Robot, XY table for a robot and linear transport system

Patent metadata

Field	Value
Publication number	US-10926406-B2
Application number	US-201815941722-A
Country	US
Kind code	B2
Filing date	Mar 30, 2018
Priority date	Oct 2, 2015
Publication date	Feb 23, 2021
Grant date	Feb 23, 2021

Abstract

A robot for a linear transport system includes a carriage guide rail and first and second XY tables, each with first and second carriages arranged to move independently on the carriage guide rail, and first and second linear guides, each having first and second guide elements which can be moved relative to one another and are configured with an angular offset. The first guide elements of the first and second linear guides are connected via a support structure. The second guide elements of the first and second linear guides are connected to the first and second carriages. The robot can include first and second arm systems connected to one another via an articulated system, with an attached work tool. The first and second arm systems can connect to the support structures of the first and second XY tables via corresponding first and second joints.

First claim

What is claimed is:

1. A robot for a linear transport system comprising a carriage guide rail which has an arc section, having:
a first and a second XY table, each having a first and a second carriage, which are each arranged in such a way as to be movable independently of one another on the carriage guide rail, and
a first and a second linear guide, which each have a first and a second guide element, which can be moved relative to one another along a path;
wherein the first and the second linear guide are configured with an angular offset with respect to one another,
wherein the first guide elements of the first and the second linear guide are connected to one another via a support structure,
wherein the second guide element of the first linear guide is connected to the first carriage, and the second guide element of the second linear guide is connected to the second carriage; a first and a second arm system, which are connected to one another via an articulated system, and
wherein the first arm system is connected to the support structure of the first XY table via a first joint, and the second arm system is connected to the support structure of the second XY table via a second joint; and a work tool, which is connected to the articulated system,
wherein a three-axis motion of the work tool is performed by moving the first and the second carriage of the first XY table and the first and the second carriage of the second XY table, each carriage being controlled separately, wherein at least one of the first and second linear guides is connected rotatably to the associated carriage or the support structure.

2. The robot as claimed in claim 1 , wherein the first joint is rotatably mounted on the support structure of the first XY table, and the second joint is rotatably mounted on the support structure of the second XY table.

3. The robot as claimed in claim 1 , wherein:
the first and the second arm system are each configured as a two-dimensional object forming a surface, wherein the articulated system has a first joint for connection to the first arm system and a second joint for connection to the second arm system, and
the first joint and the second joint are connected to one another by a coupling device.

4. The robot as claimed in claim 3 , wherein the coupling device is a gear mechanism.

5. The robot as claimed in claim 1 , wherein the first and the second arm system are each configured as a three-dimensional object which in each case has a three-point connection to the articulated system and the support structure of the associated XY table.

6. A linear transport system comprising a carriage guide rail having an arc section, and a robot, having:
a first and a second XY table, each having a first and a second carriage, which are each arranged in such a way as to be movable independently of one another on the carriage guide rail, and
a first and a second linear guide, which each have a first and a second guide element, which can be moved relative to one another along a path;
wherein the first and the second linear guide are configured with an angular offset with respect to one another,
wherein the first guide elements of the first and the second linear guide are connected to one another via a support structure, and
wherein the second guide element of the first linear guide is connected to the first carriage, and the second guide element of the second linear guide is connected to the second carriage; and
a first and a second arm system, which are connected to one another via an articulated system;
wherein the first arm system is connected to the support structure of the first XY table via a first joint, and the second arm system is connected to the support structure of the second XY table via a second joint; and a work tool, which is connected to the articulated system,
wherein a three-axis motion of the work tool is performed by moving the first and the second carriage of the first XY table and the first and the second carriage of the second XY table, each carriage being controlled separately, wherein at least one of the first and second linear guides is connected rotatably to the associated carriage or the support structure.

7. The linear transport system as claimed in claim 6 , wherein the carriage guide rail forms a closed path.

8. The linear transport system as claimed in claim 6 , wherein:
the carriage guide rail is arranged on a stator, which has an in-series arrangement of individually energizable coils, and
the carriages each comprise at least one permanent magnet, which is designed to interact with a magnetic field formed by the in-series arrangement of individually energizable coils.

9. The linear transport system as claimed in claim 6 , wherein:
the first linear and second linear guides of the first and second XY tables are configured as slotted guides,
the first guide elements of the first and the second linear guide are each guide rails in the form of a slot and the second guide elements of the first and the second linear guide are each sliding elements in the form of a sliding pin, and
the slots slope relative to one another, and wherein each of the first linear and second linear guides is rotatably connected to the associated carriage or to the support structure, in that the sliding pin of each linear guide is rotatably mounted in the respective slot of the linear guide.

10. The linear transport system as claimed in claim 9 , wherein the slot in which the rotatably configured sliding pin is arranged is embodied as a curved slot.

11. The linear transport system as claimed in claim 10 , wherein the sliding pin rotatably mounted in the curved slot is a bolt.

Assignees

• Beckhoff Automation Gmbh

Inventors

• Prüssmeier Uwe
• Pehlivan Armin
• Henke Christian
• Sonderegger Stefan
• Morscher Thomas
• Maier Clemens

Classifications

• B25J9/106 Primary

  with articulated links · CPC title

• Y10S901/27

  Arm part · CPC title

• B25J9/1065

  with parallelograms · CPC title

• Y10S901/02

  Arm motion controller · CPC title

• B25J5/02

  travelling along a guideway · CPC title