GB2061872A (en) 1979-10-12 1981-05-20 Hitachi Ltd Industrial robots
EP0200105A1 (fr) 1985-04-22 1986-11-05 Kabushiki Kaisha Toshiba Robot industriel
EP0298427A1 (fr) 1987-07-09 1989-01-11 Kabushiki Kaisha Yaskawa Denki Seisakusho Bras de robot à barres parallèles

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JP2000042970A (ja) * 1998-07-31 2000-02-15 Kobe Steel Ltd 多関節アーム式搬送装置
JP2000150617A (ja) * 1998-11-17 2000-05-30 Tokyo Electron Ltd 搬送装置
JP2007260862A (ja) * 2006-03-29 2007-10-11 Nachi Fujikoshi Corp ロボット

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Publication number Priority date Publication date Assignee Title
GB2061872A (en) 1979-10-12 1981-05-20 Hitachi Ltd Industrial robots
EP0200105A1 (fr) 1985-04-22 1986-11-05 Kabushiki Kaisha Toshiba Robot industriel
EP0298427A1 (fr) 1987-07-09 1989-01-11 Kabushiki Kaisha Yaskawa Denki Seisakusho Bras de robot à barres parallèles

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014185879A3 (fr) * 2013-05-13 2015-01-08 Coşkunöz Metal Form Maki̇na Endüstri̇ Ve Ti̇c. A.Ş. Mécanisme de commande

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WO2010146014A3 (fr) 2011-03-31

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