DE3601456A1 - Mechanical joint mechanism - Google Patents

Abstract

A triaxial joint mechanism has three rotary axes with two points of intersection arranged offset relative to one another. As a result of the offset, a larger radius of curvature of the joint is achieved. A first and second housing part contain the first and second axis, whereas the third axis is arranged in a tool-supporting part. The first housing part is intended to be fixed to an outer tubular part of the robot arm so as to perform a rotary movement independent of the rest of the mechanism. A gear (transmission) device of the mechanism ensures the independent rotation of the second housing part and of the tool-supporting part so as to allow selected position setting of the surface for fastening the tool on the tool-supporting part within a working range. The gear device is arranged so that an undisturbed passage is formed between the surface for fastening the arm of the first housing part and the surface for fastening the tool on the tool-supporting part, to accommodate hoses and/or wires used to supply fluids and power to a tool fastened to the surface of the tool-supporting part.

Description

"Mechanical joint mechanism"

The invention relates to a mechanical linkage mechanism, in particular a three-axis hinge mechanism that has a trouble-free between its earths Has passage.

Hinge mechanisms are designed to have an attached to them Orient the tool as required by the position of a workpiece is. Articulation mechanisms have three joints that support movements such as tilting, shearing and allow rotation. Similar joints of an arm device leave the joint mechanism reach every area of a robot's sphere of influence. After that there are three more Joints of the joint mechanism for the universal orientation of the one at its end arranged working device required.

objectives mechanical joint mechanisms are multi-axis systems. Such systems are described, for example, in US Patents 3,231,098 and 3,315,542. However, many such hinge mechanisms do not have a trouble-free passageway that provides protection for hoses and wires that supply fuel and power to a tool attached to the free end of the hinge mechanism.

In U.S. Patent 4,218,166, a multiaxial ge-1 is crawled i smu 5 disclosed which allows independent movement about two axes and one contains trouble-free passage between a stationary base and a tool.

According to US Patent 4,402,234 there is a link mechanism with three independent Rotary axes known that intersect each other. A gear mechanism controls the independent rotation of the components supported for rotation about the three axes and also has a trouble-free inner passage for receiving hoses and / or wires. However, the use of such a hinge mechanism is limited due to the relatively small inner radius of curvature 'of the hinge mechanism and / or difficult.

This will reduce the amount of rotary motion that is stored in it Hoses and wires allow limits imposed. Such a small radius of curvature macnt also the programming of the robot to which the articulation mechanism is attached is blacker. ries is the case due to the limited freedom of movement of the gel mechanism that the programmer must take into account.

Other U.S. patents disclosing minor hinge mechanisms are the US patents Re. 25 889, 2 14 25 ?, 2 361 700, 2 871 701, 3 043 448, 3 066 605, 3 103 498, 3 182 813, 3 784 031, 4 001 556, 4 063 536. 4 099 409, 4 149 278, 4,353,677, 4,356,554, 4,365,923, 4,370,836 and 4,392,776.

The object on which the present invention is based exists therein, an improved three-axis mechanical selector mechanism with a to create interference-free passage, which has three independent Rctaticnsachsen, the two intersections form to have greater flexibility in the Achieve positional adjustment of a wide variety of tools in one working sphere.

The invention is also intended to provide an improved mechanical joint mechanism can be created with three independent axes of rotation, with a trouble-free passage is retained and a larger inner bottom radius is provided that the programming of the robot to which the articulation mechanism is attached is simplified and also allows the use of a larger gear, so that the articulation mechanism can carry and guide relatively heavy tools attached to it.

The object on which the invention is based is achieved in that the mechanical joint mechanism has three independent axes of rotation, a first pair of axes of rotation having a first point of intersection and a second pair of axes of rotation having a second point of intersection remote from the first point of intersection. A first and a second housing part are rotatably mounted with respect to the first and the second axis. The first housing part has a surface for arm mounting. A tool support part is rotatably arranged with respect to the third axis and has a surface for tool attachment. A gear mechanism is provided for independent rotation of the tool support part and the second housing part about their associated axes in order to selectively position the surface for Xerkzeugbefestigung within a working sphere. A continuously trouble-free passage device is arranged between the surface for arm attachment and the surface for tool attachment. The through device closes cavities in the first and second housing parts and the tool support part for the enclosing reception of the tool related devices.

Preferably, the passage device comprises a pair of substantially identical guide parts made of plastic, which make the first and second intersection points Form enclosing cavities.

Furthermore, the axes of the first axis needle preferably form one fixed angle greater than 30 ".

In addition, there is the offset of the first and second intersection points preferably selectable to have a larger radius of curvature for tubing and use to allow larger gears and further internal passages. The transfer is by the diameter of the inner passage and the radius of curvature of the central one Axis determined.

Due to the construction described above, the mechanical Joint mechanism has a larger radius of curvature in order to avoid twisting the for the The tool to moderate the necessary cables, wires and wires makes that easier Programming of the robot to which the articulation mechanism is attached is only permitted the attachment of a relatively heavy ^ .u ast to the hinge mechanism.

Eir embodiment of the invention is shown in the drawing and is described in more detail below. They show: FIG. 1 a side view of a Robot with an articulated mechanism that attaches to the free end of an outer arm of the Robot is attached, and various, by broken lines Depicted positions of the uelenkmechanisr, lus' Figure 2 is a side view of the Joint mechanism 5-mus' and Figure 3 is a somewhat enlarged partial view of the in Figure 2 joint mechanism shown in which a second position of the joint mechanism is shown broken.

Figure 1 shows a three-axis joint mechanism, all cool with 10 denotes, with an outer arm 12 of a generally designated 14 Connected to the robot. Of course, the joint mechanism 10 can also be attached to a boom or bracket of a different type of robot, around a device for finishing purposes or a tool as shown in Figure 1, move within a working sphere.

As shown in Figure 1, a tool 16 is at the free end of the Link mechanism 10 attached. The tool 16 can be a welding, paint spraying device or any other device necessary for manufacturing or finishing of a product is appropriate.

As shown in Figure 2, the hinge mechanism 10 closes an outer knee or first housing part 18, an inner knee or second housing part 20 and a shaft or tool support member 22. The tool support part 22 has a Surface for tool attachment or face 23 on which a large variety tools such as tool 16 can be easily attached.

A locking ring 24 is on the outer knee 18 between the outer Knees 18 and the inner knee 20 attached. A locking ring is similar 26 at the inner knee 20 between the inner knee 20 and the tool support part 22 attached. Furthermore, a fastening ring 28 is at the free end of the outer The knee 18 is provided to facilitate the coupling of the joint mechanism 10 to the arm 12 of the Robot 14 to simplify.

As can be seen from Figure 3, the fastening ring 28 and outer knee 18 has a longitudinal axis 30 around which a plurality of spaced of input or drive tubes of the arm 12, which fieze chnet and with 32, 34 and 36 are marked, are arranged. The hinge mechanism 10 is laid out in such a way that it can be connected to the drive tubes 32, 34 and 35 one-way can. For this purpose, e.g. the innermost drive tube 32 is connected by a drive pin 38 connected to a bevel gear 40 rotatably supported by ball bearings 42 in the link mechanism 1G is stored. A ball bearing 42 is shown which absorbs torques can. On the other hand, the bearing 42 can also be axially separated from one another by two arranged radial bearings are replaced.

The drive tube 34 is similarly through a drive pin 44 connected to an intermediate bevel gear 46 and rotatably supported by bearings 48. The outer drive tube 36 is attached to the mounting ring by a retaining pin 50 28 connected. The fastening ring 28 is in turn secured by screws 52, of which only one shown in FIG. 3 is attached to the outer knee 18.

A second bevel gear, generally designated 54, stt-rit it. Bevel wheel 40 engages and rotates hence in response to a Rotation of drive tube 92. bevel gear 54 includes a pair of bevel gear halves 56 and 58, which are connected to one another by a thread and which are connected by retaining pins 60, only one of which is shown in FIG. 3, are mutually fixed. The bevel gear halves 56 and 58 are designed in such a way that the gearwheel parts are track-shaped are.

The bevel gear halves 56 and 58 are also rotatably supported by bearings 62. The bearings 62 permit the inner knee 20 to rotate a second longitudinal Axis 63. Axes 30 and 63 intersect at a point 69, the angle of intersection is preferably 500.

r.ie Kegelra (half 58 is in engagement with a bevel gear 64, which in turn is fixed to the tool support part 22 by screws 66, of which only one shown in Figure 3 is attached. The bevel gear 64 and the tool support part 22 are also pinned together. The cone wheel 64 and the tool support part 22 are in turn stored drerbar through bearings 68. The bearings 68 allow one Rotation of the tool support part 22 about a third longitudinal axis 65. The axes 63 and 65 intersect at a point 71. The point 71 is opposite the point 69 offset to increase the inner radius of curvature of the link mechanism, the programming of the robot to which the articulation mechanism is attached simplify and allow the use of relatively large gears. Large gear wheels enable the steering mechanism to carry a larger payload to guide without affecting the width of the passage through the steering mechanism. The passage is described in more detail below.

The angle of intersection 77 between axes 63 and 65 is preferred equal to the angle 73. The roughness direction of the axis 65 changes accordingly an angle 67 which is equal to the sum of the angles 73 and 77 when the axis 65 from the position shown by a solid line to that shown by a broken line position shown in Figure 3 moves. The tool support part 22 can from the position shown in solid lines to the position shown in broken lines in FIG 3 can be moved by rotating the inner knee 20 by 18 °, C during the position of the outer knee 18 is maintained.

The intermediate bevel gear 46 is connected to a second intermediate bevel gear 70 in engagement. The intermediate bevel gear 70 is rotatably supported by bearings 72. The intermediate bevel gear 70 is rit the inner knee 20 by screw 74, only one of which is shown in Figure 3 is shown, firmly connected. The locking ring 26 is also with the inner The knee 20 is fixed by screws 76, only one of which is shown in FIG tied together. The locking ring 24 is connected to the outer knee 18 by screws 78, of which, in turn, only one is shown in FIG. 3, firmly connected.

Ge link mechanism 10 has a longitudinal passage 84, the runs smoothly along the axes 30, 63 and 65. This trouble-free passage karn hoses and wires and / or cables.

A first plastic guide part 80 is arranged within the organus 64 and fixed to the inner surface of the outer knee 18 by screws, of their only one 82 is shown connected. A second plastic guide part 86 is fixed on the inner surface of the inner knee 20 by screws 88, one of which is also only one shown is attached.

The inner surfaces of the plastic guide parts 80 and 85 contribute to the formation of the trouble-free passage 84 through the hinge mechanism 10 at. The plastic guide parts 80 and 86 are not only used to set the Radius of curvature 'on the inside of the joint mechanism' but also to the Absorption of the lubricant for the gears of the joint mechanism and ensure for a smooth surface on which hoses and cables can slide.

The tool support part 22 is designed so that it can be attached to its Serving end face 23 a tool, such as a welding or paint spraying device or another suitable for the manufacture and / or finishing of a product Device, can carry. Threaded holes, only one of which 90 is shown, are formed in the tool support part 22 for this purpose.

Between the opposing surfaces of the locking ring 26 and the tool support part 22 and also between the locking ring 24 and the Intermediate bevel gear 70 and the inner knee 20 seals 92 can be arranged. The seals 92 prevent contamination of the bearings 68 and 72 when the hinge mechanism is used in a contaminated environment.

From the position shown in FIG. 3, the surface 23 can be used for tool fastening by rotating the inner knee 20 through 360 ". By a suitable Rotation of the inner knee 20, the axis 65 can optionally be arranged in a sphere which is determined by two outer limits extending from the axis 30 to the Difference angle between angles 73 and 77 in an extreme position and around the total angle the angles 73 and 77 deviate in the other extreme position (i.e. from O "(parallel to the axis 30) up to 100 °, as shown by the angle 67, if the two angles 73 and 77 are 50 °).

Within this sphere, the surface 23 can be used for tool fastening be rotated substantially 360 °, so that an attached to the surface 23 Tool can be brought into many different positions.

The joint mechanism 10 is particularly suitable for robots that are used to Execution of various manufacturing and processing processes, such as spray dyeing and welding, can be controlled. The hinge mechanism l0 could also be used for a Jig used to hold a component during an assembly process placed in position neither can.

The rotational movement of the drive tubes 32, 34 and 35 core through each available rotary drive unit, such as electric motors, pneumatic etc. hydraulic motors. In Beda-f, the drive tubes 32, 34 and 36 can also be operated manually. It is obvious that the rotation of this Drive tubes to a desired P1Ge by using a computer with a suitable control program for the rotation can be controlled. These devices are only mentioned here as an example, based on the above description It is obvious that the hinge mechanism 10 in the context of many exemplary embodiments can be used where an adjustment device is necessary.

The above-described construction of the link mechanism 1G permits a larger radius of curvature: he, that, that by the known joint mechanisms is provided, and also facilitates the programming a robot controller that controls the rotation of the input drive shafts. Farther the design allows the use of larger gears without sacrificing the Size of the joint or the interference-free passage. The bigger ones Gear wheels, for their part, enable a larger payload to be carried outdoors End of a hinge mechanism of a given volumetric size.

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Claims (7)

Claims 1. Mechanical joint mechanism for position adjustment a Lierkzeug, g e k e n n n z e i c h -n e t d u r c h three independent axes of rotation (30, 63, 65), with a first pair (30, 63) of these axes having a first point of intersection (6G) u and a second pair (63, 65) of these axes have a second intersection point (71) which is offset from the first intersection point (69), the first and second housing parts (18, 20) around an associated first (30) and second, respectively (63) of the axes of rotation are mounted, the first housing part (18) having a surface has for arm attachment, a rotatably mounted about the third axis of rotation (63) Tool support part (22) with a surface (23) for tool attachment, a gear device for generating an independent rotation of the tool support part (22) and the second Housing part (20) about their associated axes for optional adjustment of the position the surface (2 for tool attachment within a working sphere and a continuously trouble-free passage device (84) between the cerium surface for Arm attachment and the '23i surface for tool attachment with cavities in the first and second housing parts (18, 20) and the tool support part (22) for enclosing recording of the tool (16) related devices. 2. Mechanical joint mechanism according to claim 1, characterized in that that the passage device (84) guide means for fixing at least one Area of the cavities in the first and second housing parts (18, 20), which the first and second intersection point (69, 71) include. 3. Mechanical joint mechanism according to claim 2, characterized in that that the guide means comprise a first and second guide part (80, 86) which mounted for rotation with the associated first or second housing part (18, 20) are. 4. Mechanical joint mechanism according to one of claims 1 to 3, d a d u r c h e k e n n nz e i c h n e t that the first housing part (18) has a fastening ring (28) to which the arm (12) of a robot (14) can be fastened. 5. Mechanical joint mechanism according to one of claims 1 to 4, it is noted that the width of each cavity is at a point on its associated axis along the passage device (84) is greater than a third of the corresponding width of the joint mechanism 'in this Period. 6. Mechanical joint mechanism according to one of claims 1 to 5, d a d u r c h e k e n n nz e i c h n e t that the first pair of axes of rotation (30, 63; forms a fixed angle greater than 30 °. 7. Mechan shear joint mechanism according to claim 6, d a d u r c h g e k e n n n n e i c h n e t that a third (65) of the axes of rotation to both axes of rotation (30, 63) of the first pair of axes of rotation changeable in their angle and with a first (30) of the axes of rotation can be aligned, their point of intersection with a second (63) the axes of rotation is maintained.