CZ9901273A3 - Device having several arms and intended for machining, measuring and handling - Google Patents

Abstract

The device consists of a platform (13) carrying a cutting tool or a measuring probe or a gripper that is fastened with respect to the frame (14) by means of seven to twelve or more than twelve support arms (1 to 12) with drives. The support arms (1 to 12) are fastened to the frame (14) with telescopic support arms (15) with telescopic drives or support arms (16) with sliding foot with sliding drives or support arms (17) with a rotary joint with rotary joints drives. The support arms (1 to 12) are fastened to the frame (14) in points not in the same plane or at points from which: no four points lie in one plane. Support arms (1 to 12) are fixed to the platform (13) at points not lying in the one plane or at points where no four points lie at one plane.

Description

Multi-arm equipment for machining, measuring and handling

FIELD xyícerafínenné ^ j-týkPzařízení invention pwmanipulacij _machining measurements, Cu

The prior art

Today's industrial robots are expensive (more expensive than the cost of human labor) and slow (often slower than trained human labor) despite continuous development [1]. For a radical change in this state and a truly massive deployment of robots in a wide variety of industries, it would be necessary to develop robots that were 10 times faster and 5 times cheaper [1]. [2-3] • use of redundant and parallel robot structures;

• Modular design of robots.

Robots must be lighter and stiffer to increase speed. Both bring about the use of parallel structures. Parallel robot designs (simply imagined as movable lattice structures or multi-beam platforms) offer a number of benefits for classic serial robots. Parallel robots are used in the form of a Stewart platform [4] for trainers and recent numerous applications are for machining centers [5].

• The lattice construction of the robots increases the stiffness of parallel robots compared to conventional series robots.

On the other hand, the parallel design of the robots also presents a number of disadvantages • The working space of the parallel robot is generally smaller than that of a conventional series robot.

• Undesirable singular positions with altered mobility or altered power transmission generally occur within the parallel robot workspace.

• Parallel robot arm collisions are more common than the standard series and further reduce its working space.

The size of the parallel robot workspace can be increased by appropriately selecting the robot's dimensional parameters, but the occurrence of singular positions in the robot workspace will increase.

The following is an overview of the above links.

[1] Tesar, D .; Modular Architecture Tutorial for Robot Structures, 1991 IEEE Conf. on Robotics [2] Tesar, D. and Cleary, K .: Decision Making Criteria for Redundant Manipulators, NATO Advanced Research Workshop, Salo, Italy 1988 [3] Khatib, O., Roth, B., and Waldron, KJ: The Design of High-Performance ForceControlled Manipulator, Proceedings of 8th World IFToMM Congress on Theory of Machines and Mechanisms, Prague 1991, pp. 475-478

[4] Stewart, D .: A Platform with Six Degrees [4] of Freedom, Why. of the Institution of Mechanical Engineers, 180 (1965), p. 371-378 [5] Hexapod, US Patent 947819, 1993

The object of the invention is a parallel robotic manipulation, machining and measurement device which reduces the occurrence of singular positions in the working space and improves the rigidity and dynamic properties of the device.

SUMMARY OF THE INVENTION

A multi-arm machining, measuring and handling device consisting of a platform carrying a cutting tool or a measuring probe or a gripper that is fixed relative to the frame by means of support arms with drives, consists of providing seven or eight or nine between the platform and the frame. or ten or eleven or twelve or more than twelve support arms with drives that secure the platform to the frame. The platform may be fixed with respect to the frame by sliding support arms with sliding drives or sliding-foot supporting arms with sliding drives or rotary joint support arms with rotary drives.

The support arms may be fixed to the frame at points not in one plane or at points where no four points are in one plane. The support arms may be fixed to the platform at points not in one plane or at points where no four points are in one plane.

An advantage of the invention is that the use of surplus arms with drives can reduce the occurrence of singular positions. If a singular position occurs for the original arms in some position, we will use other arms out of their total number of multiple arms that do not lead to singularity in that position. Thus, we switch between the appropriate boom combinations from their excess number of multiple booms. The use of redundant actuator arms also brings additional advantages in terms of increased rigidity and improved dynamics of the device according to the invention.

Overview of the drawings

Figure 1 schematically illustrates a device according to the invention, Figure 2 schematically shows a telescopic support arm with a pull-out drive, Figure 3 schematically illustrates a sliding-arm bearing with a sliding drive, and Figure 4 schematically illustrates a support arm with rotary joint with rotary drive.

DETAILED DESCRIPTION OF THE INVENTION

The platform 13 with six degrees of freedom is fixed to the frame 14 by means of 8 support arms 1 to 8, which are extendable and provided with retractable drives 18. The support arms 1 to 8 are fixed to the frame at the tops of a square block with a square base and two rectangles in parallel planes that are rotated 90 degrees to each other.

Claims (6)

A multi-arm machining, measuring and handling device consisting of a platform (13) carrying a cutting tool or a measuring probe or a gripper which is fixed relative to the frame (14) by means of support arms with drives, characterized in that between the platform (13) ) and seven supporting arms (1 to 7) with drives or eight supporting arms (1 to 8) with drives that secure the platform (13) to the frame (14) are provided with the frame (14). A multi-arm machining, measuring and handling device consisting of a platform (13) carrying a cutting tool or a measuring probe or a gripper which is fixed relative to the frame (14) by means of support arms with drives, characterized in that between the platform (13) ) and a frame (14) is provided with nine drive arms (1 to 9) with drives or ten bearing arms (1 to 10) with drives or eleven bearing arms (1 to 11) with drives or twelve bearing arms (1 to 12) with drives drives that secure the platform (13) to the frame (14). A multi-arm machining, measuring and handling device consisting of a platform (13) carrying a cutting tool or a measuring probe or a gripper which is fixed relative to the frame (14) by means of support arms with drives, characterized in that between the platform (13) ) and more than twelve support arms (1 to 12) with drives that secure the platform (13) of the shop (14) are provided by the frame (14). , p nctrDRu A multi-arm machining, measurement and handling device according to 1 or 2 or 3, wherein the platform (13) is fixed relative to the frame (14) by means of support arms (1 to 12) with drives characterized in that the support arms (1 to 12). ) with drives are extendable support arms (15) with extendable drive (18) or support arms (16) with sliding foot with sliding drive (19) or support arms (17) with rotary joint with rotary drive (20). nátt> fen Multi-arm machining, measuring and handling device according to 1 or 2 or 3 or 4, characterized in that the support arms (1 to 12) are fixed to the frame (14) at non-plane or non-plane points four points do not lie in one plane. Multi-arm machining, measuring and handling device according to 1 or 2 or 3 or 4, characterized in that the support arms (1 to 12) are fixed to the platform (13) at non-plane or non-plane points four points do not lie in one plane.