IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0972816
(2004-10-25)
|
등록번호 |
US-7347120
(2008-03-25)
|
우선권정보 |
DE-103 49 452(2003-10-23) |
발명자
/ 주소 |
- Friedrich,Boris
- Henrichs,Volker
- Jenke,Andreas
- Reumann,Delf
|
출원인 / 주소 |
|
대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
11 인용 특허 :
10 |
초록
▼
A SCARA robot has a robot console, a first robot arm articulated on the robot console and swivelable about a first swivel axis, a second swivel arm articulated on the first swivel arm and swivelable around the second swivel axis extending substantially parallel to the first swivel axis, at least one
A SCARA robot has a robot console, a first robot arm articulated on the robot console and swivelable about a first swivel axis, a second swivel arm articulated on the first swivel arm and swivelable around the second swivel axis extending substantially parallel to the first swivel axis, at least one work unit, at least one first swivel motor for swiveling an arm unit composed of the first and second robot arms relative to the robot console, at least one second swivel motor for turning the second robot arm relative to the first robot arm, and at least one work motor for actuating the work unit, with the motors being controllable by a power electronics, with electrical circuits including convertor circuits for current supply of the motors and at least one control circuit for operating the convertor circuits and thereby for controlling the motors, and with at least one rectifier circuit being received in at least one robot arm.
대표청구항
▼
What is claimed as new and desired to be protected by Letters Patent is set forth in the appended claims: 1. A SCARA robot, comprising a robot console; a first robot arm articulated on said robot console swivelable around a first swivel axis; a second robot arm articulated on said first robot arm s
What is claimed as new and desired to be protected by Letters Patent is set forth in the appended claims: 1. A SCARA robot, comprising a robot console; a first robot arm articulated on said robot console swivelable around a first swivel axis; a second robot arm articulated on said first robot arm swivelably around a second swivel axis extending substantially parallel to said first swivel axis, said second robot arm having at least one work unit; at least one first swivel motor for swiveling an arm unit composed of said first and second robot arms relative to said robot console; at least one second swivel motor for swiveling said second robot arm relative to said first robot arm; at least one work motor for actuation of said work unit; power electronics controlling said motors and having electrical circuits including convertor circuits for a current supply of said motors and at least one control circuit for operating said convertor circuits and thereby for controlling said motors, at least one circuit selected from said convertor circuits and said control circuits being arranged in at least one of said robot arms on a wall portion of a housing of said at least one robot arm associated with said at least one circuit, wherein said at least one robot arm has a swivel axis-proximal portion and a swivel axis-distal portion relative to a swivel axis of said at least one robot arm, and said wall portion of said housing with at least one of said circuits arranged on it being located in said swivel axis-proximal housing portion. 2. A SCARA robot as defined in claim 1, wherein said housing wall portion with said associated at least one circuit is a housing wall portion with a shortest distance from said swivel axis of said said at least one robot arm. 3. A SCARA robot as defined in claim 1, wherein said at least one robot arm has a plurality of electrical circuits including at least one convertor circuit and at least one control circuit, wherein each of said circuits is arranged on a wall portion of said housing of said one robot arm which wall portion is associated with a corresponding circuit. 4. A SCARA robot as defined in claim 3, wherein said housing wall portions with said circuits arranged on them are housing wall portions which have shortest distances from said swivel axis of said at least one robot arm. 5. A SCARA robot as defined in claim 4, wherein at least one of said circuits is a convertor circuit. 6. A SCARA robot as defined in claim 1, wherein at least one of said convertor circuits is associated with a respective one of said motors, and said associated convertor circuit is received in the same at least one robot arm as a corresponding one of said motors. 7. A SCARA robot as defined in claim 1; and further comprising cooling bodies associated with at least a part of said electrical circuits and forming an outer wall portion of a housing of at least one of said robot arms. 8. A SCARA robot as defined in claim 7, wherein said cooling bodies form an inner wall portion of said housing of said at least one robot arm. 9. A SCARA robot as defined in claim 7, wherein at least one of said cooling bodies is associated with at least one of said convertor circuits. 10. A SCARA robot as defined in claim 1, wherein a portion of a housing of at least one of said robot arms forms a housing for at least one swivel motor received in a respective one of said robot arms. 11. A SCARA robot as defined in claim 10, wherein a stator of said at least one swivel motor is arranged directly on a swivel motor housing portion of a respective one of said robot arms. 12. A SCARA robot as defined in claim 11, wherein said stator of said at least one swivel motor is arranged directly on said swivel motor housing portion of said robot arm by snapping of said swivel motor housing portion on said stator. 13. A SCARA robot, comprising a robot console; a first robot arm articulated on said robot console swivelable around a first swivel axis; a second robot arm articulated on said first robot arm swivelably around a second swivel axis extending substantially parallel to said first swivel axis, said second robot arm having at least one work unit; at least one first swivel motor for swiveling an arm unit composed of said first and second robot arms relative to said robot console; at least one second swivel motor for swiveling said second robot arm relative to said first robot arm; at least one work motor for actuation of said work unit; power electronics controlling said motors and having electrical circuits including convertor circuits for a current supply of said motors and at least one control circuit for operating said convertor circuits and thereby for controlling said motors, at least one circuit selected from said convertor circuits and said control circuits being arranged in at least one of said robot arms on a wall portion of a housing of said at least one robot arm associated with said at least one circuit, one of said robot arms having two work motors for a movement drive of said work unit with each of said work motors having a motor shaft with a drive longitudinal end from which a drive force can be picked up, said work motors being arranged in said at least one robot arm with substantially parallel motor shafts but in opposite orientation, so that said drive longitudinal ends face in opposite directions. 14. A SCARA robot as defined in claim 13, wherein at least one robot arm is said second robot arm and includes as said work unit a robot spindle which is rotatable around a rotary axis and displaceable, independently from the rotation, in direction of said rotary axis, said work motors forming a movement drive for said robot spindle. 15. A SCARA robot as defined in claim 13, wherein each of said work motors has a motor body arranged in a motor shaft longitudinal direction adjacent to said drive longitudinal end of its motor shaft, said motor bodies of said work motors in said motor shaft longitudinal direction being arranged in a common extension region of said robot arm in said motor shaft longitudinal direction between two said longitudinal ends. 16. A SCARA robot as defined in claim 13, wherein a portion of the housing of said second robot arm forms a housing for at least one of said work motors. 17. A SCARA robot as defined in claim 16, wherein a stator of at least one work motor is arranged directly on a work motor housing portion of said second robot arm. 18. A SCARA robot as defined in claim 17, wherein said stator of at least one work motor is arranged directly on said work motor housing portion of said second robot arm by shrinking of said work motor housing portion on said stator. 19. A SCARA robot as defined in claim 13, wherein one of said swivel motors for swiveling said arm unit composed of said first and second robot arms relative to said robot console is received in said robot console. 20. A SCARA robot as defined in claim 13, wherein at least one of said swivel motors for swiveling said second robot arm relative to said first robot arm is received in said second robot arm. 21. A SCARA robot as defined in claim 13, wherein at least one of said control circuits for controlling a motor provided in a respective one of robot body parts is received in said robot console and in said robot arm, respectively. 22. A SCARA robot as defined in claim 13, wherein at least a part of said swivel-and work motors are provided with a mechanical brake. 23. A SCARA robot as defined in claim 13, wherein said power electronics has a rectifier which from an electrical power supply voltage produces a direct voltage, said rectifier being received in said robot console.
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