Robot module and robot with spacer rods arranged at gravity centers

Patent metadata

Field	Value
Publication number	US-9308652-B2
Application number	US-201213693780-A
Country	US
Kind code	B2
Filing date	Dec 4, 2012
Priority date	Jun 8, 2010
Publication date	Apr 12, 2016
Grant date	Apr 12, 2016

Abstract

A robot module including a robot drive and a robot body, the robot body having a spacer rod, a robot head and at least one control arm, wherein a drive platform of the robot drive and an attachment group of the robot head are connected to each other via the spacer rod and the control arm, wherein the robot drive is configured to swivel the robot head by means of the spacer rod and the control arm, wherein an attachment surface of the attachment group comprises a first gravity center and an attachment surface of the drive platform comprises a second gravity center, and wherein the spacer rod is arranged in the first and the second gravity center.

First claim

The invention claimed is:

1. A robot module comprising
a robot drive and a robot body, the robot body having a spacer rod, a robot head and at least one control arm,
wherein a drive platform of the robot drive and an attachment group of the robot head are connected to each other via the spacer rod and the coral arm,
wherein the robot drive is configured to swivel the robot head by means of the spacer rod and the control arm,
wherein an attachment surface of the attachment group comprises a first gravity center and an attachment surface of the drive platform comprises a second gravity center, wherein the spacer rod is arranged in the first and the second gravity center, and
wherein the robot head comprises an actuator group and the attachment group, the actuator grouped being coupled to the attachment group by a transmission gearing,
wherein the transmission gearing is configured as planetary gearing,
wherein a sun gear of the planetary gearing is connected to the actuator group,
wherein an annulus gear of the planetary gearing is connected to the attachment group, and
wherein at least one planet gear of the planetary gearing is connected to the spacer rod.

2. The robot module according to claim 1 , wherein the spacer rod is connected to the drive platform of the robot drive and to the attachment group of the robot head, respectively, via a joint in a torsion-proof manner with regard to a twist about a longitudinal axis of the spacer rod.

3. The robot module according to claim 2 , wherein the torsion-proof joint is configured as homokinetic joint or cardan joint.

4. The robot module according to claim 1 , wherein the spacer rod is configured in a telescope-like manner and comprises an alterable length.

5. The robot module according to claim 1 , wherein at least three cable pulls with corresponding cable pull drives are provided as control arms, wherein each cable pull is connected to the attachment group in a first cable suspension point and is connected to the drive platform in a second cable suspension point, wherein the first cable suspension points of the attachment group form a first attachment surface and the second cable suspension points of the drive platform form a second attachment surface.

6. The robot module according to claim 5 , wherein at least three additional cable pulls are provided, wherein one cable pull and one additional cable pull are respectively arranged in an adjacent manner next to each other and are in the one first cable suspension point of the cable pull attached to the attachment group, wherein the additional cable pulls are attached to the drive platform in further second cable suspension points, wherein the second cable suspension points of the cable pulls form a first triangle, wherein the further second cable suspension points of the additional cable pulls form a second triangle, and wherein the second triangle is twisted with regard to the first triangle.

7. The robot module according to claim 1 , wherein a corresponding additional cable pull drive is provided for each additional cable pull.

8. The robot module according to claim 1 , wherein the first cable suspension points of the cable pulls and the additional cable pulls respectively comprise a first displacement, wherein the second cable suspension points of the cable pulls respectively comprise a second displacement with regard to the adjacent further second cable suspension points of the additional cable pulls, and wherein the first displacements have the same ratio as the corresponding second displacements.

9. The robot module according to claim 1 , wherein the cable pull is guided by means of a deflection pulley, wherein the deflection pulley is arranged at the robot drive and at least partially supports a tensile force of the cable pull.

10. The robot module according to claim 1 , further comprising a separating wall, the separating wall being arranged between the robot drive and the robot body to spatially separate the robot drive from the robot body, wherein the separating wall comprises at least one sealed control arm guidance.

11. The robot module according to claim 1 , wherein the transmission gearing is configured to convert a twist of the attachment group into a twist of the actuator group according to a predetermined transmission ratio.

12. The robot module according to claim 1 , wherein the attachment group comprises a planetary carrier, wherein the planetary carrier is supported at an attachment plate of the attachment group in a pivotable manner, wherein the attachment plate is connected to a control arm, and wherein the planetary carrier is connected to the spacer rod.

13. The robot module according to claim 12 , wherein the sun gear of the planetary gearing is axially supported by means of an attachment bolt attached to the planetary carrier.

14. The robot module according to claim 13 , wherein the attachment plate radially encompasses the annulus gear of the planetary gearing, wherein the attachment plate provides a first radial bearing for the planetary carrier and a second radial bearing for the actuator group and wherein the annulus gear is arranged between the first bearing and the second bearing.

15. The robot module according to claim 1 , the robot head comprising an actuator group and the attachment group, the actuator group being coupled to the attachment group by means of a transmission gearing;
wherein the transmission gearing is configured to convert a twist of the attachment group into a twist of the actuator group according to a predetermined transmission ratio,
wherein an attachment surface of the attachment group comprises a first gravity center and an attachment surface of the drive platform comprises a second gravity center, wherein the spacer rod is arranged in the first and the second gravity center,
wherein at least three cable pulls with corresponding cable pull drives are provided as control arms, wherein each cable pull is connected to the attachment group in a first cable suspension point and is connected to the drive platform in a second cable suspension point, wherein the first cable suspension points of the attachment group form a first attachment surface and the second cable suspension points of the drive platform form a second attachment surface, and
wherein at least three additional cable pulls are provided, wherein one cable pull and one additional cable pull are respectively arranged in an adjacent manner next to each other and are in the one first cable suspension point of the cable pull attached to the attachment group, wherein the additional cable pulls are attached to the drive platform in further second cable suspension points, wherein the second cable suspension points of the cable pulls form a first triangle, wherein the further second cable suspension points of the additional cable pulls form a second triangle, and wherein the second triangle is twisted with regard to the first triangle.

Assignees

• Pehlivan Armin
• Jaeger Michael
• Rettig Thomas
• Beckhoff Automation Gmbh

Inventors

• Pehlivan Armin
• Jaeger Michael
• Rettig Thomas

Classifications

• B25J17/0266 Primary

  comprising more than two actuating or connecting rods · CPC title

• B25J18/025

  telescopic · CPC title

• B25J9/0078

  actuated by cables · CPC title

• B25J9/1623

  Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base · CPC title

• B25J9/104

  with cables, chains or ribbons · CPC title