GB2581848B - End effector carriage for delta robot - Google Patents

End effector carriage for delta robot Download PDF

Info

Publication number
GB2581848B
GB2581848B GB1902825.7A GB201902825A GB2581848B GB 2581848 B GB2581848 B GB 2581848B GB 201902825 A GB201902825 A GB 201902825A GB 2581848 B GB2581848 B GB 2581848B
Authority
GB
United Kingdom
Prior art keywords
end effector
delta robot
effector carriage
carriage
delta
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
GB1902825.7A
Other versions
GB201902825D0 (en
GB2581848A (en
Inventor
Bodkin Troy
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.)
Millitec Food Systems Ltd
Original Assignee
Millitec Food Systems Ltd
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 Millitec Food Systems Ltd filed Critical Millitec Food Systems Ltd
Priority to GB1902825.7A priority Critical patent/GB2581848B/en
Publication of GB201902825D0 publication Critical patent/GB201902825D0/en
Priority to GB2002908.8A priority patent/GB2584003B/en
Publication of GB2581848A publication Critical patent/GB2581848A/en
Application granted granted Critical
Publication of GB2581848B publication Critical patent/GB2581848B/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
    • B25J9/003—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • 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
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B25J15/065—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with separating means for releasing the gripped object after suction
    • B25J15/0658—Pneumatic type, e.g. air blast or overpressure
    • 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
    • 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
    • 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
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Food Science & Technology (AREA)
  • Manipulator (AREA)
GB1902825.7A 2019-03-01 2019-03-01 End effector carriage for delta robot Active GB2581848B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
GB1902825.7A GB2581848B (en) 2019-03-01 2019-03-01 End effector carriage for delta robot
GB2002908.8A GB2584003B (en) 2019-03-01 2020-02-28 End effector carriage for delta robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB1902825.7A GB2581848B (en) 2019-03-01 2019-03-01 End effector carriage for delta robot

Publications (3)

Publication Number Publication Date
GB201902825D0 GB201902825D0 (en) 2019-04-17
GB2581848A GB2581848A (en) 2020-09-02
GB2581848B true GB2581848B (en) 2021-09-22

Family

ID=66377448

Family Applications (2)

Application Number Title Priority Date Filing Date
GB1902825.7A Active GB2581848B (en) 2019-03-01 2019-03-01 End effector carriage for delta robot
GB2002908.8A Active GB2584003B (en) 2019-03-01 2020-02-28 End effector carriage for delta robot

Family Applications After (1)

Application Number Title Priority Date Filing Date
GB2002908.8A Active GB2584003B (en) 2019-03-01 2020-02-28 End effector carriage for delta robot

Country Status (1)

Country Link
GB (2) GB2581848B (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100263471A1 (en) * 2009-04-17 2010-10-21 Weber Maschinenbau Gmbh Breidenbach Robot having delta kinematics
DE102011115980A1 (en) * 2011-10-13 2013-04-18 Weber Maschinenbau Gmbh Breidenbach Robot used for displacing food product, has jacket that is provided along longitudinal extension to enclose inner portion of structural element made of fiber reinforced material
US20140360306A1 (en) * 2013-06-07 2014-12-11 Kabushiki Kaisha Yaskawa Denki Parallel robot, robot system, and assembly method for transfer system
CN107414797A (en) * 2017-08-18 2017-12-01 广州数控设备有限公司 A kind of swabbing robot of linear electric motors driving
CN107813333A (en) * 2017-09-05 2018-03-20 芜湖瑞思机器人有限公司 A kind of food grasping mechanism for high speed parallel robot

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003231083A (en) * 2002-02-07 2003-08-19 Toshiba Mach Co Ltd Processing machine and system using parallel link mechanism
CN102259338B (en) * 2010-05-28 2014-03-26 鸿富锦精密工业（深圳）有限公司 Robot
JP5682642B2 (en) * 2013-03-05 2015-03-11 株式会社安川電機 Parallel link robot
CN204819509U (en) * 2015-06-10 2015-12-02 深圳博美德机器人有限公司 Parallelly connected mechanical hand of DELTA and DELTA parallel robot
CN110481874A (en) * 2019-09-04 2019-11-22 嘉兴恒匠智能技术有限公司 It is a kind of to adsorb the crawl simultaneously lower suction barrel of stacking food and absorption stacking method

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100263471A1 (en) * 2009-04-17 2010-10-21 Weber Maschinenbau Gmbh Breidenbach Robot having delta kinematics
DE102011115980A1 (en) * 2011-10-13 2013-04-18 Weber Maschinenbau Gmbh Breidenbach Robot used for displacing food product, has jacket that is provided along longitudinal extension to enclose inner portion of structural element made of fiber reinforced material
US20140360306A1 (en) * 2013-06-07 2014-12-11 Kabushiki Kaisha Yaskawa Denki Parallel robot, robot system, and assembly method for transfer system
CN107414797A (en) * 2017-08-18 2017-12-01 广州数控设备有限公司 A kind of swabbing robot of linear electric motors driving
CN107813333A (en) * 2017-09-05 2018-03-20 芜湖瑞思机器人有限公司 A kind of food grasping mechanism for high speed parallel robot

Also Published As

Publication number Publication date
GB2584003A (en) 2020-11-18
GB201902825D0 (en) 2019-04-17
GB202002908D0 (en) 2020-04-15
GB2581848A (en) 2020-09-02
GB2584003B (en) 2021-09-29

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