Patent Application
20240165792
The invention is based on an industrial robot with parallel kinematics, comprising a robot base, with an effector carrier serving as a receptacle for an effector and with several actuating arms for moving the effector carrier.
Such industrial robots with parallel kinematics are used to move, position and/or process an object in space. They comprise a robot base arranged in a fixed position or on a movable platform and a movable effector carrier for holding an effector, such as a gripper, a tool, a camera or a machine element. At least two actuating arms are connected at one end to the robot base and at the other end to the effector carrier. Each actuating arm is moved by an associated drive arranged on the robot base. Movement of the actuating arms results in movement of the effector carrier. The effector carrier can also be referred to as a tool carrier or a platform. An effector can be placed on the effector carrier, such as a gripper for picking up an object or a tool for processing an object or a machine element, such as a bearing or a gear. For this purpose, the effector carrier is equipped with a receptacle for an effector. Through the coordinated movement of the driven actuating arms, an effector arranged on the effector carrier can be moved in space in a targeted manner in several dimensions. The actuating arms provide spatial parallelogram guidance of the effector carrier. In this process, all actuating arms contribute simultaneously and thus in parallel to the movement of the effector carrier. The resulting parallel kinematics allows fast and precise movement of the effector carrier and the effector arranged thereon. This movement is a translational movement of the effector carrier. If the industrial robot is equipped with three actuating arms, the movement is translational in three spatial directions. The movement has three degrees of freedom and can be described in a coordinate system with x, y and z axes. If the industrial robot is equipped with two actuating arms, the movement is translational in two spatial directions. In this case, the movement has two degrees of freedom and can be described in a coordinate system with x and z axes.
Examples of such robots are delta robots. They comprise at least two actuating arms. Preferably, three actuating arms are identically constructed and typically mounted at an angular distance of 120° to the robot base. The actuating arms have an upper arm section and a lower arm section, which are movably connected to each other. The upper arm section is also referred to as the upper arm. The lower arm section is also referred to as the lower arm. Each of the upper arm sections is driven by an arm drive, such as a motor-gear unit. The arm drives are arranged at the robot base. The motion of the upper arm sections is transferred to the effector carrier via the lower arm sections. The lower arm section usually has two parallel rods or struts running in the longitudinal direction of the arm section. One end of these rods is movably connected to the corresponding upper arm section and the other end is movably connected to the effector carrier. The two rods of a lower arm span a parallelogram. To allow the rods to move the effector carrier in three dimensions in space, they are movably mounted on the upper arm and on the effector carrier so they can move about several geometric axes. Spherical joints or cardan joints are particularly suitable for this purpose. Since each strut is provided with two such joints, each lower arm has a total of four spherical joints or cardan joints. With three actuating arms, a total of 12 joints are required for the lower arms. This makes the setup complex and expensive. In addition, the movement of the effector carrier in three dimensions in space is overdetermined based on the three lower arms, each constructed with a parallelogram of two struts, with a total of 12 joints with multiple degrees of freedom. Two of the actuating arms allow movement in two dimensions, for example in the direction of an x-axis and a y-axis. However, they cannot prevent the effector carrier from rotating about a z-axis, that is orthogonal to the x-axis and y-axis. The third actuating arm provides stabilization of the effector carrier and movement of the effector carrier in the direction of the z-axis. However, it also comprises two struts and a total of four joints on the lower arm section for this purpose, although one strut and two joints should actually be sufficient. The three actuating arms are typically arranged on the robot base in such a way that the corresponding lower arms are attached to the effector carrier at the same distance in each case, with each actuating arm having an angular range of 120°. As a result, the working area is circular rather than rectangular.
The object of the invention is to provide an industrial robot with parallel kinematics that has a small number of joints for the lower arms, which enables a rectangular working area and in which a movement of the effector carrier in three dimensions in space is not overdetermined.
This object is solved by an industrial robot with the features of claim 1. The industrial robot has three actuating arms. Two of the actuating arms are identical or similar in construction. A third actuating arm is different in construction from the other two actuating arms. A first actuating arm comprises a first arm drive arranged on the robot base, a first upper arm coupled to the first arm drive, and a first lower arm, wherein the first lower arm is movably connected to the first upper arm via at least one first elbow joint and to the effector carrier via at least one first lower arm joint. The same applies to a second actuating arm. It comprises a second arm drive, a second upper arm, a second lower arm, at least one second elbow joint, and at least one second lower arm joint. These components are interconnected in correspondence to the first actuating arm. The first elbow joint, the second elbow joint, the first lower arm joint, and the second lower arm joint each have multiple degrees of freedom. This means that they provide a joint that is movable about multiple geometric axes. If the first actuating arm is provided with two first lower arm joints, these are arranged spatially offset from each other on the effector carrier so that they do not interfere with each other. The same applies to the second actuating arm if it is provided with two second lower arm joints. The first lower arm may comprise a rod or strut. Alternatively, the first lower arm may have two parallel struts or rods spanning a parallelogram. In this case, the first actuating arm is constructed substantially like the actuating arms of a typical delta robot. The same is true for the second actuating arm: it may have only one strut or rod, or it may have two parallel struts or rods spanning a parallelogram. The first actuating arm and the second actuating arm may both have identical structures, with both the first lower arm and the second lower arm each having two struts or rods in a parallelogram arrangement. Alternatively, the first and second actuating arms may be of similar construction, with one of the two actuating arms having only one strut or rod on the lower arm and the other having two. In principle, an embodiment in which both the first actuating arm and the second actuating arm each have exactly one strut or rod as a lower arm is also possible.
The third actuating arm comprises an elongated arm section which is directly or indirectly coupled at one end to a third arm drive of the third actuating arm and which is connected at its other end to the effector carrier via at least one third lower arm joint. Thereby, the third lower arm joint preferably has exactly two degrees of freedom. It thus enables movement of the elongated arm section relative to the effector carrier in exactly two dimensions. The third arm drive is received at the robot base. The elongated arm section of the third actuating arm is provided with one or with two third lower arm joints.
The sum of the number of lower arm joints of the first actuating arm, the second actuating arm and the third actuating arm is at least three and at most five. Thus, two actuating arms may be equipped with two lower arm joints and one actuating arm may be equipped with one lower arm joint. Alternatively, all three actuating arms are equipped with only one lower arm joint. In principle, an embodiment in which two actuating arms are equipped with only one lower arm joint and one actuating arm has two or three lower arm joints is also possible. The number of lower arm joints is thus reduced compared to known delta robots.
Preferably, each lower arm joint is associated with a rod or strut of the associated lower arm. For example, if the first actuating arm has two first lower arm joints, it is advantageously equipped with two rods or struts forming the lower arm and spanning a parallelogram. Each of the two rods or struts is connected to exactly one lower arm joint. This applies accordingly to the second actuating arm and to the third actuating arm. The two rods or struts of the first actuating arm are preferably connected to the upper arm via two elbow joints. The same applies here for the second actuating arm.
The lower arm joints of the first actuating arm, the second actuating arm and the third actuating arm are arranged offset on the effector carrier. For example, the lower arm joints of the first and second actuating arms may be arranged on the sides of the effector carrier, and the at least one lower arm joint of the third actuating arm may be arranged on the side of the effector carrier facing the robot base. The centers of at least three of the first, second, and third lower arm joints span a plane referred to as the effector carrier plane. The effector carrier is moved only translationally by the three actuating arms. Rotation of the effector carrier must be prevented. A rotation of the effector carrier about a z-axis perpendicular to the effector carrier plane is prevented by the third actuating arm. Preferably, rotation of the effector carrier about the z-axis is prevented exclusively by the third actuating arm, the first actuating arm and the second actuating arm not contributing to this. In this way, the industrial robot according to the invention differs from known delta robots. In known delta robots, rotation about a z-axis perpendicular to the effector carrier plane is prevented by all actuating arms together. This is correspondingly true in known delta robots with respect to preventing rotation about an x-axis perpendicular to the z-axis and about a y-axis perpendicular to the z-axis. For this reason, the three actuating arms of known delta robots are preferably arranged with an angular separation of 120° at the robot base.
The third actuating arm generates an accelerating force on the effector carrier in the direction of the z-axis. An x-axis perpendicular to the z-axis and a y-axis perpendicular to the z-axis span an xy-plane, which is parallel to or coincides with the effector carrier plane. In a preferred manner, the first actuating arm generates an accelerating force in the x-axis direction on the effector carrier and the second actuating arm generates an accelerating force in the y-axis direction on the effector carrier. The x-axis may be oriented perpendicular to the y-axis. However, this is not necessarily the case. The three actuating arms are not each assigned an angular range of 120°, as is the case with known industrial robots, in order to move and stabilize the effector carrier. Rather, the first actuating arm and the second actuating arm can be connected to the effector carrier in such a way that the x-axis, the y-axis and the z-axis, along which the effector carrier experiences an accelerating force through the actuating arms, are each perpendicular to one another. This results in an essentially rectangular or cuboid working area of the industrial robot.
To prevent rotation of the effector carrier, the effector carrier must be secured not only against rotation about the z-axis, but also against rotation about the x-axis perpendicular to the z-axis and against rotation about the y-axis perpendicular to the z-axis, whereby the x-axis and the y-axis must be different but not necessarily perpendicular to each other. The following options are available for securing the effector carrier against rotation about the x-axis and about the y-axis:
To secure the effector carrier against rotation about the x-axis, the effector carrier can be held by means of two lower arm joints arranged offset on the effector carrier, the centers of the two lower arm joints lying on a straight line which is preferably perpendicular to the x-axis. These two lower arm joints may be two first lower arm joints. In this case, the first actuating arm secures the effector carrier against rotation about the x-axis. Alternatively, the third actuating arm may be equipped with two third lower arm joints whose centers lie on a straight line perpendicular to the x-axis. The same applies to securing the effector carrier against rotation about the y-axis. For this purpose, the second actuating arm can be equipped with two second lower arm joints whose centers lie on a straight line preferably perpendicular to the y-axis. Alternatively, the third actuating arm may be equipped with two third lower arm joints whose centers lie on a straight line preferably perpendicular to the y-axis.
The actuating arms stabilized the effector carrier in such a way that it cannot rotate about the z-axis and that it cannot tilt about the x-axis and the y-axis. It always remains aligned parallel to a predetermined plane. In particular, this plane can be a horizontal plane. The third actuating arm is connected to the effector carrier via the at least one third lower arm joint. If only one third lower arm joint is provided, it has exactly two axes around which it can be rotated. These two axes are referred to as lower arm joint axes. Since the third lower arm joint has exactly two lower arm joint axes and thus exactly two degrees of freedom, it allows the elongated arm section of the third actuating arm to follow a movement of the effector carrier in the x-direction and y-direction, which is initiated by the first actuating arm and by the second actuating arm. Since the third lower arm joint has no other degrees of freedom and the third lower arm joint is non-rotatably connected to the elongated arm section of the third actuating arm and to the effector carrier except for its two lower arm joint axes, rotation of the effector carrier about the z-axis orthogonal to the x-axis and to the y-axis is prevented by the third actuating arm. The third actuating arm prevents the effector carrier from rotating about a z-axis perpendicular to the effector carrier plane. It thus ensures torsional rigidity of the effector carrier with respect to the z-axis. If the third actuating arm is equipped with two rods, each of which is connected to the effector carrier via a third lower arm joint, the two third lower arm joints also preferably have exactly two geometric lower arm joint axes about which they are movable. Due to this feature, rotation of the effector carrier is already prevented by the third lower arm joints.
The planar motion or kinematics of the effector carrier is not overdetermined due to the particular design of the third actuating arm.
The shape of the working area has the advantage that several industrial robots of the same type can be arranged next to each other in the immediate vicinity without interfering with each other and without the need to prevent a collision of the actuating arms of adjacently arranged industrial robots by means of an appropriate control system. This makes it possible to arrange several industrial robots according to the invention along a transport route at a short distance.
According to an advantageous embodiment of the invention, the effector carrier is secured against rotation about the z-axis exclusively by the third actuating arm. In this case, the first actuating arm and the second actuating arm do not contribute to securing the effector carrier against rotation with respect to the z-axis.
According to another advantageous embodiment of the invention, the end of the elongated arm section of the third actuating arm facing the robot base is provided with a joint that is movable about exactly two geometric axes. This increases the torsional rigidity of the third actuating arm with respect to the z-axis. The joint is preferably designed as a cardan joint. If the third arm drive is stationary and immovably arranged on the robot base and the elongated arm section is movably coupled to a drive axis of the third arm drive, the joint is designed as a third elbow joint that connects the elongated arm section to the drive axis of the third arm drive directly or via an additional third upper arm. If the third arm drive is designed as a linear drive, it can be movably accommodated on the robot base via the joint. In this case, the drive axis of the linear actuator is directly connected to the elongated arm section of the third actuating arm.
According to another advantageous embodiment of the invention, one of the two lower arm joint axes about which the third lower arm joint is movable is perpendicular to a longitudinal axis of the elongate arm section of the third actuating arm. The other lower arm joint axis is parallel to or extends in the effector carrier plane.
According to another advantageous embodiment of the invention, the first actuating arm is connected to the first upper arm via two first elbow joints and to the effector carrier via two first lower arm joints. In this case, the two first lower arm joints are arranged spatially offset on the effector carrier. In this case, the first actuating arm ensures acceleration of the effector carrier in the direction of the x-axis and at the same time prevents rotation of the effector carrier about the x-axis.
According to a further advantageous embodiment of the invention, the second actuating arm is connected to the effector carrier via exactly one second lower arm joint. The third actuating arm is connected to the effector carrier via two third lower arm joints, which are arranged spatially offset on the effector carrier. In this case, the second actuating arm applies an accelerating force on the effector carrier in the direction of the y-axis. The third actuating arm prevents both rotation of the effector carrier about the z-axis and rotation of the effector carrier about the y-axis.
According to another advantageous embodiment of the invention, a first straight line connecting the centers of the two first lower arm joints intersects a straight line connecting the centers of the two third lower arm joints perpendicularly. This straight line may be referred to as the third straight line because it connects the two third lower arm joints together. In this case, the first lower arm joints and the third lower arm joints are arranged crosswise on the effector carrier.
According to another advantageous embodiment of the invention, the first actuating arm is connected to the effector carrier via two first lower arm joints and the second actuating arm is connected to the effector carrier via two second lower arm joints. The first lower arm joints and the second lower arm joints are arranged spatially offset on the effector carrier. The third actuating arm is connected to the effector carrier via exactly a third lower arm joint, which is movable about exactly two lower arm joint axes. In this case, the effector carrier is secured against rotation about the x-axis by the first actuating arm, against rotation about the y-axis by the second actuating arm, and against rotation about the z-axis by the third actuating arm.
According to another advantageous embodiment of the invention, a first straight line connects the centers of the two first lower arm joints perpendicularly intersects a second straight line connecting the centers of the two second lower arm joints. The two first lower arm joints and the two second lower arm joints are thus arranged crosswise on the effector carrier. The intersection point may be located at the edge of the effector beam or in the center of the effector beam, for example above the tool center point TCP. If the intersection point is located at the edge of the effector carrier, the rods or struts of the first lower arm and the rods or struts of the second lower arm cannot interfere with each other during a movement of the effector carrier.
According to another advantageous embodiment of the invention, a third straight line, which is perpendicular to the effector carrier plane and passes through a center of the third lower arm joint, intersects the second straight line connecting the centers of the two second lower arm joints. Advantageously, the intersection point is located at the center of the effector carrier, for example above the TCP.
According to a further advantageous embodiment of the invention, the first straight line, the second straight line and the third straight line intersect at a point. This point is preferably located in the TCP or above the TCP.
According to a further advantageous embodiment of the invention, the first arm drive and the second arm drive are rotary drives. Here, a first drive axis of the first arm drive and a second drive axis of the second arm drive are substantially perpendicular to each other. This arrangement is suitable, for example, if the first lower arm joints of the first actuating arm and the second lower arm joints of the second actuating arm are arranged crosswise on the effector carrier or if the first actuating arm has two first lower arm joints and the second actuating arm has one second lower arm joint. In this case, the first drive axis is the axis driven by the first arm drive to which the first upper arm is connected in a rotationally fixed manner and via which the torque of the first arm drive is transmitted to the first upper arm. The drive axle can also be designed as a drive flange. The same applies to the second drive axis in relation to the second upper arm. The first drive axis and the second drive axis each rotate about a geometric axis. When the first drive axis is perpendicular to the second drive axis, the two associated geometric axes are perpendicular to each other.
According to a further advantageous embodiment of the invention, the third arm drive is a rotary drive. An upper arm of the third actuating arm is coupled to the rotary drive. This upper arm is hereinafter referred to as the third upper arm since it is the upper arm of the third actuating arm. The third upper arm is movably connected to the elongated arm section of the third actuating arm via a third elbow joint. Via the upper arm, the torque of the rotary drive is transmitted into a translational motion of the elongated arm section. The length of the upper arm may be in a particular relation to the length of the elongated arm section. In the case of a long upper arm, a small rotation angle of the third arm drive is sufficient to trigger a large z-stroke of the effector carrier. Here, z-stroke refers to a movement of the effector carrier in the direction of the z-axis. With a shorter upper arm, a larger angle of rotation of the third arm drive is required for the same z-stroke. The third elbow joint moves on a circular path when the third upper arm rotates. The longer the third upper arm, the larger the radius of this circular path. Advantageously, the length of the third upper arm and the length of the elongated arm section of the third actuating arm are selected so that the third upper arm and the elongated arm section are aligned substantially perpendicular to each other when the effector carrier is in the center of a working area defined by the range of motion of the first actuating arm, the second actuating arm, and the third actuating arm. This position of the effector carrier may be referred to as the initial position. Starting from this initial position, the third upper arm can be rotated by approximately 45° in one direction or the other by the third arm drive. A rotation in this angular range is not problematic for the third elbow joint. Cardan joints in particular can cover such an angular range.
According to a further advantageous embodiment of the invention, the third elbow joint has exactly two axes and thus two degrees of freedom. This increases the torsional stiffness of the third actuating arm with respect to the z-axis.
According to a further advantageous embodiment of the invention, the first drive axis and the second drive axis span a drive plane. A third drive axis of the third arm drive extends in this drive plane.
According to a further advantageous embodiment of the invention, the third drive axis extends perpendicular to the first drive axis or perpendicular to the second drive axis.
According to a further advantageous embodiment of the invention, the first arm drive and the second arm drive are linear drives.
According to a further advantageous embodiment of the invention, the third arm drive is a linear drive whose drive axis is connected to the elongated arm section of the third actuating arm via a joint that is movable about a plurality of axes. A drive axis of the linear actuator moves linearly along a geometric axis of motion. This linear motion of the drive axis is transmitted to the elongated arm section of the third actuating arm and from there to the effector carrier. The linear actuator may be stationary on the robot base. In this case, the drive axis is connected to the third elbow joint of the third actuating arm. The drive axis and third elbow joint move relative to the robot base. The linear actuator does not move relative to the robot base. Alternatively, the linear actuator may be movably received on the robot base via a third joint, which is preferably a cardan joint. In this case, the linear drive moves relative to the robot base. The drive axis of the linear actuator is directly connected to the elongated arm section of the third actuating arm.
According to another advantageous embodiment of the invention, the drive axis of the linear actuator is secured against rotation about an axis extending along the displacement path of the linear actuator. This increases the torsional rigidity of the third actuating arm with respect to the z-axis.
According to a further advantageous embodiment of the invention, the third lower arm joint is arranged above the effector carrier plane.
According to a further advantageous embodiment of the invention, a center of the third lower arm joint is located in the effector carrier plane.
According to a further advantageous embodiment of the invention, the first lower arm joint and the second lower arm joint are arranged laterally on the effector carrier. The third lower arm joint is arranged on the side of the effector carrier facing the robot base.
According to a further advantageous embodiment of the invention, the third lower arm joint is a cardan joint. This is characterized by the fact that it has exactly two axes, which are preferably perpendicular to each other. The center of the cardan joint corresponds to the point of intersection of the two axes. Cardan joints are also known as universal joints.
According to a further advantageous embodiment of the invention, the elongated arm section of the third actuating arm is provided with a cardan joint at its end facing away from the effector carrier. This cardan joint forms the third elbow joint of the third actuating arm.
According to a further advantageous embodiment of the invention, the elongated arm section of the third actuating arm is formed as an elongated hollow body.
According to a further advantageous embodiment of the invention, supply lines of an effector arranged on the effector carrier are accommodated in the elongated arm section. The joints with multiple degrees of freedom arranged on the elongated arm section may also have a hollow body, so that a continuous channel for the supply lines is formed up to the effector carrier.
According to a further advantageous embodiment of the invention, the industrial robot has an effector drive axis which moves an effector arranged on the effector carrier. This axis is also referred to as the fourth axis. The effector drive axis comprises an effector drive, which is arranged on the third actuating arm. For example, it may be arranged on the elongated arm section or on a third upper arm of the third actuating arm.
According to a further advantageous embodiment of the invention, the effector drive axis extends at least in sections in the elongate arm section of the third actuating arm.
According to a further advantageous embodiment of the invention, the arm drive of the third actuating arm is arranged externally on the robot base. Further, the at least one elbow joint of the third robotic arm points towards the center of the industrial robot and/or the center of the work area. This allows the elongated arm section of the third actuating arm to have limited tilt with respect to the x-/y-plane, and thus to transfer maximum torsional stiffness about the z-axis and, if necessary, also about the y-axis to the effector carrier. Furthermore, this arrangement allows sufficient space to be created in the center of the robot base for coaxial gear motors, which in turn makes it possible to arrange the drive axes perpendicular to one another. In comparison, in known delta robots, there is a need to either equip the arm drives with expensive angular gears or to arrange at least one of the drives offset in height on the robot base.
Further advantages and advantageous embodiments of the invention can be seen in the following description, the drawing and the claims.
The drawing shows examples of embodiments of the invention. Illustrations:
The first lower arm 9 comprises two parallel rods 10, 11. Each of the two rods 10, 11 is movably connected to the first upper arm 8 at its end facing the first upper arm 8 via a first elbow joint 12, 13. Furthermore, each of the two rods 10, 11 is connected to the effector carrier 3 at its end facing the effector carrier 3 via a first lower arm joint 14, 15. The first elbow joints 12, 13 and the first lower arm joints 14, 15 are formed as spherical joints. They have several degrees of freedom. When the first arm drive 7 transmits a rotary motion to the first upper arm 8, this rotary motion is transmitted to the effector carrier 3 via the two rods 10, 11 of the first lower arm 9.
The second actuating arm 5 has an identical structure as the first actuating arm 4, comprising a second arm drive 17, a second upper arm 18, a second lower arm 19 with two rods 20, 21, two second elbow joints 22, 23 and two second lower arm joints 24, 25. A rotational movement of the second arm drive 17 is transmitted to the effector carrier 3 via the second upper arm 18 and the second lower arm 19.
The first arm drive 7 and the second arm drive 17 are rotary drives. A first drive axis of the first arm drive 7 is driven for rotation about a first geometric axis 16. A second drive axis of the second arm drive 17 is driven for rotation about a second geometric axis 26. Here, the first arm drive 7 and the second arm drive 17 are arranged on the robot base such that the first geometric axis 16 and the second geometric axis 26 intersect perpendicularly. The first actuating arm 4 and the second actuating arm 5 thus provide a translatory movement of the effector carrier 3 in two dimensions, namely in the direction of an x-axis and in the direction of a y-axis orthogonal thereto. An xy-plane spanned by the x axis and the y axis is parallel to the effector carrier 3. When the effector carrier 3 is moved by the first, second and third actuating arms 4, 5, 6, the effector carrier 3 does not change its orientation relative to the xy-plane. It always remains parallel to it.
The third actuating arm 6 differs in structure from the first and second actuating arms 4, 5. The third actuating arm 6 has a third arm drive 27, which is arranged on the robot base 2. This is also a rotary drive. A third upper arm 28 is coupled to a drive axis of the third arm drive 27 in a rotationally fixed manner, so that a rotational movement of the third arm drive 27 is transmitted to the third upper arm 28. The third upper arm 28 is connected, via a third elbow joint 32, to an elongated arm section 29 that forms a lower arm of the third actuating arm 6. The elongated arm section 29 is connected to the effector carrier 3 via a third lower arm joint 34. The third elbow joint 32 and the third lower arm joint 34 are formed as a cardan joint. This has exactly two degrees of freedom. The cardan joint is connected to the effector carrier 3 in such a way that the elongated arm section 29 can tilt in two dimensions, namely in the x- and y-directions relative to the effector carrier. This allows the effector carrier 3 and the elongated arm section 29 coupled to the effector carrier 3 to follow a movement initiated by the first actuating arm 4 and the second actuating arm 5. However, rotation of the effector carrier 3 about a z-axis orthogonal to the x-axis and the y-axis is precluded thanks to the third lower arm joint 34, which is in the form of a cardan joint. The z-axis is perpendicular to the xy-plane and is thus perpendicular to the effector carrier 3.
The third arm drive 27 is also a rotary drive. A drive axis of the third arm drive 27, which will be referred to herein as the third drive axis, is driven for rotation about a third geometric axis 36. The first geometric axis 16 of the first arm drive 7, the second geometric axis 26 of the second arm drive 17 and the third geometric axis 36 of the third arm drive 27 all run in a common plane. Here, the first geometric axis 16 and the third geometric axis 36 are parallel to each other. The second geometric axis 26 runs perpendicular to the first geometric axis 16 and to the third geometric axis 36.
A movement of the third arm drive 27 causes the third upper arm 28 to rotate about the third geometric axis 36. This movement is transmitted to the effector carrier 3 via the third elbow joint 32, the elongated arm section 29 and the third lower arm joint 34. It results in a translational movement of the effector carrier 3 in the direction of the z-axis.
The first straight line 37 is parallel to the first geometric axis 16 of the first arm drive 7. The second straight line 38 is parallel to the second geometric axis 26 of the second arm drive 17. The third straight line 39 is perpendicular to the third geometric axis 36 of the third arm drive.
The second actuating arm 135 has a second arm drive 147, a second upper arm 148, a second lower arm 149 with only one rod 150. This rod 150 is connected to the second upper arm 148 via a second elbow joint 152 and to the effector carrier 133 via a second lower arm joint 154. The second elbow joint 152 and the second lower arm joint are spherical joints.
The third actuating arm 136 includes a third arm drive 157, a third upper arm 158, and an elongated arm section 159 formed by two rods 160, 161. Each of the two rods 160, 161 is connected to the third upper arm 158 via a third elbow joint 162, 163 and to the effector carrier 133 via a third lower arm joint 164, 165. The two third elbow joints 162, 163 and the two lower arm joints 164, 165 are formed as cardan joints. Each of these joints has two geometric joint axes about which it is movable.
The number of all lower arm joints of the first actuating arm 134, the second actuating arm 135 and the third actuating arm 136 is thus five, as in the previous embodiments.
A first straight line 167 extending through the centers of the first two lower arm joints 144, 145 perpendicularly intersects a third straight line 169 extending through the centers of the third two lower arm joints 164, 165.
The advantage of the industrial robot according to the sixth embodiment over the previous embodiments is that the rods 140, 141 of the first lower arm 139, the rod 150 of the second lower arm 149 and the rods 160, 161 of the elongated arm section 159 of the third actuating arm interfere less with each other when the effector carrier moves, since they do not come as close as in the other embodiments.
All features of the invention can be essential to the invention either individually or in any combination with each other.
| Number | Date | Country | Kind |
|---|---|---|---|
| 10 2021 108 472.5 | Apr 2021 | DE | national |
| 10 2021 109 857.2 | Apr 2021 | DE | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/DE2022/100247 | 3/30/2022 | WO |
