ES1293094U - Balanced robot (Machine-translation by Google Translate, not legally binding) - Google Patents

Abstract

Robot that includes a station (4) with a robotic arm (5) or other tool, characterized by the station (4) is mobile in a vertical rail (3) and is attached by a cable or similar to a counterweight (6) Mobile vertically in the opposite direction, being the station displacement engine (4) at the station itself (4). (Machine-translation by Google Translate, not legally binding)

Description

DESCRIPTION

balanced robot

TECHNICAL SECTOR

The present invention relates to a robot that is vertically mobile on one or more vertical rails, with a counterweight system, and preferably along two horizontal guides, or on a mobile platform and that offers improved stability. It is applicable in the field of industry, for example in the manufacture of machinery or in the handling and manufacture of other products.

STATE OF THE ART

Many of the robots for small parts handling and assembly tasks have followed the 1981 design of the Scara robot ( Selective Compliant Articulated Robot Arm). The main advantage of these robots is their speed. Sometimes its morphology also helps to reach certain pieces in reduced and narrow environments.

Although initially the Scara-type robot was rigid in the Z axis (height), modifications have been made by adding a degree of freedom in the Z axis at the end of the last of the Scara arms. Although this aspect has many advantages in the case of handling small parts, it has several disadvantages.

The weight of the Z axis actuators is supported by the arms of the Scara making it much heavier and preventing the lifting of larger loads more easily. Imbalance is favored by loading this weight at one end.

In addition, the position of the Z-axis actuator means that the operating space at this end has to be much larger, favoring possible collisions in space or reducing its operating range.

Other solutions by placing a spindle at the base of the first arm limit the speed, force and especially the travel or range of the Z axis.

For all of the above, a new system is needed that can provide greater force and greater range of reach in the Z axis without also compromising its consumption and speed.

The applicant does not know of any robot with characteristics similar to the invention.

BRIEF EXPLANATION OF THE INVENTION

The invention consists of a robot according to the claims. Its different variants offer improvements over the state of the art.

The objective of the invention is to create a robotic arm adaptable to different movement systems with the following characteristics:

• Have a morphology that facilitates speed of handling

• Fits into small and cramped environments with ease.

• Support higher loads with great ease.

• The energy consumption is reduced, compared to robots with similar characteristics.

• Have low maintenance costs.

• Be easily scalable in its range of action in height (z axis) and length (x axis).

• Be easily adaptable, in its construction measures, to its range of lateral action. (Axis y)

• Allow placement of more arms easily in the same structure.

• Be usable on AGV mobile robots.

• Be protected for continuous cleaning with water and chemicals.

• Keep your balance naturally and without falling in the event of a power outage.

This objective is obtained with the different embodiments.

For this, the robot comprises a station with a robotic arm or other tool. The station is mobile on a vertical rail and is attached by a strap or similar to a counterweight also vertically mobile in the opposite direction. The station displacement motor is located in the station itself. In this way, the system is self-contained, requiring pulleys or the like (implied). In addition, the compensation of efforts by the counterweight ensures the speed of the robot's movements in the vertical axis.

The rail, preferably, is arranged between two mobile carriages by superimposed horizontal guides. More rails can be placed in these guides, provided that an anti-collision safety measure is available.

Preferably, an auxiliary rail is arranged between the carriages along which the counterweight moves. In that case, the rails are preferably separated by rubber wheels on each cart.

Other variants will be discussed at other points in the report.

DESCRIPTION OF THE DRAWINGS

A series of figures is presented to facilitate understanding of the invention:

Figure 1: Side view of an embodiment of the invention.

MODES OF EMBODIMENT OF THE INVENTION

Below is a brief description of an embodiment of the invention, as an illustrative and non-limiting example of the latter.

The example of embodiment shown in the figures comprises two superimposed guides (1), each with a carriage (2) mobile along the guides (1). The guides (1) are substantially horizontal. The two carriages (2) are mobile in a coordinated manner on the guides (1) and are joined by a vertical rail (3). A work station (4) is mobile on the rail (3) and carries the robotic arm (5) or the corresponding tools. For example, it can be a "Scara" robot with two or more arms.

The station (4) is linked to a mobile counterweight (6) along the rail (3) or by an auxiliary rail (7) also fixed to the carriages (2). The counterweight (6) is attached to the station (4) by a cable or the like. A strap (8), tape, chain or the like is fixed to the upper and lower carriage (2) so that the station (4) moves on it. The strap (8) can be open or form a closed loop that passes through both carriages (2). In any case, it will have the corresponding straps on the carriages (2). The benefits of this system is that it is capable of reaching high speeds, high loads and reducing consumption. thanks to the counterweight (6). The two rails (3,7) are independent in vibration by a damping system, such as rubber wheels.

The system can be motorized on one or both carriages (2), in its case with a transmission along a rail (3,7). In that case, the motor or the heaviest elements will be on the guide (1) to increase stability. The movement system of the station (4) is preferably in it, so that the counterweight (6) tightens the belt (8) and it is only necessary to have pulleys on the upper carriage (2).

The assembly is preferably surrounded by a safety cage or casing (not shown) to reduce accidents. The casing is preferably stainless steel for chemical cleaning.

The arms of the Scara robot can have different sizes and are also compensated in balance by the counterweight (6). This system allows the robotic arms (5) to work quickly at height without compromising their range of action, by not incorporating the vertical axis actuator (Z axis) at the end, normally close to the gripping system.

Claims (1)

1- Robot comprising a station (4) with a robotic arm (5) or another tool, characterized in that the station (4) is mobile on a vertical rail (3) and is linked by a cable or similar to a counterweight ( 6) mobile vertically in the opposite direction, the movement motor of the station (4) being in the station (4) itself. 2- Robot, according to claim 1, characterized in that the rail (3) is arranged between two movable carriages (2) by overlapping horizontal guides (1). 3- Robot, according to claim 1, characterized in that the rail (3) is arranged on a mobile platform. 4- Robot, according to claim 2, characterized in that it comprises an auxiliary rail (7) between the carriages (2) along which the counterweight (6) moves. 5- Robot, according to claim 4, characterized in that the rails (3,7) are separated by a shock-absorbing system of rubber wheels on each carriage (2). 6- Robot, according to claim 1, characterized in that the belt (8) is closed loop. 7- Robot, according to claim 2, characterized in that the displacement motor of the carriages (2) is in the lower carriage (2).