Driven linear axes and industrial robots

Abstract

The invention relates to a driven linear axis (1) as a robot base for a robot arm of an industrial robot, the linear axis having a housing (20) with a linear rail guide (10), on which a slide (11) is arranged to be linearly reciprocating by means of a transport device. The transport device comprises a belt (15) running around in the housing (20), the belt being guided by two wheels, at least one of which is designed as a drive wheel (153). Furthermore, a drive device (14) is arranged inside the drive wheel (153) and is in a torque-locked rotational connection with the drive wheel (153).

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This patent application claims the priority of German patent application DE 10 2020 119 499.4, the disclosure content of which is incorporated herein by reference. Technical Field

[0003] The invention relates to a driven linear axis as a robot base for a robot arm of an industrial robot. The invention also relates to an industrial robot. Background Art

[0004] Linear axes are used extensively in automation technology and usually have a carriage that can be driven by a toothed belt. For the toothed belt of the driven linear axis, an external electric motor is used, which is usually coupled to the toothed belt via a transmission in a geared manner. The problem here is that the drive, i.e. the electric motor or the transmission, protrudes from the shaft and is of relatively large design.

[0005] This is particularly disadvantageous when the driven linear axis is used as a robot base of an industrial robot. By using the driven linear axis as an extension of the robot base, the industrial robot can additionally perform linear movements. In order to optimally integrate the driven linear axis into the industrial robot, all media required by the industrial robot must be provided on the slide of the linear axis. Summary of the invention

[0006] The object of the present invention is to provide a driven linear axis as a robot base for an industrial robot and a corresponding industrial robot which have a simple construction and require little space.

[0007] The object of the invention is achieved by means of a driven linear axis or an industrial robot according to the independent claim. Advantageous developments, additional features and / or advantages of the invention are apparent from the dependent claims and the following description.

[0008] The driven linear axis has a housing with a linear rail guide on which a slide is arranged, which can be linearly reciprocated by means of a transport device. The transport device comprises a belt running around in the housing and guided by two wheels, wherein at least one wheel is designed as a drive wheel. In this case, the drive device is arranged inside the drive wheel and is in a torque-locked rotational connection with the drive wheel.

[0009] According to the invention, in contrast to linear axes in the prior art, the drive is integrated into the linear axis and requires substantially no additional external installation space. The drive of the linear axis is arranged completely inside the drive wheel for the transport device. The drive has a drive wheel all around its circumference, wherein the drive wheel is arranged to sit on the drive and to be rotated by the drive. The drive forms a compact drive cylinder that can be replaced easily and quickly. This is particularly advantageous in the event of a fault in the drive or when the requirements on the drive change, for example when a different transmission ratio is desired.

[0010] The driven linear axis according to the invention can be used to replace all conventional standard linear axes. Additionally, the linear axis is suitable as a robot base for a robot arm of an industrial robot in order to be able to perform additional linear movements.

[0011] The drive device may have a support shaft, by means of which the drive device is held in the linear axis. In addition, the drive device may have a motor device and a transmission device coupled thereto in a torque-locked manner. The motor device and the transmission device may be arranged in the drive device directly adjacent to each other. In addition, the motor device and the transmission device may be coupled via a driven shaft of the motor device. Here, the driven shaft may be coupled to the input side of the transmission device in a rotationally fixed manner starting from the rotor of the motor device. The driven shaft may be configured as a hollow shaft, which is rotatably accommodated on a bearing shaft. In addition, the output side of the transmission device may be coupled to the drive wheel in a rotationally fixed manner. This achieves a particularly compact structure of the drive device.

[0012] The bearing shaft can be arranged in a rotationally fixed manner in the linear shaft. In addition, the motor device and the transmission device can be accommodated on the bearing shaft. Here, the drive wheel is rotatably supported on the bearing shaft. For this purpose, at least one radial rolling bearing (roller bearing, ball bearing, needle bearing, etc.) or at least one radial sliding bearing can be used. In addition, the output side of the transmission device can be supported on the bearing shaft in a similar manner. In addition, the stator of the motor device can preferably be supported on the hollow shaft by a radial rolling bearing (roller bearing, ball bearing, needle bearing, etc.) or a radial sliding bearing.

[0013] The slide of the driven linear axis has a multifunctional interface, which includes a mechanical interface and a media interface, wherein the media interface preferably includes a data signal interface, an electrical interface and a fluid interface. In this case, at least one reciprocating media traction device is arranged in the housing, which has a media path, preferably a data signal path to the data signal interface, an electrical path to the electrical interface and a fluid path to the fluid interface of the multifunctional interface of the slide.

[0014] At least one medium (for propagating signals or carriers of physical phenomena; optical, electrical, fluid) is guided here by a medium-drawing device installed in the linear axis, which is required on a carriage, in particular when used as a robot base for a robot arm of an industrial robot. The medium is thus guided through the interior of the linear axis and no additional space is required.

[0015] The multifunctional interface of the slide has a mechanical interface, which itself includes a data signal interface, an electrical interface and a fluid interface. The following more detailed embodiments of the multifunctional interface can also be applied to the multifunctional matching interface corresponding thereto. Here, the two multifunctional interfaces, i.e. the interface and the matching interface associated therewith, can face each other and are preferably constructed complementary, i.e. partially complementary or substantially completely complementary, i.e. the interfaces are complementary.

[0016] The multifunctional interface can be configured as an interface that the slide is fixed. Here, the multifunctional interface is arranged on the guide body of the slide.

[0017] The mechanical interface of the multifunctional interface can be configured as a pluggable, screwable, toothed, clampable and / or self-locking interface. In addition, the mechanical interface can have a stop and / or a toothing, in particular a toothing on the end side. If a toothing is used, in particular a Hirth toothing can be used.

[0018] Furthermore, the mechanical interface can have a thread, in particular a radially outer peripheral thread or an inner peripheral thread. Here, the thread or the peripheral thread can be designed as a self-locking thread or a peripheral thread. If a peripheral thread is used, in particular a multi-thread peripheral thread can be used. Furthermore, the mechanical interface can be designed as an interface that can be mechanically contacted at least by a contact device, in particular a contact ring.

[0019] The data signal interface, the electrical interface and the fluid interface can be arranged radially inside the mechanical interface. Here, the data signal interface can be arranged on the central axis of the mechanical interface. In addition, the electrical interface and the fluid interface can be arranged radially outside the data signal interface. In addition, the fluid interface can be at least partially arranged radially outside the electrical interface.

[0020] The multifunctional interface can include a connection side defined by a circle. Here, the connection side can have a mechanical interface on its radial outer edge. In addition, the connection side can be constructed separately on the slide or at least partially by the slide. In addition, the connection side can be constructed in one piece or in multiple pieces. In addition, the connection side can be constructed as a connection disk or a connection sleeve.

[0021] In the linear axis, data signal paths, electrical paths and / or fluid paths can be provided as media paths, which lead to the multifunctional interface of the carriage. In this case, the relevant paths can start at corresponding external connections on the linear axis, or the relevant paths can be introduced into the linear axis, for example, in the form of pipelines. With the aid of at least one media drag device, the reciprocating data signal path, the reciprocating electrical path and / or the reciprocating fluid path can be guided in a protected manner on the linear axis to the multifunctional interface. With the aid of the media drag device, flexible optical, electrical, pneumatic and / or hydraulic pipelines can be guided while maintaining, i.e. not falling below, the minimum permissible bending radius of the pipeline.

[0022] The industrial robot according to the invention comprises a robot arm, in particular a modular robot arm, and a driven linear axis, wherein the robot arm is mechanically connected to a slide of the driven linear axis and optically, electrically and / or fluidically connected to the slide of the driven linear axis.

[0023] The robot arm can have a plurality of arm modules. Here, an arm module can be designed as an active arm module, by means of which a further arm module connected thereto can be rotated. The further arm module can be designed as an active or passive arm module. Furthermore, the arm module can be designed as a passive arm module, which is used, for example, as an extension component and / or a position changing component in the robot arm.

[0024] The housing of the arm module preferably has a first connection side at the end and a second connection side which is arranged offset relative to the connection side. The connection sides are preferably designed to correspond to one another.

[0025] The arm module can be configured such that data signals, current or voltage and / or fluid can be exchanged with another arm module via a first connection side of the arm module and / or via a second connection side of the arm module, wherein the first connection side is mechanically, signal-technically, electrically and / or fluidically connected to the second connection side.

[0026] The first connection side and / or the second connection side can be arranged rotationally fixed on the associated arm module. In the case of an active arm module, the first connection side can be arranged rotatable about a rotation axis so that the first connection side can be controllably rotated relative to the connection side about the rotation axis. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The invention is explained in more detail below on the basis of exemplary embodiments with reference to the attached drawings, which are shown schematically and not to scale.

[0028] The figure shows:

[0029] Figure 1 An embodiment of a driven linear axis is shown in a perspective view obliquely from above;

[0030] Figure 2 The three-dimensional image is shown with the side opening from the upper side. Figure 1 Driven linear axes in;

[0031] Figure 3 Shows Figure 1 Detailed view of a linear axis in FIG. 1 , wherein the driven linear axis is shown in section at the end and in the center in the region of the integrated drive;

[0032] Figure 4 A two-dimensional side view with a central cutaway showing the Figures 1 to 3 Embodiment of the drive device of the driven linear axis;

[0033] Figure 5 Shown in three-dimensional view Figure 4 The driving device in the

[0034] Figure 6 The three-dimensional top view from above shows the Figures 1 to 3 The slide of the driven linear axis is configured as a connecting side of the connecting sleeve;

[0035] Figure 7 The three-dimensional top view from above shows the Figures 1 to 3 The driven linear axis slide is configured as a connection side of the connection disk; and

[0036] Figure 8 A three-dimensional side view is shown with Figures 1 to 3 Embodiment of a modular industrial robot with driven linear axes.

[0037] The illustration relates to an orthogonal coordinate system having a height direction Hr, a longitudinal direction Lr and a transverse direction Qr. DETAILED DESCRIPTION

[0038] The invention is explained in more detail with reference to an embodiment of a driven linear axis which is used as a robot base for a robot arm, in particular a modular robot arm. However, the driven linear axis is not limited to this possible application.

[0039] Figure 1 The driven linear axis is shown in a perspective view from obliquely above. Figure 2 The diagram in which the side is opened shows Figure 1 perspective view to make the details clear. Figure 3 , a schematic representation of an end section of a driven linear axis is shown in section at the end and in the center.

[0040] like Figure 1As shown, the driven linear axis 1 comprises an elongated housing 20 having a linear rail guide 10 above the housing 20, the linear rail guide comprising two profile rails 100. A linearly reciprocating slide 11 having a multifunctional interface 120 is arranged between the profile rails 100.

[0041] As especially Figure 3 As shown, the carriage 11 has a guide body 110 on the bottom side, which has two lateral carriages 112, by means of which the carriage 11 is guided between the profile rails 100 in a straight line and in particular in a sliding manner. The carriages 112 can also be integrated laterally into the guide body 110. The guide body 110 and the carriages 112 can be designed in multiple parts. Alternatively, the guide body 110 and the lateral carriages 112 can be constructed in one piece or integrated in terms of material.

[0042] The slide 11 has two main degrees of freedom in translation in the longitudinal direction Lr. Figure 3 As shown, each profile rail 100 has on the inside a positive-fit profile formed in the transverse direction Qr, relative to which the associated carriage 110 is arranged on a complementary positive-fit profile.

[0043] The carriage 11 can be moved by a transport device, which is designed as an elongated, approximately O-shaped belt, preferably a toothed belt 15. The toothed belt 15 is an elongated, revolving belt with teeth, wherein the upper layer is Figure 1 Instead of the toothed belt 15 , a different type of belt can also be used.

[0044] Toothed belt 15 passes Figure 2 1 . The two toothed wheels 153, 154 shown in FIG. 1 are guided. One wheel is designed as a drive wheel 153 and the other wheel is designed as an impeller 154. However, as an alternative, both wheels can also be drive wheels. The drive wheel 153 is in a torque-locked, in particular fixed rotational connection with the drive device 14 of the driven linear axis 1. The drive device 14 and the drive wheel 153 are arranged in a drive housing section 22 of the housing 20 of the linear axis 1, which in particular forms the relevant longitudinal end section of the housing 20.

[0045] like Figure 3 As shown, the toothed belt 15 with a loop is located on a drive wheel 153. The drive wheel 153 has an external toothing which corresponds to an internal toothing of the toothed belt 15 which is complementary thereto.

[0046] In addition, if Figure 2As shown, the driven linear axis 1 has at least one reciprocating media entrainment device, which in the embodiment shown is formed by two drag chains 16. The media entrainment device can also have only one drag chain or also have additional drag chains. The two drag chains 16 are arranged between the upper and lower layers of the toothed belt 15 in the housing 20 of the linear axis 1. Here, the drag chains 16 are placed on a plate-shaped device 17, which is laterally fixed to the housing 20 internally. With the help of the two drag chains 16, media paths, such as data signal paths, electrical paths and fluid paths, can be arranged in a reciprocating manner in the linear axis 1 and can be guided to the multifunctional interface 120 in a protected manner. The drag chains 16 are arranged so that the minimum bending radius does not fall below the specific design of the media paths.

[0047] The two drag chains 16 are bent in opposite directions and are placed opposite each other in the longitudinal direction Lr on a plate-shaped device 17. Preferably, on the lateral side, in particular mainly or substantially centrally in the longitudinal direction Lr, the relevant path is guided into the respective drag chain 16 via a recess (not shown) in the plate-shaped device 17. Starting from this, the relevant drag chain 16 is first guided in the direction of the longitudinal end of the linear axis 1 to a region in which the drag chain is bent to the opposite lateral side and guided back in the direction of the carriage 11. Below the carriage 11, the media path of the drag chain 16 leads to the multifunctional interface 120 of the carriage 11.

[0048] The multifunctional interface 120 of the slide 11 has a connection side 114. Figure 3 and Figure 6 As shown, the connecting side 114 can be configured as a connecting sleeve for connecting the disk. Alternatively, the connecting side 114 can be configured as Figure 7 The structure shown is a connection plate for connecting a sleeve. However, the connection side can have any contact simulation part. Here, the connection side 114 of the multifunctional interface 120 is designed in principle so that the connection side 114 of the multifunctional interface 120 corresponds to the connection end side of the taker for the medium guided to the multifunctional interface 120 of the carriage 11 through the medium path in the drag chain 16 and can be connected to each other.

[0049] like Figure 3 and especially Figure 4 and Figure 5 As shown in the detailed view in , the drive device 14 of the linear axis 1 includes a motor device 140 and a transmission device 150, which are designed as a drive cylinder. Therefore, the drive device 14 forms a compact unit, which can be easily and quickly arranged in the linear axis 1 and can be removed again.

[0050] The toothed belt 15 and the carriage 11 mechanically fixedly connected to the toothed belt can be driven electrically and preferably at a reduced speed by means of the drive 14. Here, a single drive 14 and a passive deflection wheel for the toothed belt 15 can be used, or two drives 14 each with a drive wheel for the toothed belt 15 can be used.

[0051] The basic design of the drive 14 has a radially outer transmission output of the transmission 150 , at which a drive wheel 153 of the drive 14 for the toothed belt 15 is located.

[0052] Preferably, the shaft assembly of the drive device 14 is located between the motor device 140 and the transmission 150 of the drive device 14. The shaft assembly has a hollow shaft 142, which rotates relatively quickly relative to the output side 152 of the transmission 150. A bearing shaft 143 that is fixed in rotation relative to the housing 20 of the linear axis 1 is arranged in the hollow shaft 142. In this case, the hollow shaft 142 is preferably supported in a rotationally sliding manner on the bearing shaft 143 that is fixed in rotation. In addition, at least one radial rolling bearing, i.e. a roller bearing, a ball bearing, a needle bearing, etc., can also be used.

[0053] The input side 151 of the transmission 150 is connected to the hollow shaft 142 in a rotationally fixed manner, whereby the input side 151 is supported on the hollow shaft 142. The intermediate ring of the transmission 150 can be supported laterally on the actual transmission 150 away from the motor device 140 by means of radial rolling bearings on the rotationally fixed bearing shaft 143. A separate ring can be provided for radial inner support. In a stress wave transmission, such an intermediate ring is, for example, a deformable cylindrical sleeve or a so-called flexible spline. In a cycloidal transmission, this is, for example, a cycloidal disk.

[0054] The output side 152 of the transmission 150 can be supported on the hollow shaft 142 between the motor device 140 and the transmission 150, for example, by means of radial rolling bearings. In addition, the output side 152 can also be supported on the hollow shaft 142 or, if necessary, also on the bearing shaft 143 on the other side of the motor device 140 by means of radial rolling bearings. All radial rolling bearings can be designed as roller bearings, ball bearings, needle bearings, etc. If necessary, radial sliding bearings can also be used instead of radial rolling bearings.

[0055] The electric motor device 140 drives a fast hollow shaft 142 as an input shaft of the transmission 150 with its output speed, which preferably reduces its drive speed to the output speed of the transmission 150 or the drive device 14. The output side 152 of the transmission 150 is connected to the drive wheel 153 in a rotationally fixed manner. Here, the drive wheel 153 is located radially on the outside of the output side 152 of the transmission 150. Preferably, the output side 152 of the transmission 150 and the drive wheel 153 are configured relative to each other so that the drive wheel 153 can preferably be easily removed from the output side 152 and reinstalled.

[0056] Furthermore, the drive device 14 has an encoder 141 , which is preferably designed as a rotary encoder, on a rotationally fixed bearing shaft 143 .

[0057] exist Figure 6 and Figure 7 Two possible designs of the multifunctional interface 120 of the slide 11 with the connection side 114 are shown in FIG. Figure 6 The embodiment of the multifunctional interface 120 of the slide 11 shown in FIG. 1 corresponds to the embodiment also shown in FIG. Figure 3 The two embodiments of the multifunctional interface 120 are designed to be complementary to one another and can be coupled to one another.

[0058] In both embodiments, the multifunctional interface 120 of the slide 11 has a mechanical interface. In addition, the multifunctional interface may include a data signal interface, an electrical interface, and a fluid interface. Here, the relevant mechanical interface preferably surrounds other interfaces, which are therefore arranged in the multifunctional interface 120 radially inside the mechanical interface.

[0059] exist Figure 6 In the first embodiment shown in FIG, the connection side 114 of the slide 11 is circularly configured. The connection side 114 has a fixing ring 132 with an internal thread on the circumferential side. The connection side 114 also includes an end toothing 133 with four teeth, which is configured as a Hirth toothing. In addition, a centering receptacle 137 is provided on the connection side 114. The fixing ring 132 with an internal thread and the end toothing 133 form a mechanical interface.

[0060] The connection side 114 also has a contact device, which in a first embodiment includes a data signal interface device 134, an electrical interface device 135 and a fluid interface device 136. The contact device is adapted to the type and amount of the medium supplied to the connection side 114.

[0061] The data signal interface 134 is arranged on the central axis Ra of the connection side 114 . The electrical interface 135 is arranged on the connection side 114 radially outside the data signal interface 134 . The fluid interface 136 is arranged on the connection side 114 radially outside the electrical interface 134 .

[0062] The data signal interface device 134 is configured as an optical or electrical plug connector. The electrical interface device 135 comprises four electrical plug connectors, which are located on the first inner circumference. The fluid interface device 136 consists of four fluid plug connectors arranged on the second outer circumference.

[0063] The connection side 114 is Figure 7 The second embodiment shown in FIG. 1 extends perpendicularly to the rotation axis Ra and is circularly configured. An external thread 232 is mounted on the outer peripheral side of the connection side 114. The connection side 114 includes an end toothing 233 with six teeth, which is configured as a Hirth toothing. In addition, a centering pin 237 is provided on the connection side 114. The external thread 232 and the end toothing 233 form a mechanical connection element.

[0064] Furthermore, the connection side 114 comprises a contact device which, in a second embodiment, comprises a data signal interface device 234, an electrical interface device 235 and a fluid interface device 236. The contact device is adapted to the type and amount of the medium supplied to the connection side 114.

[0065] The data signal interface device 234 is arranged on the central axis Ra of the connection side 114 . The electrical interface device 235 is arranged on the connection side 114 radially outside the data signal interface device 234 . The fluid interface device 236 is arranged on the connection side 114 radially outside the electrical interface device 234 .

[0066] The data signal interface device 234 is configured as a receptacle for an optical plug connector. The electrical interface device 235 comprises four receptacles for electrical plug connectors, which are located on the first inner circumference. The fluid interface device 236 consists of four receptacles for fluid plug connectors, which are arranged on the second outer circumference.

[0067] When assembling the multifunctional interface 120 of the slide 11 with a removal device (such as a robot arm), as in Figure 8 As shown in FIG, the connection sides are designed to be complementary to each other and can be coupled to each other. The design of the multifunctional interface 120 with the connection side 114 of the slide 11 can correspond to the design of the multifunctional interface 120 with the connection side 114 in FIG. Figure 6 Then, according to Figure 7 The embodiment shown in Figure 1 forms the connection side of the removal device.

[0068] The following explains Figure 6 and Figure 7 The connections of the connection sides shown in , which are designed to complement each other.

[0069] according to Figure 7 The connection side 114 of the embodiment is placed according to Figure 6 14. Here, the centering pin 237 engages in the centering receptacle 137. The centering pin 237 and the centering receptacle 137 are thus used as coding devices. However, different coding designs can also be provided. The coding can be performed, for example, by complementary geometric shapes of the connection sides. In addition, before the contact devices of the two connection sides contact, in particular before the contact devices for transmitting data signals and current or voltage contact, potential balancing is achieved between the two elements to be connected by engaging the centering pin 237 in the centering receptacle 137.

[0070] By rotating the fixing ring 132, the internal thread is screwed onto the external thread 232, thereby Figure 6 and Figure 7 The connection sides are pressed against each other. In the pressed state, the two end teeth 133, 233 mesh with each other so that the connection sides are mechanically torque-locked and connected to each other. In addition, the contact devices of the two connection sides are in contact, thereby providing optical coupling, electrical coupling and fluid coupling for transmitting data signals, current or voltage and fluid. The optical coupling is carried out on the central axis of the mechanical connection, in particular on the rotation axis. The electrical coupling and the fluid coupling are arranged radially outside the optical coupling.

[0071] The optical coupling is achieved by transmission between two data signal interface devices 134, 234, which can be plugged into each other. Preferably, the data signal interface device is designed as a simply designed optomechanical or electromechanical contact connection device or plug connection device.

[0072] The electrical coupling is achieved by transmission between two electrical connection devices 135, 235, which can be plugged into each other. Preferably, the electrical connection device is designed as a simple electromechanical contact connection or plug connection.

[0073] The fluid coupling is achieved by transmission between two fluid connection devices 136, 236, which can be plugged into one another. Preferably, the fluid connection devices are designed as simply designed fluid mechanical contact connections or plug connections.

[0074] exist Figure 8An embodiment of an industrial robot is shown by way of example in . An industrial robot is an automatic machine with multiple degrees of freedom for automation technology, which can perform various functions in a working environment with its own power (determined by the conditions) by means of preprogrammed control / regulation.

[0075] The industrial robot comprises a robot base formed by a driven linear axis 1, a robot arm 2 and a preferably replaceable end effector which is arranged on a Figure 8 The end effector is provided with a tool, a gripper, etc., for example, and the tool, the gripper is arranged on the free end or the distal end of the robot arm 2 .

[0076] The robot arm 2 of the industrial robot is modularly constructed with a plurality of arm modules. In principle, the arm modules can be designed arbitrarily, wherein a distinction can be made between active arm modules 5 and passive arm modules 6. The active arm module 5 has a drive, by means of which another arm module that can be connected thereto can be rotated. Similarly, the passive arm module 6 has no drive and serves as an extension component.

[0077] The arm modules each have two connecting sides, wherein the active arm module 5 has an L-shape and the passive arm module 6 has an I-shape. However, the arm modules can also have other geometries.

[0078] The connection sides of the arm modules are each designed correspondingly and complementarily or similarly. In this case, the connection sides of the arm modules can be coupled mechanically, optically, electrically and fluidically to the associated connection sides of another arm module. Preferably, the connection sides of the arm modules each have a uniform, complementary contact mimicry, which ensures the compatibility of the arm modules. Preferably, the arm modules each have a Figure 6 The connection side of the embodiment shown in FIG. Figure 7 The connection side in the embodiment shown in FIG.

[0079] Figure 8 The robot arm 2 in FIG. 1 comprises four active arm modules 5 and one passive arm module 6. However, the robot arm may be composed of any number of active and passive arm modules. Figure 8 In the figure, for the purpose of differentiation, the active arm module 5 and the passive arm module 6 are each provided with an additional number separated by a dot, wherein the numbering is carried out starting from the robot base toward the distal direction.

[0080] exist Figure 8In the robot arm 2 in the embodiment of the embodiment, the first active arm module 5.1 is connected to the slide 11 of the driven linear axis 1 as the robot base. The second active arm module 5.2 is connected to the first active arm module 5.1. A passive arm module 6.1 is arranged between the second active arm module 5.2 and the third active arm module 5.3, and the fourth active arm module 5.4 is connected to the third active arm module 5.3, and the fourth active arm module constitutes the distal end of the robot arm 2.

[0081] Each active arm module 5 forms a movement axis, so that Figure 8 The robot arm 2 in has four axes of motion, which are configured as rotation axes Ran (n=1, ..., 4). In this case, any number of complete and partial circumferences of the corresponding active arm module 5 can be performed along preferably two circumferential directions Ur of the associated rotation axis Ran (n=1, ..., 4). In this case, the rotation axis Ran (n=1, ..., 4) is preferably an ideal "joint" (rotational joint, revolute joint and / or pivot joint) of the robot arm 2, for example relative to the driven linear axis 1. In principle, the robot arm can have two to six axes of motion, which are provided by a corresponding number of active arm modules.

[0082] In the active arm module 5, the connection sides are designed to be controllably twistable relative to each other. In addition, an optical rotation transmission device for rotationally transmitting data signals between the connection sides, an electric rotation transmission device for rotationally transmitting electrical energy between the connection sides, and a fluid rotation transmission device for rotationally transmitting fluid between the connection sides are provided.

[0083] Reference numerals list

[0084] 1 Driven linear axis

[0085] 2 Robotic Arm

[0086] 5-arm module

[0087] 10 Linear rail guides

[0088] 11 Slide

[0089] 14 Drive device

[0090] 15 Toothed belt

[0091] 16 Drag chain

[0092] 17 plate device

[0093] 20 Shell

[0094] 22 Drive housing section

[0095] 100 Profile rail

[0096] 110 guide body (slide seat)

[0097] 112 Slide (slide seat)

[0098] 114 Connecting side (sliding seat)

[0099] 120 multi-function interface (slide seat)

[0100] 132 Fixing ring

[0101] 133 end teeth

[0102] 134 Optical interface device

[0103] 135 Electrical interface device

[0104] 136 Fluid interface device

[0105] 137 Centering accommodating part

[0106] 140 Electric motor device

[0107] 141 Encoder

[0108] 142 Hollow shaft

[0109] 143 Bearing shaft

[0110] 150 Transmission

[0111] 151 Input side (transmission device)

[0112] 152 output side (transmission device)

[0113] 153 driving wheel

[0114] 154 Impeller

[0115] 232 External thread

[0116] 233 end teeth

[0117] 234 Optical interface device

[0118] 235 Electrical interface device

[0119] 236 Fluid Interface Device

[0120] 237 Centering pin

Claims

1. A driven linear axis (1) as a robot base, the linear axis having A housing (20) having a linear rail guide (10), wherein the linear rail guide has two profile rails (100), on which a slide (11) can be arranged in a linear reciprocating manner by means of a transport device, in, The slide (11) has a guide body (110), which has two lateral slides (112) and a multifunctional interface (120). The slide (11) is guided between two profile rails (100) by means of the two lateral slides (112). The transport device comprises a belt (15) which is looped in the housing (20), the belt being guided by two wheels (153, 154), at least one of the wheels being designed as a drive wheel (153). The drive device (14) in the form of a drive cylinder is completely arranged inside the drive wheel (153) and is in a torque-locked rotational connection with the drive wheel (153). The drive device (14) has a bearing shaft (143) completely located inside the drive wheel (153), and the periphery of the drive device (14) is completely surrounded by the drive wheel (153). The multifunctional interface (120) of the slide seat (11) has a connection side (114), the connection side includes a mechanical interface (132, 133; 232, 233) and a medium interface (134, 135, 136; 234, 235, 236), and Wherein, within the housing (20), at least one reciprocating medium dragging device (16) guides the medium path to the medium interface (134, 135, 136; 234, 235, 236), The drive device (14) comprises a motor device (140) and a transmission device (150). A shaft assembly is provided between the motor device (140) and the transmission device (150), wherein the shaft assembly has a hollow shaft (142) as a driven shaft, the hollow shaft being rotatably received on a bearing shaft (143) of the drive device (14) which is rotationally fixed relative to the housing (20). The input side (151) of the transmission (150) is connected to the hollow shaft (142) in a rotationally fixed manner, and The drive wheel (153) is located radially on the outside on an output side (152) of the transmission (150) and is coupled to the output side (152) of the transmission (150) in a rotationally fixed manner.

2. The driven linear axis (1) according to claim 1, in, The at least one drag chain of the medium drag device (16) is arranged between the upper and lower layers of the circulating belt (15) in the housing (20) and rests on a plate-shaped device (17) which is laterally fixed to the inside of the housing (20).

3. The driven linear axis (1) according to claim 1, in, The media interface of the multifunctional interface (120) comprises a data signal interface (134; 234), an electrical interface (135; 235) and a fluid interface (136; 236), At least one reciprocating medium dragging device (16) in the housing (20) guides a data signal path to the data signal interface (134; 234) of the multifunctional interface (120) of the slide seat (11), guides an electrical path to the electrical interface (135; 235), and guides a fluid path to the fluid interface (136; 236).

4. The driven linear axis (1) according to claim 3, in, The data signal interface (134; 234), the electrical interface (135; 235) and the fluid interface (136; 236) are arranged radially inside the mechanical interface (122). The data signal interface (134; 234) is arranged on the central axis (Hr) of the mechanical interface, and The electrical interface (135; 235) and the fluid interface (136; 236) are arranged radially outside the data signal interface (134; 234).

5. The driven linear axis (1) according to any one of claims 1 to 4, in, The connection side (114) of the multifunctional interface (120) is configured as a connection sleeve for a connection disk or as a connection disk for a connection sleeve.

6. An industrial robot having a robot arm (2) and a driven linear axis (1) as claimed in any one of the preceding claims as a robot base, wherein: The connection side of the robot arm (2) is constructed complementary to the connection side (114) of the slide (11), wherein the robot arm (2) is mechanically connected to the slide (11) of the driven linear axis (1) and is signal-connected, electrically connected and / or fluidically connected to the slide (11) of the driven linear axis (1).

7. The industrial robot according to claim 6, in, The robot arm (2) has a plurality of arm modules (5, 6), Therein, at least one arm module is configured as an active arm module (5), by means of which another arm module connected to the active arm module can be rotated.

Images