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FR3119786B1 - SCARA-type robot joint, with smooth shaft - Google Patents

SCARA-type robot joint, with smooth shaft Download PDF

Info

Publication number
FR3119786B1
FR3119786B1 FR2101378A FR2101378A FR3119786B1 FR 3119786 B1 FR3119786 B1 FR 3119786B1 FR 2101378 A FR2101378 A FR 2101378A FR 2101378 A FR2101378 A FR 2101378A FR 3119786 B1 FR3119786 B1 FR 3119786B1
Authority
FR
France
Prior art keywords
shaft
scara
type robot
robot joint
joint
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR2101378A
Other languages
French (fr)
Other versions
FR3119786A1 (en
Inventor
Jean-Paul Coron
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to FR2101378A priority Critical patent/FR3119786B1/en
Publication of FR3119786A1 publication Critical patent/FR3119786A1/en
Application granted granted Critical
Publication of FR3119786B1 publication Critical patent/FR3119786B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0045—Manipulators used in the food industry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Food Science & Technology (AREA)
  • Manipulator (AREA)

Abstract

L’invention concerne une articulation (1) pour bras robotisé comprenant : - une première partie (10) recevant une deuxième partie (20) du bras robotisé avec capacité de rotation autour d'un axe général (0) de l’articulation en étant entrainée par un premier moteur (11) ;- une troisième partie (30) insérée dans la deuxième partie (20) et entrainée en translation selon l’axe général (0) au moyen d’un deuxième moteur (21) et d’une liaison hélicoïdale (40) ; la troisième partie (30) comprenant un arbre (32) dont une extrémité libre (33) est destinée à recevoir un outil, l’arbre (32) étant destiné à rentrer et à sortir de l’articulation (1) selon la translation entre les deuxième et troisième parties (20, 30). Selon l’invention, la première partie (10) définit un volume interne fermé recevant intégralement la deuxième partie (20) et les premier et deuxième moteurs (11, 21), et une surface externe d’une portion de l’arbre (32) qui sort de la première partie (10) est lisse et traverse un joint d’étanchéité (14) monté sur la première partie (10). Figure pour l’abrégé : Fig. 2The invention relates to a joint (1) for a robotic arm comprising: - a first part (10) receiving a second part (20) of the robotic arm with the ability to rotate around a general axis (0) of the joint by being driven by a first motor (11);- a third part (30) inserted into the second part (20) and driven in translation along the general axis (0) by means of a second motor (21) and a helical link (40); the third part (30) comprising a shaft (32) of which a free end (33) is intended to receive a tool, the shaft (32) being intended to enter and leave the articulation (1) according to the translation between the second and third parts (20, 30). According to the invention, the first part (10) defines a closed internal volume fully receiving the second part (20) and the first and second motors (11, 21), and an external surface of a portion of the shaft (32 ) coming out of the first part (10) is smooth and passes through a seal (14) mounted on the first part (10). Figure for abstract: Fig. 2

FR2101378A 2021-02-12 2021-02-12 SCARA-type robot joint, with smooth shaft Active FR3119786B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR2101378A FR3119786B1 (en) 2021-02-12 2021-02-12 SCARA-type robot joint, with smooth shaft

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2101378 2021-02-12
FR2101378A FR3119786B1 (en) 2021-02-12 2021-02-12 SCARA-type robot joint, with smooth shaft

Publications (2)

Publication Number Publication Date
FR3119786A1 FR3119786A1 (en) 2022-08-19
FR3119786B1 true FR3119786B1 (en) 2023-01-06

Family

ID=76807688

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2101378A Active FR3119786B1 (en) 2021-02-12 2021-02-12 SCARA-type robot joint, with smooth shaft

Country Status (1)

Country Link
FR (1) FR3119786B1 (en)

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11221789A (en) * 1998-02-06 1999-08-17 Fanuc Ltd Sealing structure of indutrial robot
JP5792988B2 (en) * 2011-04-25 2015-10-14 ヤマハ発動機株式会社 SCARA robot
ITUB20152759A1 (en) * 2015-08-03 2017-02-03 Comau Spa Robots for industrial use

Also Published As

Publication number Publication date
FR3119786A1 (en) 2022-08-19

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