Coating plant robot, in particular manipulating robot

Patent metadata

Field	Value
Publication number	US-2018200879-A1
Application number	US-201615742554-A
Country	US
Kind code	A1
Filing date	Jul 5, 2016
Priority date	Jul 14, 2015
Publication date	Jul 19, 2018
Grant date	—

Abstract

The disclosure relates to a coating plant robot ( 1 ), in particular as a manipulating robot ( 1 ) for opening or closing a motor vehicle bodywork during a painting process, comprising a robot kinematic system ( 6 - 15 ) for moving an effector ( 14 ) in the space. The disclosure provides that the robot kinematic system ( 6 - 15 ) has a first robot arm ( 8 ) with a parallel kinematic system.

First claim

1 .- 11 . (canceled)

12 . Coating plant robot comprising a robot kinematic system for moving an effector in space, wherein the robot kinematic system has a first robot arm with a parallel kinematic system.

13 . Coating plant robot according to claim 12 , wherein the coating plant robot is a manipulating robot for opening or closing a motor vehicle bodywork during a painting process.

14 . Coating plant robot according to claim 13 , wherein
a) the first robot arm with the parallel kinematic system comprises at least two arm parts, each having two rotation joints, so that the first robot arm with the parallel kinematic system forms a quadrilateral of joints, whereby the two arm parts are each rotatable relative to directly adjacent robot elements, and b) the rotation joints of one arm part have different rotation axes from the rotation joints of the other arm part, c) the rotation axes of the two arm parts all extend parallel to one another, d) the parallel kinematic system has only one rotary drive in order to pivot the arm parts of the first robot arm relative to a directly adjacent robot element.

15 . Coating plant robot according to claim 14 , wherein the rotation axes of the four rotation joints of the two arm parts lie at the corners of a parallelogram.

16 . Coating plant robot according to claim 14 , wherein the rotation axes of the four rotation joints of the two arm parts lie at the corners of a trapezium.

17 . Coating plant robot according to claim 13 , wherein
a) the first robot arm with the parallel kinematic system is arranged kinematically directly between two adjacent robot elements, b) the first robot arm with the parallel kinematic system is pivotable relative to the two adjacent robot elements, and c) the first robot arm with the parallel kinematic system holds the directly adjacent robot elements in a constant angular relation to one another during a pivot movement.

18 . Coating plant robot according to claim 13 , wherein the robot kinematic system comprises a second robot arm with a parallel kinematic system, wherein the first robot arm with the parallel kinematic system and the second robot arm with the parallel kinematic system are arranged serially behind one another.

19 . Coating plant robot according to claim 18 , wherein the rotation joints of the first robot arm with the parallel kinematic system and of the second robot arm with the parallel kinematic system are always oriented with their rotation axes substantially horizontally, independently of the position of the coating plant robot.

20 . Coating plant robot according to claim 13 , wherein the robot kinematic system comprises the following:
a) a proximally arranged first robot element and b) a second robot element which is arranged kinematically behind the first robot element and is movable relative to the first robot element, and c) the first robot arm with the parallel kinematic system which is arranged kinematically behind the second robot element and is movable relative to the second robot element, and d) a third robot element which is arranged kinematically behind the first robot arm with the parallel kinematic system and is movable relative to the first robot arm with the parallel kinematic system, and e) a fourth robot element which is arranged kinematically behind the third robot element and is movable relative to the third robot element, and f) the second robot arm with the parallel kinematic system, which is arranged kinematically behind the fourth robot element and is movable relative to the fourth robot element, and g) a fifth robot element which is arranged kinematically behind the second robot arm with the parallel kinematic system and is movable relative to the second robot arm with the parallel kinematic system, and h) a sixth robot element which is arranged kinematically behind the fifth robot element and is movable relative to the fifth robot element.

21 . Coating plant robot according to claim 20 , wherein
a) the second robot element is rotatable relative to the proximal first robot element about a vertical first pivot axis, and b) the second robot element is arranged beneath the first robot element, and c) the first robot arm with the parallel kinematic system is pivotable relative to the second robot element about a horizontal second pivot axis, and d) the fourth robot element is pivotable relative to the third robot element about a vertical third pivot axis, and e) the second robot arm with the parallel kinematic system is pivotable relative to the fourth robot element about a horizontal fourth pivot axis, and f) the sixth robot element is pivotable relative to the fifth robot element about a vertical fifth pivot axis.

22 . Coating plant robot according to claim 21 , wherein the proximal first robot element is arranged positionally fixed.

23 . Coating plant robot according to claim 21 , wherein the proximal first robot element is movable on a travel rail.

24 . Coating plant robot according to claim 13 , wherein the coating plant robot is a manipulating robot and the effector is a manipulating tool, which is configured to open or close a motor vehicle bodywork during a painting process.

25 . Coating plant robot according to claim 24 , wherein the manipulating tool is selected from a group consisting of a gripper and a hook.

26 . Coating plant robot according to claim 25 , wherein the manipulating robot is a door opener which is configured to open or close a door of a motor vehicle bodywork during a painting process.

27 . Coating plant robot according to claim 25 , wherein the manipulating robot is a hood opener which is configured to open a hood of a motor vehicle bodywork during a painting process.

28 . Coating plant robot according to claim 13 , wherein the manipulating robot has no additional travel axis, but is arranged positionally fixed and nevertheless has a sufficiently great operating range to open all the doors on one side of a motor vehicle bodywork and a trunk hood and an engine hood of the motor vehicle bodywork.

29 . Coating plant robot according to claim 13 , wherein the coating plant robot has a load capacity of at least 1 kg.

30 . Coating plant robot according to claim 29 , wherein the coating plant robot has an operating range which extends in the horizontal direction over a width of at least 1 m.

31 . Coating plant robot according to claim 30 , wherein the coating plant robot has an operating range which extends in the horizontal direction over a length of at least 1 m.

32 . Coating plant robot according to claim 31 , wherein the coating plant robot has an operating range which extends in the vertical direction over a height of at least 1 m.

33 . Coating plant robot according to claim 32 , wherein the coating plant robot comprises at least five movable robot axes.

34 . Coating plant robot according to claim 33 , wherein the coating plant robot comprises not more than seven movable robot axes.

35 . Coating plant robot according to claim 34 , wherein the coating plant robot comprises at least one electrical axis drive for mechanically driving a robot axis.

36 . Coating plant robot according to claim 35 , wherein the robot kinematic system is partially serial and partially parallel.

37 . Coating plant robot according to claim 36 , wherein the coating plant robot is freely programmable.

Assignees

• Duerr Systems Ag

Inventors

• Imle Matthias

Classifications

• B25J9/1065

  with parallelograms · CPC title

• B25J11/0075

  Manipulators for painting or coating · CPC title

• B25J9/0072 Primary

  of the hybrid type, i.e. having different kinematics chains · CPC title

• B25J9/0045

  with kinematics chains having a rotary joint at the base · CPC title

• B25J9/04

  by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type · CPC title