Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1993-10-18
1995-08-01
Herrmann, Allan D.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
414918, 901 50, B25J 1100, B25J 1900
Patent
active
054372070
DESCRIPTION:
BRIEF SUMMARY
FIELD OF THE INVENTION
The present invention pertains to a multiaxial manipulator, especially an industrial robot, with supply lines for the tool and the manipulator drives, are led in from the outside and wherein the supply lines are laid along the moving members of the manipulator.
BACKGROUND OF THE INVENTION
Such a manipulator has been known from German Offenlegungs-schrift No. DE-OS 32 37 184. The supply lines for the tool are led there from an external feeding point to the jib and from there to the tool. Rotatable and pivotable holders are provided for the bundle of lines. This routing of lines has the disadvantage that the supply lines are subject to high mechanical loads. Especially the point of transition from the stationary power supply to the moving jib of the manipulator is exposed to danger. This line section must follow multiaxial movements in space and is correspondingly bent in different directions. The fact that the mobility of the manipulator is limited by the line routing is also disadvantageous.
German Offenlegungsschrift No. DE-OS 34 34 899 discloses another manipulator, in which the supply lines for the tool are led from a stationary feeding point to the carousel rotatable around the first principal axis. The supply lines are led from there farther to the tool along the manipulator parts, such as the rocker, jib, and hand. The mechanical loads are already reduced in this routing of the lines. The mobility of the manipulator is, however, still limited. In addition, the line routing is not optimally integrated in the manipulator design in these two cases corresponding to the state of the art.
SUMMARY AND OBJECTS OF THE INVENTION
The object of the present invention is to provide a manipulator with a line routing that is better integrated and permits a higher degree of mobility.
According to the invention, a multiaxial manipulator is provided including a relatively stationary base and a moving carousel connected to the base. Movable manipulator parts are connected to the carousel with a tool connected to the movable manipulator parts. Manipulator drives are provided connected to the manipulator parts for moving the manipulator parts. Supply lines for the tool are provided in a first bundle of lines. The first bundle of lines is connected to the statinary base and extends internally through the base to the moving carousel and extends out of the moving carousel. The first bundle of lines is connected along the manipulator parts to the tool. Supply lines for the manipulator drives are provided separated from the supply lines with the tool, in a second bundle of lines. The second bundle of lines is connected to the base and is connected along the moving manipulator parts.
In the manipulator according to the present invention, the supply line for the tool and the manipulator drives are led in separate bundles of lines and are connected separately, but they extend extensively in parallel to one another. This makes possible a comprehensive integration of the lines in the manipulator design, and yet rapid replacement and retrofitting of the supply lines for the tool. The manipulator may also be delivered without supply lines for the tool. The supply lines may be connected and laid subsequently on request. However, the optional laying of these supply lines is inherently provided for and preparations for laying are made.
The supply lines are divided into a plurality of line sections, wherein they are subject to defined loads in each line section, and they must follow rotations around an individual axis, if need be. Due to the line connection at the base, which is relatively stationary in relation to the feeding point, a stationary supply line, which is subject to low loads, is obtained. The supply lines are laid in this case on the manipulator in an internal line section, which is done preferably in the form of a flexible loop, which is able to follow the intended rotary movements of the carousel around the first, mostly vertical principal axis, without any problem. Due to the internal laying
REFERENCES:
patent: 4855560 (1989-08-01), Sonoda et al.
patent: 4917619 (1990-04-01), Nishiwaki
patent: 4969795 (1990-11-01), Toyoda et al.
patent: 5025126 (1991-06-01), Hansen
patent: 5115690 (1992-05-01), Torii et al.
Japanese Abstract 59-125282, Inutake, Jul. 19, 1984.
Herrmann Allan D.
Kuka Schweissanlegen & Roboter GmbH
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