EP1858674A1 - Dispositif de deplacement et de positionnement spatial d'un objet - Google Patents

Dispositif de deplacement et de positionnement spatial d'un objet

Info

Publication number
EP1858674A1
EP1858674A1 EP06725071A EP06725071A EP1858674A1 EP 1858674 A1 EP1858674 A1 EP 1858674A1 EP 06725071 A EP06725071 A EP 06725071A EP 06725071 A EP06725071 A EP 06725071A EP 1858674 A1 EP1858674 A1 EP 1858674A1
Authority
EP
European Patent Office
Prior art keywords
gear
motor
control
unit
transmission
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.)
Withdrawn
Application number
EP06725071A
Other languages
German (de)
English (en)
Inventor
Matthias Ehrat
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
Publication of EP1858674A1 publication Critical patent/EP1858674A1/fr
Withdrawn legal-status Critical Current

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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/103—Gears specially adapted therefor, e.g. reduction gears with backlash-preventing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm

Definitions

  • US-A-4'976'582 A generic device for moving and positioning an object in space is shown in US-A-4'976'582.
  • This delta robot has a base element with three drives attached to the base element.
  • the three drives are arranged on the base element, that each one drive axis usually runs along one side of an equilateral triangle.
  • the first ends of three arms are pivotally arranged so that each arm is individually driven by a drive.
  • the second ends of the three arms are hingedly connected to a common support plate via a respective gimbal-mounted connection part or via a respective pair of rods mounted in ball pans.
  • Gripping means for example a suction cup, are arranged on this support plate in order to grip and hold the object to be moved.
  • a telescopic fourth axle which is driven by a fourth motor, is pivotally connected to the fourth motor mounted on the base member and the rotary leadthrough on the support plate.
  • delta robots are used in automated systems, in particular especially in the packaging and assembly industry, proven. They have the advantage of being able to move precisely between two positions at high speed and to approach these positions within a relatively large three-dimensional range.
  • the drive motors are coupled via a transmission with the individual arms.
  • These motor / gear units should also allow for fast start / stop operations in a small space a high reproductive positioning accuracy of the gripping means and there should be no shocks in a change of direction.
  • the gear units should have the lowest possible moment of inertia and no constraints, otherwise the required dynamics would be limited and high power losses occur, which lead to a strong heat. The gear should thus be low in play, allow rapid acceleration and have the smallest possible volume.
  • WO-A-03/106114 deals in detail with the problem of the known motor / gear units for fast positioning tasks with delta robots. In addition to the question of freedom from play, the objective of a quiet running behavior of the robot is also dealt with there.
  • WO-A-03/106114 is based on the finding that a transmission that is free of play exclusively in the end positions is not sufficient for the required running smoothness and positioning accuracy.
  • WO-A-03/106114 therefore proposes measures which affect the entire movement in the transmission. The measures consist in that strained gear stages are used and that these are advantageously mounted cohesively. However, the tension of the transmission causes unwanted constraints and increased heat.
  • the cohesive assembly allows one simplified manufacture of the transmission, but excludes its maintenance and results in the use of insufficiently moderate components to a poor vibration behavior due to imbalances and due to uneven friction on the movement.
  • the control computer is already integrated into the robot today.
  • the robot from US Pat. No. 5,314,293 is also known in combination with an integrated control unit.
  • EP 1 '437' 162 A2 also knows a version with a larger installation space for a control unit. In this installation space can be a conventional robot control can be arranged.
  • Such integration is easy to implement in serial kinematics, as more installation space is available, the heat can be dissipated directly from the control unit to the environment and the vibration behavior is unproblematic due to the lower number of cycles.
  • the product feeds and product discharges can be controlled directly by the control unit of the integrated robot itself.
  • the sensors and cameras which are usually constructed in the immediate vicinity of the robot, can be connected to the control unit of the robot via a short signal cable, while additional complex wiring is necessary in the case of a separately constructed control cabinet.
  • Fig. 1 an illustration of a delta robot
  • FIG. 2 shows a schematic representation of the engine (3b) and gear arrangement (3a) in a motor / gear unit (3) in a delta robot according to FIG. 1
  • FIG. 1 An embodiment according to the invention is shown in FIG. Consistent with Figure 1, the motor / gear units (3) are arranged.
  • a control and / or regulating unit (17) is arranged, which is connected to the motor / gear units (3) and to the drive (11) of the fourth, telescopic axle (14).
  • a control unit may comprise the following elements:

Abstract

L'invention concerne un dispositif de déplacement et de positionnement spatial d'un objet, comportant un élément de base (1) pourvu de trois unités moteur/transmission (3) fixées à l'élément de base, et trois bras (4, 5) fixés sur une première extrémité avec un seul degré de liberté de mouvement, à l'axe d'entraînement (2) d'une unité moteur/transmission (3) par l'intermédiaire d'une bride de raccordement respective (15), et fixés sur une deuxième extrémité, de façon articulée, à un élément porteur commun (8), comportant au moins un élément de préhension (9) destiné à la prise de l'objet. L'élément de base (1) comporte une unité de commande et/ou régulation (17) planifiant le mouvement de l'élément porteur (8) et régulant les unités moteur/transmission (3).
EP06725071A 2005-03-18 2006-03-15 Dispositif de deplacement et de positionnement spatial d'un objet Withdrawn EP1858674A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH4662005 2005-03-18
PCT/EP2006/060746 WO2006097485A1 (fr) 2005-03-18 2006-03-15 Dispositif de deplacement et de positionnement spatial d'un objet

Publications (1)

Publication Number Publication Date
EP1858674A1 true EP1858674A1 (fr) 2007-11-28

Family

ID=35311498

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06725071A Withdrawn EP1858674A1 (fr) 2005-03-18 2006-03-15 Dispositif de deplacement et de positionnement spatial d'un objet

Country Status (3)

Country Link
US (1) US20080141813A1 (fr)
EP (1) EP1858674A1 (fr)
WO (1) WO2006097485A1 (fr)

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CN102059697B (zh) * 2009-11-18 2013-12-11 鸿富锦精密工业（深圳）有限公司 平移支链及使用该平移支链的并联机器人
CN102059696B (zh) * 2009-11-18 2013-11-20 鸿富锦精密工业（深圳）有限公司 并联机构
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US9044346B2 (en) 2012-03-29 2015-06-02 össur hf Powered prosthetic hip joint
CN102848385A (zh) * 2012-04-12 2013-01-02 天津大学 一种具有二维平动一维转动自由度的高速并联机械手
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EP3427702A1 (fr) 2013-02-26 2019-01-16 Össur HF Pied prothétique à stabilité et retour d'énergie élastique améliorés
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Also Published As

Publication number Publication date
WO2006097485A1 (fr) 2006-09-21
US20080141813A1 (en) 2008-06-19

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