Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1992-07-21
1994-04-26
Braun, Leslie A.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
901 19, 901 48, B25J 1100, G05G 1100
Patent
active
053056523
DESCRIPTION:
BRIEF SUMMARY
FIELD OF THE INVENTION
The invention concerns a multiaxial industrial robot an in particular to a robot that has a plurality of motors mounted on an extension arm, with the center of gravity of these motors having a specific position with regard to axes of rotation.
BACKGROUND OF THE INVENTION
Such robots are known in practice in a great many embodiments. Usually, three motors are present for driving three hand axes, which are arranged in a row above one another and are thus straddled in a fan-shaped manner. This arrangement causes difficulties with respect to optimizing dimensions and mass balance.
SUMMARY AND OBJECTS OF THE INVENTION
It is the object of the present invention to improve the mass balance in the case of a multiaxial industrial robot, particularly on the extension arm, in combination with a low construction cost and a high bearing load.
The present invention achieves this object in a multiaxial robot having a rocker arm rotatably connected to a mount or base about a principal rotating axis. Another end of the rocker arm is pivotably connected to an extension arm about an extension swing axis extending laterally from a side of the rocker arm. A robot hand with a plurality of members is connected to the extension arm and each of these members is driven by a motor positioned on the extension arm. At least two of these motors are positioned adjacent each other in a direction of the extension swing axis. These plurality of motors are also positioned so that the principal rotating axis extends in an area between a center of gravity of the plurality of motors and a side of the rocker arm.
The arrangement of the motors according to the invention makes possible a better mass balance, in combination with a one-arm rocker, with respect to the rotating axis around which the rocker rotates with the extension arm. It is recommended hereby for the most extensive optimizing of the mass balance to arrange the center of gravity of the motor arrangement at a distance from the rocker and on the other side of its rotating axis. The preferred axial-symmetric motor arrangement also serves the same purpose.
In addition, with the use of an extension arm which can be swung overhead, there results the advantage that the motor group is constructed more compactly in height and can be arranged for this purpose correspondingly further away from the swinging axis of the extension arm, without requiring a larger swinging radius. A better mass balance around the extension arm-swinging axis can be obtained thereby, without having to lengthen the rocker in order to make available sufficient free space for the rotations of the extension arm.
The better mass balance makes possible in its turn an increase in the permissible bearing load of the industrial robot, despite the one-side mounting of the extension arm on the rocker. The one-arm rocker construction and the one-side mounting reduce in turn the construction cost.
The compact arrangement of the motors also permits the drive shafts of the robot hand to be formed as universal shafts and, e.g., to be attached directly onto the motor axes. The previously known fan arrangement brings about greater angular distances between the drive shafts and the motor axes and requires the attachment of intermediate shafts and intermediate mountings. With the motor arrangement of the invention, the angles are reduced to such an extent that these intermediate components can be omitted as desired, thus reducing the construction cost. In all, the industrial robot according to the invention is more cost favorable and more maintenance-friendly due to the various savings.
Further advantages of the universal shaft arrangement consist of the uniform formation of the drive shafts and the use of the same shaft components. Universal shafts can be easily balanced remotely and offer a stable running state even with high rpm.
The motor arrangement according to the invention is provided for two or more motors. In the examples of the embodiments, various possibilities for realization with differing num
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Braun Leslie A.
Kuka Schweissanlagen + Robotor GmbH
Laub David W.
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