Industrial robot

Abstract

The invention proposes an industrial robot (1, 101) with serial kinematics or parallel kinematics, comprising a robot base (2, 102), at least one robot arm (3, 103, 103a), with an arm drive, and an effector holder (4, 104), holding an effector. The at least one robot arm (3, 103, 103a) is formed here so as to move the effector holder (4, 104) in at least two spatial dimensions relative to the robot base (2, 102). The industrial robot (1, 101) has at least a first hand axle (14), which moves an effector, arranged on the effector holder (4, 104), with respect to a first geometrical axis (27, 127). The first hand axle (14) comprises a first hand-axle motor (15) and a first hand-axle gear mechanism (16). The first hand-axle gear mechanism (16) has a first gear stage (21), which is coupled to the first hand-axle motor (15) and comprises a first planetary-gear mechanism (19), and has a second gear stage (22), which is coupled to the first gear stage (21) and comprises a first bevel-gear mechanism.

Description

[0001] Title: Industrial robots

[0002] DESCRIPTION

[0003] The invention is based on an industrial robot with serial kinematics or parallel kinematics, which comprises a robot base, at least one robot arm with arm drive and an effector holder receiving an effector, wherein the at least one robot arm is designed to move the effector holder relative to the robot base in at least two dimensions in space.

[0004] Such industrial robots with serial kinematics or parallel kinematics are used to position and move an effector in space. They are equipped with a robot base that is stationary or mounted on a movable platform and an effector mount for holding an effector. The effector can be, for example, a gripper, a tool, or a machine element. The movement of the effector mount relative to the robot base is achieved by means of at least one robot arm equipped with an arm drive. An industrial robot with serial kinematics is, for example, an articulated-arm robot or a SCARA robot. The latter is also called a horizontal articulated-arm robot. The structure of an industrial robot with serial kinematics resembles a human arm.An industrial robot with parallel kinematics is provided with two, three, or more robot arms, one end of which is attached to the robot base and the other end to a support element that houses the effector mount. The support element can also be referred to as a tool carrier or a platform. Through the coordinated movement of the driven robot arms, an effector arranged on the effector mount can be moved in a targeted manner in several dimensions in space. The robot arms of the parallel kinematics ensure spatial parallelogram guidance of the effector mount. All arms contribute simultaneously and thus in parallel to the movement of the support element.

[0005] The effector holder with an effector arranged thereon is positioned in space by means of at least one robot arm. Movement of the effector holder relative to the robot arm, as well as movement of the effector or parts of the effector relative to the effector holder, is carried out by means of at least one hand axis. This enables, for example, rotation of the effector or the opening and closing of an effector designed as a gripper. If the at least one robot arm moves the effector holder relative to three axes, the corresponding robot arm axes are referred to as the 1st axis, 2nd axis, and 3rd axis. The hand axes that move an effector arranged on the effector holder are referred to as the 4th axis, 5th axis, and 6th axis. In this case, the industrial robot is equipped with six axes, three of which are designed as hand axes. The industrial robot may have only four or five axes.In this case, either the number of axes of at least one robot arm is reduced or the number of hand axes is reduced.

[0006] Each hand axis is equipped with a hand axis motor and a hand axis gear. The hand axis motor and the hand axis gear ensure the movement of an effector arranged on the effector mount relative to a geometric axis. A geometric axis is a mathematical straight line. If multiple hand axes are provided, the corresponding geometric axes are typically at an angle to each other, for example, at an angle of 90°. The hand axis motors are preferably arranged directly or close to the effector mount so that the distance to the effector is shortened and losses during power and torque transmission are minimized. The hand axis motors and hand axis gears must be as compact as possible, since space is limited in the immediate vicinity of the effector.In addition, the hand-axle gears should be as light as possible, have little play, low friction, good efficiency and a suitable gear ratio.

[0007] The invention is based on the object of providing an industrial robot in which the at least one hand axis takes up little space, has little play, high efficiency and a gear ratio suitable for the application.

[0008] This object is achieved by an industrial robot having the features of claim 1. The industrial robot is characterized in that the at least one wrist axis has a wrist axis gear with a first gear stage and a second gear stage, wherein the first gear stage comprises a planetary gear and the second gear stage comprises a bevel gear. The planetary gear is coupled to the wrist axis motor. The bevel gear is coupled to the planetary gear. The effector mount is coupled to the bevel gear. Thanks to the planetary gear, a transmission ratio of the speed of the wrist axis motor to the speed of the effector is specified for the respective application and effector. The bevel gear is characterized by low backlash.The combination of the planetary gear in the first gear stage and the bevel gear in the second gear stage has the advantage of achieving the desired gear ratio with minimal backlash and high efficiency. Small, compact, and lightweight hand-axis motors can be connected directly to the hand-axis gear, resulting in a small and compact overall design for the hand-axis.

[0009] The first planetary gear, directly connected to the first hand-axis motor, has a gear ratio of less than 1. It ensures that the input speed of the first hand-axis motor is translated into an outgoing speed that is lower than the input speed. This results in a gear reduction. The speed of the first hand-axis motor is reduced. The planetary gear has the advantage of requiring little space due to its small volume, and the coaxial input and output shafts, also known as the drive and output shafts.

[0010] The bevel gear of the second gear stage primarily serves to deflect the gear. The input and output shafts are at an angle to each other. Their geometric axes have a common intersection point. The bevel gear comprises a ring gear and a bevel gear pinion, which are arranged with as little backlash as possible. The freedom of movement within which the ring gear and the bevel gear pinion can move relative to each other is adjusted during the arrangement to be as small as possible. Since the planetary gear is used for transmission and the bevel gear essentially for deflection, the ring gear and the bevel gear pinion can be compact. This ensures an overall compact design. The bevel gear has significantly less backlash than the planetary gear. It can reduce the backlash of the planetary gear.This makes the bevel gear drive particularly well-suited for transmitting the torque of the wrist axis motor to the effector mounted on the effector mount. Due to the low backlash, the effector movement is very precise. This applies even when the effector encounters resistance at the point of use. The combination of the planetary gear drive in the first gear stage, which serves as the reduction gear, and the bevel gear drive in the second gear stage, which serves as the deflection gear, achieves a precise drive with the reduction gear ratio specified by the planetary gear drive, with low backlash, especially low backlash, low friction, low mass, and a compact design.

[0011] The industrial robot according to the invention has at least one hand axis with a hand axis gear comprising a planetary gear and a bevel gear. If the industrial robot is equipped with multiple hand axes, only one hand axis or two hand axes or all three hand axes can be designed according to the invention. In an industrial robot with six axes, the 5th axis and the 6th axis are preferably designed according to the invention and thus have a hand axis gear with a planetary gear as the first gear stage and a bevel gear as the second gear stage. If the industrial robot is equipped with two hand axes with a hand axis gear according to the invention, the geometric axes of the hand axis motor, the geometric axes of the first gear stage and / or the geometric axes of the second gear stage of the two hand axes are preferably aligned at a specific angle to one another.In order to distinguish these two hand axes constructed according to the invention from one another, they will be referred to as the first hand axis and the second hand axis. This is not intended to be a restriction to a specific hand axis of an industrial robot. The hand axis motor of the first hand axis is referred to below as the first hand axis motor. Furthermore, the hand axis gear of the first hand axis is referred to as the first hand axis gear. The planetary gear of the first hand axis is referred to as the first planetary gear, and the bevel gear of the first hand axis is referred to as the first bevel gear.According to an advantageous embodiment of the invention, the industrial robot is equipped with at least two hand axes, wherein each of the two hand axes has a hand axis motor and a hand axis gear, and each hand axis gear is equipped with a first gear stage comprising a planetary gear and a second gear stage comprising a bevel gear. As stated above, one hand axis is referred to as the first hand axis and the other hand axis is referred to as the second hand axis. The first hand axis moves the effector about a first geometric axis. The second hand axis moves the effector about a second geometric axis, wherein the second geometric axis is different from the first geometric axis. The planetary gear of the second hand axis is referred to as the second planetary gear. It has a gear ratio of incoming speed to outgoing speed that is less than 1.The bevel gear of the second wrist axis is referred to as the second bevel gear. Otherwise, reference is made to the above-mentioned properties and advantages of the first and second gear stages of the first wrist axis.

[0012] According to a further advantageous embodiment of the invention, the industrial robot has six axes: three axes of the at least one robot arm and a 4th, 5th, and 6th axis. The 5th axis corresponds to the first hand axis according to the invention, and the 6th axis corresponds to the second hand axis according to the invention.

[0013] According to a further advantageous embodiment, the first gear stage of the first hand axis is formed exclusively by the first planetary gear.

[0014] According to a further advantageous embodiment, the second gear stage of the first hand axis is formed exclusively by the first bevel gear. According to a further advantageous embodiment of the invention, the first gear stage of the second hand axis is formed exclusively by the second planetary gear.

[0015] According to a further advantageous embodiment of the invention, the second geometric axis around which the second hand axis moves the effector is perpendicular to the first geometric axis around which the first hand axis moves the effector.

[0016] According to a further advantageous embodiment of the invention, the first hand axis motor has a first drive shaft which is driven for rotation about a first geometric drive shaft axis.

[0017] According to a further advantageous embodiment of the invention, the first geometric drive shaft axis is perpendicular to the first geometric axis.

[0018] According to a further advantageous embodiment of the invention, the second hand axis motor has a second drive shaft which is driven for rotation about a second geometric drive shaft axis.

[0019] According to a further advantageous embodiment of the invention, the second geometric drive shaft axis is parallel to the second geometric axis.

[0020] According to a further advantageous embodiment of the invention, the first geometric drive shaft axis and the second geometric drive shaft axis are parallel. In this case, the first hand-axis motor and the second hand-axis motor can be arranged directly next to one another. This supports a small and compact design. According to a further advantageous embodiment of the invention, the first bevel gear mechanism has a first bevel gear pinion and a first ring gear operatively connected to the first bevel gear pinion.

[0021] According to a further advantageous embodiment of the invention, the second bevel gear has a second bevel gear pinion and a second ring gear operatively connected to the second bevel gear pinion.

[0022] According to a further advantageous embodiment of the invention, the first planetary gear is directly connected on the drive side to the first drive shaft of the first hand-axis motor. Thus, no additional gear component is located between the first drive shaft and the first planetary gear.

[0023] According to a further advantageous embodiment of the invention, the first planetary gear is directly connected on the output side to the first bevel gear pinion of the first bevel gear. Thus, there is no additional gear component between the first planetary gear and the first bevel gear.

[0024] According to a further advantageous embodiment of the invention, the second planetary gear is directly connected on the drive side to the second drive shaft of the second hand axis motor. Thus, there is no additional gear component between the second drive shaft and the second planetary gear.

[0025] According to a further advantageous embodiment of the invention, the second planetary gear is directly connected on the output side to the second bevel gear pinion of the second bevel gear. Thus, there is no additional gear component between the second planetary gear and the second bevel gear.

[0026] According to a further advantageous embodiment of the invention, the first ring gear is rotatable about a first geometric ring gear axis, and the second ring gear is rotatable about a second geometric ring gear axis. The first geometric ring gear axis coincides with or is parallel to the second geometric ring gear axis.

[0027] According to a further advantageous embodiment of the invention, the first hand axis comprises a handpiece that is arranged to rotate about the first geometric axis. Furthermore, the effector carrier is mounted on the handpiece so that it can rotate about the second geometric axis. The handpiece and the effector carrier are arranged, at least in sections, between the first and second ring gears. This arrangement enables a space-saving and compact design.

[0028] According to a further advantageous embodiment of the invention, a first geometric planetary gear axis, about which the first planetary gear is driven by the first hand axis motor, coincides with or is parallel to the first geometric drive shaft axis.

[0029] According to a further advantageous embodiment of the invention, a second geometric planetary gear axis, about which the second planetary gear is driven by the second hand axis motor, coincides with or is parallel to the second geometric drive shaft axis.

[0030] According to a further advantageous embodiment of the invention, the backlash of the first bevel gear is less than one angular minute. If the industrial robot must be designed for high-precision applications, the backlash of the first bevel gear is less than 0.3 angular minutes.

[0031] According to a further advantageous embodiment of the invention, the backlash of the second bevel gear is less than one angular minute. In industrial robots for special applications, the backlash of the second bevel gear is less than 0.3 angular minutes. According to a further advantageous embodiment of the invention, the gear ratio of the first bevel gear is 1. The incoming speed of the bevel gear thus corresponds to the outgoing speed of the bevel gear. In this case, the first bevel gear exclusively ensures the redirection of the torque. The same can apply to the second bevel gear.

[0032] According to a further advantageous embodiment of the invention, the first bevel gear provides a reduction ratio. The incoming speed is thus greater than the outgoing speed. This ensures that the backlash of the first planetary gear in the second gear stage is reduced in accordance with the gear ratio. In this case, the first hand-axle gear exhibits even less backlash and greater rigidity. The same applies in the case of a reduction ratio provided by the second bevel gear.

[0033] According to a further advantageous embodiment of the invention, the industrial robot has serial kinematics with a robot arm equipped with a swing arm movably mounted on the robot base and an arm extension movably mounted on the swing arm. All wrist axes are arranged on the arm extension.

[0034] According to a further advantageous embodiment of the invention, the industrial robot is equipped with parallel kinematics comprising at least two robot arms, one end of which is connected to the robot base and the other end to a tool carrier that accommodates the effector holder. All hand axes are mounted on the tool carrier.

[0035] Further advantages and advantageous embodiments of the invention can be found in the claims. Drawing

[0036] The drawing shows two embodiments of the invention. They show:

[0037] Figure 1 first embodiment of an industrial robot in perspective view,

[0038] Figure 2 Side view of the hand axis unit arranged on the industrial robot according to Figure 1,

[0039] Figure 3 Section through the hand axis unit according to Figure 2 along the plane marked A - A in Figure 2,

[0040] Figure 4 Section according to Figure 3, showing only the first hand axis,

[0041] Figure 5 Section according to Figure 3, where only the second hand axis is shown,

[0042] Figure 6 first hand axis gear of the industrial robot according to Figure 1 in a side view,

[0043] Figure ? first hand axis gear of the industrial robot according to Figure 1 in a view from above,

[0044] Figure 8 shows a perspective view of a second embodiment of an industrial robot. Description of the embodiments

[0045] Figures 1 to 7 show a first embodiment of an industrial robot. Figure 1 shows an industrial robot 1 designed as an articulated arm robot. This has a robot base 2, a robot arm 3 and an effector mount 4. The robot arm 3 is equipped with a carousel 5, a rocker arm 6 and an arm extension 7. The carousel 5 is rotatably mounted on the robot base 2 and is driven by a carousel motor 8 for rotation about a geometric carousel axis 8a. The rocker arm 6 is driven by a rocker arm motor 9 for rotation about a geometric rocker arm axis 9a relative to the carousel 5. The arm extension 7 is pivotally mounted on the rocker arm 6 and is moved about a geometric arm extension axis 10a relative to the rocker arm 6 by an arm extension motor 10.At the end of the arm extension 7 facing away from the rocker arm 6, the effector mount 4 is located, on which an effector (not shown in the drawing) can be mounted. The robot arm 3, with the carousel motor 8, the rocker arm motor 9, and the arm extension motor 10, moves the effector mount 4 relative to the robot base 2 in space along the three geometric axes 8a, 9a, and 10a. The geometric axes 8a, 9a, and 10a are mathematical straight lines. They are shown as dashed lines in Figure 1.

[0046] In order to move an effector, possibly arranged on the effector holder 4, relative to three additional axes, the industrial robot is equipped with three hand axes: a 4th axis, a 5th axis, and a 6th axis. The 4th axis is equipped with a motor 11. The 5th axis is referred to below as the first hand axis. The 6th axis is referred to below as the second hand axis. The first hand axis and the second hand axis form a hand axis unit 12, which is rotatably mounted on the arm extension 7. The motor 11 of the 4th axis moves the hand axis unit 12 relative to the arm extension 7 about a geometric hand axis unit axis 11a, which extends as a straight line through the arm extension 7. The first hand axis of the hand axis unit 12 moves the effector holder 4 about a first geometric axis 27. The second hand axis of the hand axis unit 12 generates a rotation about a second geometric axis 43.

[0047] Figure 2 shows the hand axis unit 12 in a side view. Figure 3 shows the hand axis unit 12 in section. Figures 4, 5, 6, and 7 show details of the hand axis unit 12. The hand axis unit 12 is equipped with a housing 13. The first hand axis 14 and the second hand axis 28 are accommodated in this housing 13. The first hand axis 14 comprises a first hand axis motor 15 and a first hand axis gear 16. The first hand axis motor 15 drives a first drive shaft 17 for rotation about a first geometric drive shaft axis 18. The first hand axis gear 16 comprises a first planetary gear 19 and a first bevel gear 20. The first planetary gear 19 forms a first gear stage 21 of the first hand axis gear 16. The first bevel gear 20 forms a second gear stage 22 of the first hand axis gear 16.The first planetary gear 19 is directly coupled to the first drive shaft 17 on the input side, so that the torque of the first drive shaft 17 is transmitted to the first planetary gear 19. The first planetary gear provides a reduction ratio. The first bevel gear 20 comprises a first bevel gear pinion 23 and a first ring gear 24. The first planetary gear 19 is directly connected to the first bevel gear pinion 23 on the output side. The first bevel gear pinion 23 is in operative engagement with the first ring gear 24. The first planetary gear 19 and the first bevel gear pinion 23 are driven to rotate about the first geometric drive shaft axis 18 by the first hand axis motor. The first ring gear 24 is driven to rotate about a first geometric ring gear axis 25. The first geometric drive shaft axis 18 and the first geometric ring gear axis 25 are at an angle to one another. They enclose an angle of 90°.The first bevel gear 20 redirects the torque. The first ring gear 24 is connected to a handpiece 26 and transmits the torque to this handpiece 26. The handpiece is designed as a hollow body. The effector holder 4 is rotatably received in the handpiece 26. The geometric axis about which the handpiece 26 is driven to rotate by the first handpiece motor 15 and the first handpiece gear 16 is the first geometric axis 27, about which the first handpiece 14 moves an effector arranged on the effector holder. The first geometric axis 27 coincides with the first geometric ring gear 25.

[0048] The second hand axis 28 comprises a second hand axis motor 29 and a second hand axis gear 30. The second hand axis motor 29 drives a second drive shaft 31 for rotation about a second geometric drive shaft axis 32. The second hand axis gear 30 comprises a second planetary gear 33 and a second bevel gear 34. The second planetary gear 33 forms a first gear stage 35 of the second hand axis gear 30. The second bevel gear 34 forms a second gear stage 36 of the second hand axis gear 30. The second planetary gear provides a reduction ratio. The second planetary gear 33 is directly coupled to the second drive shaft 31 on the drive side, so that the torque of the second drive shaft 31 is transmitted to the second planetary gear 33. The second bevel gear 34 comprises a second bevel gear pinion 37 and a second ring gear 38.The second planetary gear 33 is directly connected on the output side to the second bevel gear pinion 37. The second bevel gear pinion 37 is in operative engagement with the second ring gear 38. The second planetary gear 33 and the second bevel gear pinion 37 are driven by the second hand axis motor 29 to rotate about the second geometric drive shaft axis 32. The second ring gear 38 is driven to rotate about a second geometric ring gear axis 39. The second geometric drive shaft axis 32 and the second geometric ring gear axis 39 are at an angle to one another. They enclose an angle of 90°. The second bevel gear 34 ensures that the torque is redirected. Via two further bevel gears 40, 41, the torque is transmitted to a shaft 42 of the effector holder 4, which is rotatably received in the hand member 26. The effector holder 4 is driven to rotate about a second geometric axis 43.This second geometric axis 43 runs perpendicular to the first geometric axis 27. Furthermore, the second geometric axis 43 runs perpendicular to the second geometric ring gear axis 39.

[0049] In the exemplary embodiment, the first hand-axis motor 15 and the second hand-axis motor 29 are structurally identical. Likewise, the first hand-axis gear 16 and the second hand-axis gear 30 are structurally identical with respect to the first and second planetary gears 19, 23 and with respect to the first and second bevel gears 20, 34, each with a first and second bevel gear pinion 23, 37 and a first and second ring gear 24, 38.

[0050] The first hand axis motor 15 and the second hand axis motor 29 are arranged on the housing 13 such that the first geometric drive shaft axis 18 and the second geometric drive shaft axis 32 are parallel.

[0051] The first hand axis motor 15 and the second hand axis motor 29 are housed in a housing of the arm extension 7. Since the first hand axis motor 15 and the second hand axis motor 29 are arranged side by side, they require very little space in the arm extension. The compact dimensions are further enhanced by the parallel alignment of the first geometric drive shaft axis 18 and the second geometric drive shaft axis 32.

[0052] Furthermore, the first ring gear 24 and the second ring gear 38 are arranged on the housing 13 such that the first geometric ring gear axis 25 coincides with the second geometric ring gear axis 39. The handle 26 is rotatably mounted on the housing 13 between the first ring gear 24 and the second ring gear 38. To enclose the first ring gear 24 and the second ring gear 38, the housing 13 has the characteristic appearance shown in Figures 1 and 2.

[0053] Figures 6 and 7 show the first hand-axis gear unit 16 with the first planetary gear unit 19 and the first bevel gear unit 20 in a top and side view. The first planetary gear unit 19 is housed in a planetary gear housing 44, so that the individual components of the first planetary gear unit cannot be seen. The first bevel gear pinion 23 of the first bevel gear unit 20 is arranged directly on the output side of the first planetary gear unit 19. The first ring gear unit 24 of the first bevel gear unit 20 is in operative engagement with the first bevel gear pinion 23. For simplicity, the toothing of the first bevel gear pinion 23 and the first ring gear unit 24 is not shown in Figure 4. The first planetary gear unit 19 forms the first gear stage 21 of the first hand-axis. This is directly connected to the first hand-axis motor, which is not shown in Figure 4 for simplicity.The first gear stage comprises no further gear components besides the first planetary gear 19. The first gear stage 21 of the first hand axis is formed exclusively by the first planetary gear 19. The second gear stage 22 of the first hand axis is formed exclusively by the first bevel gear 20. The first planetary gear is driven by the first hand axis motor (not shown in Figure 4) about a first geometric planetary gear axis. This coincides with the first geometric drive shaft axis 18 of the first hand axis motor. The first ring gear 24 is driven to rotate about a first geometric ring gear axis 25. The first geometric ring gear axis runs perpendicular to the first geometric drive shaft axis 18 and intersects it. The second planetary gear and the second bevel gear are constructed accordingly.

[0054] Figure 8 shows a second embodiment of an industrial robot 101. In contrast to the industrial robot 1 according to the first embodiment, the industrial robot 101 has parallel kinematics. It is equipped with a robot base 102, a tool carrier 105, and three robot arms 103, 103a. Of these three robot arms, the two robot arms 103 and 103a facing the viewer are clearly visible in Figure 1. The third robot arm is partially obscured. The robot arm motor and the upper arm of this third robot arm are visible.

[0055] Each of the three robot arms 103, 103a is essentially constructed identically. It comprises a robot arm motor 108, 109, 110 attached to the robot base 102, which drives an upper arm 106, 106a, 106b for rotation about a geometric axis 108a, 109a, 110a of the associated robot arm motor. At the end facing away from the robot arm motor 108, 109, 110, the upper arm 106, 106a, 106b is rotatably connected to two lower arm struts 107. These, in turn, are rotatably mounted at their other end on the tool carrier 105. The three geometric axes 108a, 109a, 110a of the three robot arm motors 108, 109, 110 lie in one plane. The angle between any two of these geometric axes 108a, 109a, 110a of the robot arm motors 108, 109, 110 is 60°. The lower arm struts 107 of the three robot arms 103, 103a are also mounted on the tool carrier 105, each offset by 60°.

[0056] A further motor 111 is arranged on the robot base 102, which drives a fourth axis, which is equipped with a telescopic tube 111b, to rotate about a geometric fourth axis 111a. The telescopic tube 111b is connected to the motor 111 by a first universal joint and is mounted on the tool carrier 105 by a second universal joint.

[0057] A hand axis unit 112 is arranged on the tool carrier 105 and essentially corresponds to the hand axis unit 12 of Figures 1 to 7. The hand axis unit 112 is connected to the fourth axis in such a way that a rotation of the telescopic tube 111b about the geometric axis 111a is transmitted to the hand axis unit 112. A first hand axis and a second hand axis are accommodated in the housing 113, as shown in Figures 3 to 7. The first hand axis generates a rotational movement about a first geometric axis 127. The second hand axis generates a rotational movement about a second geometric axis 143, which is perpendicular to the first geometric axis 127. The movements of all axes are transmitted to an effector (not shown in the drawing) which is mounted on the effector holder 104.

[0058] All features of the invention can be essential to the invention both individually and in any combination with one another.

[0059] Reference numbers

[0060] 1 industrial robot

[0061] 2 robot base

[0062] 3 Robot arm

[0063] 4 Effector holder

[0064] 5 Carousel

[0065] 6 swingarm

[0066] 7 boom arms

[0067] 8 Carousel Motor

[0068] 8a geometric carousel axis

[0069] 9 Swing motor

[0070] 9a geometric swing axis

[0071] 10 boom motor

[0072] 10a geometric boom axis

[0073] 11 Motor of the 4th axis

[0074] 11a fourth geometric axis

[0075] 12 Hand axis unit

[0076] 13 Housing of the hand axis unit

[0077] 14 First hand axis

[0078] 15 First hand axis motor

[0079] 16 First hand-axis gear

[0080] 17 First drive shaft

[0081] 18 First geometric drive shaft axis

[0082] 19 First planetary gear

[0083] 20 First bevel gear

[0084] 21 First gear stage

[0085] 22 Second gear stage

[0086] 23 First bevel gear pinion

[0087] 24 First ring gear

[0088] 25 First geometric ring gear axle

[0089] 26 Hand 27 First geometric axis

[0090] 28 second hand axis

[0091] 29 second hand axis motor

[0092] 30 second hand axis gear

[0093] 31 second drive shaft

[0094] 32 second geometric drive shaft axis

[0095] 33 second planetary gear

[0096] 34 second bevel gear

[0097] 35 first gear stage

[0098] 36 Second gear stage

[0099] 37 second bevel gear pinion

[0100] 38 second ring gear

[0101] 39 second geometric ring gear axis

[0102] 40 bevel gear

[0103] 41 Bevel gear

[0104] 42 shaft

[0105] 43 Second geometric axis

[0106] 44 planetary gear housing

[0107] 101 Industrial Robots

[0108] 102 Robot Base

[0109] 103 Robot arm

[0110] 103a Robot arm

[0111] 104 Effector mount

[0112] 105 tool carriers

[0113] 106 Upper arm

[0114] 106a Upper arm

[0115] 106b Upper arm

[0116] 107 Forearm brace

[0117] 108 first robot arm motor

[0118] 108a geometric axis of the first robot arm motor

[0119] 109 second robot arm motor

[0120] 109a geometric axis of the second robot arm motor 110 third robot arm motor

[0121] 110a geometric axis of the third robot arm motor

[0122] 111 4th axle motor

[0123] 111a geometric axis of the 4th axis 111 b telescopic tube

[0124] 112 Hand axis unit

[0125] 113 Housing of the hand axis unit

[0126] 127 first geometric axis

[0127] 143 second geometric axis

Claims

A N S P R Ü C H E 1. An industrial robot with serial kinematics or parallel kinematics, comprising a robot base (2, 102), at least one robot arm (3, 103, 103a) with arm drive, and an effector holder (4, 104) receiving an effector, wherein the at least one robot arm (3, 103, 103a) is designed to move the effector holder (4, 104) relative to the robot base (2, 102) in at least two dimensions in space, having at least one first hand axis (14) which moves an effector arranged on the effector holder (4, 104) with respect to a first geometric axis (27, 127), wherein the first hand axis (14) comprises a first hand axis motor (15) and a first hand axis gear (16), wherein the first hand axis gear (16) has a first gear stage (21) coupled to the first hand axis motor (15). which comprises a first planetary gear (19) whose transmission ratio of incoming speed and outgoing speed is less than 1,wherein the first hand-axle transmission (16) has a second transmission stage (22) coupled to the first transmission stage (21), which second transmission stage comprises a first bevel gear transmission (20).

2. Industrial robot according to claim 1, characterized in that the first hand axis motor (15) has a first drive shaft (17) which is driven for rotation about a first geometric drive shaft axis (18).

3. Industrial robot according to claim 2, characterized in that a first geometric planetary gear axis, about which the first planetary gear (19) is driven by the first hand axis motor (15), coincides with or is parallel to the first geometric drive shaft axis (18).

4. Industrial robot according to claim 2 or 3, characterized in that the first geometric drive shaft axis (18) is perpendicular to the first geometric axis (27, 127).

5. Industrial robot according to claim 2, 3 or 4, characterized in that the first planetary gear (19) is connected on the drive side to the first drive shaft (17) of the first hand axis motor (15).

6. Industrial robot according to one of the preceding claims, characterized in that the first bevel gear (20) has a first bevel gear pinion (23) and a first ring gear (24) operatively connected to the first bevel gear pinion (23).

7. Industrial robot according to claim 6, characterized in that the first planetary gear (19) is connected on the output side directly to the first bevel gear pinion (23) of the first bevel gear (20).

8. Industrial robot according to one of the preceding claims, characterized in that it is equipped with a second hand axis (28) which moves the effector arranged on the effector holder (4, 104) with respect to a second geometric axis (43, 143) which is different from the first geometric axis (27, 127), that the second Hand axis (28) comprises a second hand axis motor (29) and a second hand axis gear (30), in that the second hand axis gear (30) has a first gear stage (35) coupled to the second hand axis motor (29), which first gear stage comprises a second planetary gear (33) whose gear ratio of incoming speed to outgoing speed is less than 1, and in that the second hand axis gear (30) has a second gear stage (36) coupled to the first gear stage (35), which second gear stage comprises a second bevel gear (34).

9. Industrial robot according to claim 8, characterized in that the second geometric axis (43, 143) is perpendicular to the first geometric axis (27, 127).

10. Industrial robot according to claim 8 or 9, characterized in that the second hand axis motor (29) has a second drive shaft (31) which is driven for rotation about a second geometric drive shaft axis (32).

11. Industrial robot according to claim 10, characterized in that the second geometric drive shaft axis (32) is parallel to the second geometric axis (43, 143).

12. Industrial robot according to claim 10 or 11, insofar as these are dependent on claim 2, characterized in that the first geometric drive shaft axis (18) and the second geometric drive shaft axis (32) are parallel.

13. Industrial robot according to claim 10, 11 or 12, characterized in that a second geometric planetary gear axis, about which the second planetary gear (33) is driven by the second hand axis motor (29), coincides with or is parallel to the second geometric drive shaft axis (32).

14. Industrial robot according to one of claims 10 to 13, characterized in that the second planetary gear (33) is connected on the drive side to the second drive shaft (31) of the second hand axis motor (29).

15. Industrial robot according to claims 8 to 14, characterized in that the second bevel gear (34) has a second bevel gear pinion (37) and a second ring gear (38) operatively connected to the second bevel gear pinion (37).

16. Industrial robot according to claim 15, characterized in that the second planetary gear (33) is connected on the output side directly to the second bevel gear pinion (37) of the second bevel gear (34).

17. Industrial robot according to claim 15 or 16, insofar as these are dependent on claim 5, characterized in that the first ring gear (24) is rotatable about a first geometric ring gear axis (25) and the second ring gear (38) is rotatable about a second geometric ring gear axis (39), and that the first geometric ring gear axis (25) coincides with the second geometric ring gear axis (39) or is parallel to it.

18. Industrial robot according to claim 17, characterized in that the first hand axis has a hand member (26) which is arranged to be rotatable about the first geometric axis (27, 127), that the effector carrier (4) is received on the hand member (26) to be rotatable about the second geometric axis (43, 143), and that the hand member (26) and the effector carrier (4, 104) are arranged at least in sections between the first ring gear (24) and the second ring gear (38).

19. Industrial robot according to one of the preceding claims, characterized in that the play of the first bevel gear (20) is less than one angular minute.

20. Industrial robot according to one of claims 8 to 19, characterized in that the play of the second bevel gear (34) is less than one angular minute. 21 . Industrial robot according to one of the preceding claims, characterized in that it has a serial kinematics with a robot arm (3) which is equipped with a rocker arm (6) movably arranged on the robot base (2) and with an arm extension (7) movably arranged on the rocker arm (6), and in that all hand axes (11, 14, 28) are arranged on the arm extension (7).

22. Industrial robot according to one of claims 1 to 20, characterized in that it is equipped with parallel kinematics with at least two robot arms (103, 103a), one end of which is connected to the robot base (102) and the other end of which is connected to a tool carrier (105) receiving the effector holder (104), and in that all hand axes (112) are received on the tool carrier (105).

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