Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1989-09-29
1991-07-16
Herrmann, Allan D.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
901 23, 901 28, 901 15, B25J 1100, B25J 1700
Patent
active
050314742
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
The present invention relates to an industrial robot having at least one lifting axis a horizontally rotatable arm with two sections having three axes of rotation, and an individual drive unit for each axis of rotation.
Assembly lines now often use robots having a so called SCARA type of construction, such as is described in U.S Pat. No. 4,610,598. These are latively simple robots usually possess one lifting axis and three rotational axes.
SUMMARY OF THE INVENTION
The present invention relates to a simple and reliable industrial robot of the foregoing type. The industrial robot has a first rotary joint mounted on a lateral projection of a lifting column. A power unit, such as an electric moter drives the lifting column to provide vertical motion. The first rotary joint is a structural unit comprising a first motor, a first gear unit with an associated first bearing arrangement and a first coupling flange. The first motor and first coupling flange can be aligned substantially along a first axis of rotation defined by the first rotary joint.
A horizontally swinging arm comprises articulated first and second sections. The first section is removably mounted on the coupling flange of the first rotary joint. A second rotary joint joins the first and second sections together. The second rotary joint preferably comprises a second gear unit and a second bearing arrangement and defines a second axis of rotation. The second rotary joint is coupled to a second motor that is aligned with the first axis of rotation of the first rotary joint. A third rotary joint defining a third rotational axis can be arranged on the second section of the arm and coupled to a third motor that is mounted in the first section of the horizontally swinging arm.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 shows the mechanical design of an industrial robot of the present invention;
FIG. 2 shows the power transmission means for rotating the second section of the arm about the second rotational axis; and
FIG. 3 shows a motor suspended in the horizontally swinging arm.
DETAILED DESCRIPTION
FIG. 1 shows an industrial robot of the present invention that has a base 1 supporting a lifting column 2. The lifting column moves in the directions indicated by the double arrow h. An electric motor vertically by using known gears, racks, etc., that are not shown in FIG. 1.
Lifting column 2 has a lateral projection 4 on its upper end. A first rotary joint 5 is mounted as a structural unit to lateral projection 4. The structural unit is bolted together and is detachable. Rotary Joint 5 comprises a motor 6, a gear unit 7 and a coupling flange 8 so that a swinging motion is possible around a first rotational axis .alpha..sub.1. The gearing unit 7 is preferably designed as a planetary gear drive and advantageously has the feature of an extended planet carrier. Its bearing arrangement is simultaneously used to support rotary joint 5 on the lateral projection 4.
A horizontally swinging arm 9 is removably attached to the coupling flange 8. Horizontally swinging arm 9 comprises first and second arm sections 13 and 12, respectively, that can swivel in opposite directions around a second axis of rotation .alpha..sub.2. A second rotary joint 10 is formed on the second axis of rotation .alpha..sub.2 by a second gear unit that is supported in a way similar to first gear unit 7. An electric motor 11 drives second rotary joint 10. The axis of the electric motor 11 approximately coincides with the axis of motor 6. Motor 11 is accommodated in first section 13 and operates the gear unit of the second joint 10 through a toothed belt 17.
Referring to FIG. 2, two guide rollers 20 are provided for the toothed belt 17 between the output drive pinion 18 of the motor 11 and the driving pinion 19 of the gear unit. The guide rollers can define a grip angle for the toothed belt.
Rotation around a third axis of rotation .alpha..sub.3 is accomplished by driving third rotary joint 14 with an electric motor 16 by means of a toothed belt 15. Electric motor
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"Montageroboter mit modular afgebauten Achsen", pp. 709-710, in: Werkstattstechnik, Zeitschrift fur Industrielle Fertigung, vol. 74, No. 12, Springer-Verlag (Wurzburg, Germany) (Dec. 1984).
Eberle Manfred
Keppler Rainer
Kolb Roland
Herrmann Allan D.
Siemens Aktiengesellschaft
Ta Khoi Q.
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