JP7109502B2 - Devices for movement and positioning of elements in space - Google Patents

Description

The present invention finds robotic technology, more specifically, for use in industrial processes involving pick-and-place operations, with the advantages of mechanical amplification, stability, load-bearing capability, and improved dynamics. about robots for

The use of industrial robots for flexible automation of industrial processes is becoming more and more popular to replace time-consuming, tedious and difficult tasks. Such operations convey confectionery products, such as, for example, chocolate or similar fragile or small objects from a conveyor belt, with high speed and precision when the objects are moving on a separate conveyor belt, It can be put in place, for example in a box. The ability to effectively handle small and delicate objects with high speed and precision is highly sought after in industrial process automation.

Delta robots (also known as parallel robots) have applications in various industries, for example, in the food and pharmaceutical industries. The delta robot is R.I. It was first developed by Clabel in 1985 and is described in US Pat. No. 4,976,582 (Clabel). Delta robots have proven their worth, especially for packaging lightweight foods. Because they allow extremely high speed and precision to perform pick-and-place applications, e.g. to lift products from conveyor belts and place them in carton boxes, the packaging machinery industry can be effectively used in Delta robots are parallel robots that typically have three degrees of freedom (3DoF) and have simpler, more compact structures and favorable dynamics.

A delta robot is a parallel robot, i.e. it consists of multiple kinematic chains, eg a mid-articulated arm that connects the base with the end effector. A key concept of the delta robot is the use of a parallelogram that limits the motion of the platform on which the end effector is mounted to only a single translation, i.e., motion in the X, Y, or Z directions with no rotation. be. A robot base is mounted above the workspace. A plurality of actuators, for example three motors, are equidistantly mounted on the base. Extending from the base are three mid-joint arms. The ends of these arms are connected to a small platform. Actuation of the mid-articulated arm moves the platform along the X, Y, or Z directions. Actuation can be done with linear or rotary actuators, with or without speed reduction (direct drive). Since the actuators are all located within the base, the middle articulated arm can be made of light composite material. As a result of this, the moving parts of the delta robot have a small inertia. This allows for very high speeds and high accelerations. Connecting all arms together to the end effector increases the robot stiffness but reduces its workload. Each middle joint arm consists of an upper arm and a pivotally connected lower arm. Each lower arm is formed by two parallel rods forming a parallelogram. Since the lower arm consists of two parallel rods, the end effector always moves parallel to the base plate above it. This is also known as parallelogram-based control, or parallel kinematics. Note that at least three sets of arms are required to provide generally translational-only movement of the end effector through three dimensions.

In use, the delta robot can be suspended above a conveyor-type system to grasp and move small objects quickly and with great precision. End effectors are arranged to support tools or other devices to perform a particular function or task. By pivoting the actuator, the end effector can be maneuvered to any desired position in the available workspace in the three-dimensional space formed by the X, Y, and Z axes. In addition, delta robot end effectors are typically equipped with visual guidance, so that objects moving along the conveyor can be identified for picking and placing into cardboard boxes, cases, and the like.

High speed movement over a relatively large distance, ie the width of the conveyor belt, requires high speed movement of several arms. This is really only possible if the robot arm has a low mass inertia, which in the case of the delta robot is achieved by using lightweight materials, so that the delta robot has a minimal mass inertia. be done. However, the use of lightweight materials in the construction of the delta robot significantly limits the loads that the delta robot can take, which means that the delta robot can only be used to grip light objects with light grippers. . For this reason, its usefulness and practical applications are limited. The use of stronger parts and components will provide the ability to grip heavier objects, but such benefits come at the expense of reduced velocity due to high mass inertia. Also, the lightweight materials used to construct delta robots tend to be less robust and cannot provide continuous production cycle times, eg, 24 hour cycle times. Also, many lightweight materials cannot provide the benefits of less maintenance and less frequent repairs than the stronger parts and components utilized in other types of industrial machinery.

In general, in the food industry or in pharmaceutical applications, it is important to be able to easily clean the components of the delta robot. For example, a delta robot may include a number of parts, eg, arms, that are positioned in close proximity to foodstuffs such as raw chicken parts being transported. These parts cannot be shielded from the chicken parts during operation, making flushing and cleaning the delta robot a time consuming and expensive task. It would be an improvement within the art to provide industrial robots whose parts and components can be shielded from food or other materials being lifted and placed to reduce or eliminate such flushing and cleaning requirements. would be

Also, in many industrial processes, such as pick-and-place operations, it is important for robots to exhibit a wide range of motion in all directions. Due to their general design, traditional delta robot end effectors have a limited range of motion in that the end effectors do not benefit from any mechanical extension of motion. Additionally, a wide range of motion in the Z-axis is essential for picking products off a conveyor belt and placing them into deep cartons or cases for transport. As a result of the design of the laterally extending delta robot's pivotable arms as they move through their range of motion, the laterally extending arms move into a cardboard box or case. It often interferes with product placement to such depths. Also, in order to obtain progressively increased range of motion in the Z-axis direction with a delta robot, the arm length needs to be increased significantly, which adds weight and reduces production cycle time.

For the reasons mentioned above, there is room for improvement within the field.

The industrial robot includes a parallel kinematics mechanism that provides three degrees of freedom to the ring structure while maintaining the ring structure in a substantially fixed orientation with respect to a reference plane established by a stationary baseplate. A pivot sleeve is suspended within the stationary baseplate and can pivot on two orthogonal axes of the intermediate gimbal. An elongated outrigger bar is mounted within the pivot sleeve and extends from the upper end through the pivot sleeve to the lower end. An end effector is attached to the lower end of the elongated outrigger bar and arranged for carrying a working element. Gimbal rings are located at the upper and lower ends of the elongated outrigger bars and are mutually interconnected by a control linkage to maintain the end effector generally parallel to the ring structure during movement of the end effector across the three-dimensional workframe. Connected.

FIG. 1 is a perspective view of an embodiment of an industrial robot of the present invention positioned above a conveyor illustrated in perspective. Figure 2 is a perspective view of the industrial robot of the present invention illustrating the outrigger bar in a lowered position; FIG. 3 is a perspective view of the industrial robot of the present invention illustrating the outrigger bar in an articulated position; Figure 4 is an enlarged perspective view of the top portion of the preferred embodiment of the industrial robot of the present invention; 5 is an enlarged cross-sectional view taken along line 5--5 of FIG. 4; FIG. 6 is an enlarged cross-sectional view taken along line 6--6 of FIG. 1; FIG. Figure 7 is a perspective view of a preferred embodiment of the industrial robot of the present invention in another articulated position; FIG. 8 is a schematic diagram illustrating the internal linkage that holds the end effector in a fixed orientation. 9 is an enlarged cross-sectional view taken along line 9-9 of FIG. 1; FIG. FIG. 10 is an enlarged perspective view of the end effector portion of the preferred embodiment of the industrial robot of the present invention; Figure 11 is an enlarged perspective view of the end effector portion of the preferred embodiment of the industrial robot of the present invention when the robot is in the articulated position;

Referring now in more detail to the drawings in which like numerals represent like components throughout the several drawings, an industrial robot embodiment of the present invention, broadly designated by the numeral 20, is shown in FIGS. shown. In this application, the robot 20 is shown positioned proximate to the conveyor belt 24 and, in this application, picks up objects (aligned or non-aligned) from the belt 24 and transports them. Place on a tray or in a cardboard box (not shown) for storage. The use of the industrial robot 20 in this high speed pick and place application is merely exemplary and the robot 20 of the present invention may be utilized for other high speed applications such as assembly, as well as pharmaceutical and medical applications. Please understand. As best shown in FIGS. 1-7, the industrial robot 20 has a plurality of through-holes 32 for mounting, e.g., bolting, the baseplate 28 to a suitable surface (not shown) within the production facility. It includes a stationary base plate 28 which includes.

As best shown in Figures 1, 5 and 6, the base plate 28 is generally rectangular in shape and includes a central opening 36 through which the outrigger bar 40 extends. A parallel kinematic structure is attached to the base plate 28 surrounding the central opening 36 . The parallel kinematic structure includes an actuator 44 attached to base plate 28 and a control arm 48 extending upwardly from actuator 44 . The control arm 48 includes parallelogram-shaped links 76 that limit the motion of the upper outer ring 52 to only a single translation, i.e., motion in the X, Y, or Z directions without rotation. Parallel kinematic structures can be similar in construction to delta robots. However, the invention contemplates parallel kinematic structures of other constructions.

As best shown in FIG. 6, the base plate 28 includes a plurality of upstanding flanges 56a, 56b, and 56c bolted or welded thereto that overlie the central opening 36. Together they form a triangular shaped structure 60 with welded reinforcing sections 64a, 64b and 64c. Extending radially from triangular structure 60 are a plurality of mounting flanges 68 that are coupled to base plate 28 by any suitable means, such as welding. A plurality of actuators 44 are attached to a mounting flange 68, which utilizes any suitable hardware such as bolts. Each actuator 44 functions as a drive source for a control arm 48 connected thereto. As best shown in FIG. 1, each control arm 48 includes a drive link 72 pivotally connected to a parallelogram link 76 . Specifically, each actuator 44 includes a crank that is rotated to change the position of a drive link 72 connected to the crank. This rotation causes tip 72 a of drive link 72 to move upward and downward through one of a plurality of T-shaped clearance openings 80 located in base plate 28 . In the following description, "drive link 72 rotates upward" refers to rotation of drive link 72 such that tip 72a moves upward, and "drive link 72 rotates downward" refers to tip 72a. The drive link 72 is shown rotating such that the moves downward.

As best shown in FIG. 1, the distal end 76 of each drive link 72 is provided with a through hole in which a flat-ended rotatable pivot rod 78 is positioned. Each drive link 72 is pivotally connected, eg, bolted, to a corresponding parallelogram link 76, which parallelogram link is linkedly driven by the drive link. 1 and 4, each parallelogram link 76 includes two bar-shaped members 88 extending generally vertically and parallel to each other between the drive link 72 and the upper outer ring 52. . As best shown in FIG. 4, the upper outer ring 52 includes a plurality of housings 96, each housing 96 provided to receive a pivot rod 78 therein, the pivot rod 78 having its It includes a flat end rotatably mounted therein. Enclosures 96, eg, three enclosures, are connected together through connector elements 100 by bolting or other suitable means. Together, housing 96 and connector section 100 form upper outer ring 52, which is generally hexagonal in shape. A paddle-shaped connector 104 is fastened to the upper and lower ends of each bar-shaped member 88 by any suitable means, such as bolting. At their upper ends, the rod members 88 may be fastened, e.g., bolted, to pivot rods 78 located within each housing 96, with paddle-shaped connectors fastened to both ends of each rod member 88. obtain. At their lower ends, bar members 88 may be fastened, eg bolted, to pivot rods 78 located at the distal ends 76 of each drive link 72 . Together, substantially parallel bar members 88 and substantially parallel pivot rods 78 form the parallelogram shape of parallelogram link 76 . By connecting at least two upper ends of the parallelogram links 76 to the upper outer ring 52, the motion of the upper outer ring 52 is reduced to a single translational motion (motion having only three degrees of freedom, X, Y, or Z direction). In this manner, the upper outer ring 52 remains in a fixed orientation whatever the movement of the control arm 48. The plurality of control arms 48 are movable relative to the base plate 28 and relative to each other in different positions between fully raised and fully lowered positions to substantially fix the upper outer ring 52 . While maintaining the orientation, the upper outer ring 52 is moved to different height and horizontal positions in three-dimensional space.

4, 5 and 8, the upper outer ring 52 includes two axle sections 108 and 112 located on opposite ends of the upper outer ring's periphery. Axles 108 and 112 are connected to upper outer ring 52 by any suitable means, such as bolts 108a in FIG. Axle sections 108 and 112 are coaxial and extend inwardly from the perimeter of upper outer ring 52 to form a first upper axle 110 . Axle 108 passes through slot 42a in housing 42, as best shown in FIGS. An upper gimbal ring 116 is rotatably mounted on these axle sections 108 and 112 . As shown in FIG. 5, the upper gimbal ring 116 is octagonal in shape, although other shapes may be utilized within the scope of the invention. Similarly, the upper gimbal ring 116 includes two axle sections 120 and 124 located on opposite ends of the circumference of the upper gimbal ring. Axle sections 120 and 124 lie along a second upper axis 122 and extend inwardly from the perimeter of upper gimbal ring 116 . The axle segments of upper gimbal ring 116 are oriented at 90 degrees to axle segments 108 and 112 of upper outer ring 52 . At its upper end, outrigger bar 40 includes an octagonal housing 42 (best seen in FIGS. 4 and 5). This housing 42 of the outrigger bar 40 is mounted on the axle sections 120 and 124 of the upper gimbal ring 116 . In this manner, the motion of the outrigger bar 40 remains independent of the translational motion of the upper outer ring 52 in the X, Y, and Z directions.

As best shown in FIGS. 1 and 4, actuator 44 is coupled to outrigger bar 40 above housing 42 . The outrigger bar 40 , connected at the bottom of the housing 42 , includes a generally cylindrical portion 126 that extends below and below the upper gimbal ring 116 . Cylindrical portion 126 then extends through central opening 36 in base plate 28 to distal end 40b where end effector 128 is located. As best shown in FIG. 6, a rotatable shaft 132 extends within the outrigger bar 40 to connect an actuator 44 coupled above the housing 42 with a tool (not shown) attached to the end effector 128. extend centrally. Rotating shaft 132 provides unlimited rotational capability to a tool (not shown) attached to end effector 128 .

1, 5, 6 and 8, the central opening 36 of the base plate 28 functions as a central pivot point for the pivotal movement of the outrigger bar 40 therein. Specifically, axle section 136 is provided approximately midway along the length of upstanding flange 56c and opposing axle section 140 is provided approximately midway along the length of bolted reinforcement section 64c. . Opposing axle sections 136 and 140 may be secured to upstanding flange 56c and to the connected reinforcing section 64c utilizing any suitable hardware, such as bolts 142. As shown in FIG. Axle sections 136 and 140 are coaxial to form a first central axis 138 (FIG. 8). The axle sections extend inwardly from their respective mounting surfaces. Central gimbal ring 144 is provided with mounting holes (not shown) to allow it to be rotatably mounted on axle sections 136 and 140 within central opening 36 of base plate 28 . The central opening 36 is large enough to allow rotational movement of the central gimbal ring 144 therein. In this manner, central gimbal ring 144 is free to rotate about first central axis 138 formed by axle sections 136 and 140 . Similarly, central gimbal ring 144 is provided with axle sections 148 and 152 attached thereto in a similar manner. Axle sections 148 and 152 are attached to central gimbal ring 144 using any suitable hardware and are located on either side of the periphery of central gimbal ring 144 and extend inwardly. Axle segments 148 and 152 are oriented at 90 degrees to axle segments 136 and 140 to define a second central axis 150 ( FIG. 8 ) that is perpendicular to first central axis 138 . The intersection of the first and second central axes defines a central pivot point 156 (FIG. 8). Pivoting sleeve 160 is attached to axle sections 148 and 152 of central gimbal ring 144 and extends through central gimbal ring 144 . In this manner, central pivot point 156 is centrally located within pivot sleeve 160, allowing pivot sleeve 160 to pivot about central pivot point 156 in any direction. The outrigger bar 40 extends through the pivot sleeve 160 as best shown in FIG. In this manner, the outrigger bar 40 can pivot about the central pivot point 156 in all directions within the central opening 36 of the base plate 28 . Additionally, outrigger bar 40 is free to slide up and down within pivot sleeve 160 based on movement of control arm 48 from a fully raised position to a fully lowered position.

2, 3 and 7, the industrial robot 20 of the present invention has an end effector 128 located at the distal end 40b of the outrigger bar 40 which is movable as defined by a frustum indicated at 164. It has a range of motion encompassing orthogonal X, Y, and Z directions so that it can move laterally and vertically within the range. Referring now to FIG. 2, industrial robot 20 is illustrated therein with each control arm 48 in its fully lowered position thus moving end effector 128 to a Z position within range 164 of motion. lower to its lowest position in the direction. In particular, a T-shaped clearance opening 80 is provided on the base plate 28 to allow the drive link 72 to enter therein, and thus would otherwise be possible in the absence of the clearance opening 80. Allows movement of the control arm to a lower position in the Z direction. 3 and 7, by moving the control arm 48 to different positions relative to each other between a fully raised position and a fully lowered position, the outrigger bar 40 can be utilized. It can be maneuvered, eg, pivoted, in three-dimensional space to any desired articulated position within the possible range of motion 164 . 3 and 7, each control arm 48 consists of a parallelogram link so that the upper outer ring 52 is always in a substantially fixed orientation with respect to the underlying base plate 28. move. This is also known as parallelogram-based control, or parallel kinematics. The three control arms 48 provide generally translational-only motion to the upper outer ring 52 through three dimensions. Also shown in Figures 1, 3, and 7, regardless of the position of the upper outer ring 52 in three-dimensional space, the end effector 128 with a tool (not shown) attached also exhibits translational-only movement through three dimensions. , and remain substantially parallel to the upper outer ring 52 . Such translation-only motion of the end effector is important for the use of the industrial robot 20 in the applications described above, such as pick and place.

Referring now to Figure 8, a simplified depiction of a portion of the industrial robot 20 of the present invention is shown. The simplified depictions include like numerals representing like components where applicable. At this point, it is important to note that the appearance of many of the components in FIG. 8 may differ from other drawings in that they are merely simplified and figurative. FIG. 8 is provided to illustrate the manner in which the end effector 128 exhibits only translational movement through three dimensions and remains substantially parallel to the upper outer ring 52 despite the pivotal movement of the outrigger bar 40. FIG. be.

As shown in FIG. 8 and as previously described with respect to other figures, the upper end of the outrigger bar 40 is rotatably mounted on opposing axle sections 120 and 124 of the upper gimbal ring 116 . An upper gimbal ring 116 is rotatably mounted on opposing axle segments 108 and 112 of upper outer ring 52 , which axle segments form first upper axle 110 . Opposing axle segments 120 and 124 of upper gimbal ring 116 are oriented at 90 degrees to opposing axle segments 108 and 112 of upper outer ring 52 to form a second upper axle 122 . In this manner, the motion of the outrigger bar 40 remains independent of the translational motion of the upper outer ring 52 in the X, Y, and Z directions. Cylindrical outrigger bar 40 extends under and through pivot sleeve 160 . As previously mentioned, pivot sleeve 160 is rotatably mounted on opposing axle sections 148 and 152 of central gimbal ring 144 . A central gimbal ring 144 is rotatably attached to opposing axle sections 136 and 140 (not shown in FIG. 8), which are attached to structure designated 60 . First and second central axes are defined in FIG. 8 at 138 and 150, respectively. The outrigger bar 40 then extends to its distal end 40b where the end effector 128 is located.

Referring again to FIG. 8, the lower gimbal ring 172 is rotatably mounted to the distal end 40b of the outrigger bar. In particular, lower gimbal ring 172 includes opposed axle sections 176 and 180 that extend through openings located at distal end 40 b of outrigger bar 40 . End effector 128 is rotatably mounted to lower gimbal ring 172 . In particular, end effector 128 includes opposed axle sections 188 and 192 that define a first lower axle 190 . Axle segments 188 and 192 are disposed to pass through openings in lower gimbal ring 172 and end effector 128 is positioned on a second lower axle 177 defined by opposed axle segments 176 and 180 of lower gimbal ring 172 . It allows rotation about a first lower axis 190 that is generally perpendicular to the . The lower gimbal ring 172 includes an arcuate arm 208 extending in an arc of approximately 90 degrees with a connection point on the first lower axis 190 . The end effector 128 also includes an arcuate arm 204 that extends in an arc of approximately 90 degrees and includes a connection point on the second lower shaft 177 .

Similarly, the upper outer ring 52 is provided with arcuate arms 196 that extend to a connection point on the second upper axis 122 and the upper gimbal ring 116 extends to a connection point on the first upper axis 110 . An extending arcuate arm 200 is provided. A first rigid connecting rod 212 connects at its upper end to the connection point of arcuate arm 196 and at its lower end to the connection point of arcuate arm 204 . A second rigid connecting rod 216 connects at its upper end to the connection point of arcuate arm 200 and at its lower end to arcuate arm 208 . Rigid connecting rods 212 and 216 are approximately equal in length. Together, through their connection to the arcuate arms of upper outer ring 52 and upper gimbal ring 116, connecting rods 212 and 216 limit movement of end effector 128 to translational-only movement through three dimensions. Helpful. In this way, the end effector 128 remains substantially parallel to the upper outer ring 52 regardless of the pivotal movement of the outrigger bar 40 to which the end effector 128 is connected to the outrigger bar.

For example, as best shown in FIG. 8, when the lower end of the striker bar 40 swings to the right along axis 177, the lower end of the striker bar 40b pivots out of a plane parallel to the upper outer ring 52. will do. However, because end effector 128 is pivotally attached to lower gimbal ring 172 and connected to upper outer ring 52 through rigid connecting rod 212, end effector 128 remains parallel to upper outer ring 52 throughout this movement. becomes.

The actual components forming upper arcuate arms 196 and 200 can be seen in FIG. Arc arm 196 is shown bent at an angle of less than 90 degrees and arc arm 200 is shown including two 45 degree bends. As best shown in FIG. 5, the distal end of rigid connecting rod 212 is housed within a stirrup 214 connected to upper arcuate arm 196 . The distal end of rigid connecting rod 216 may include a circular eyelet (not shown) containing a central opening through which upper arcuate arm 200 extends to connect these components. obtain.

9-11, the actual components involved in manipulating the end effector 128 are illustrated. In particular, the end effector 128 includes a housing 184 that couples at the distal end 40b (FIG. 1) of the outrigger bar. The lower gimbal ring 172 has an outer surface that is generally octagonal in shape. The lower gimbal ring 172 includes outwardly extending opposed axle sections 176 and 180 . Lower gimbal ring 172 is shown rotatably mounted within housing 184 by axle sections 176 and 180 extending through openings (not shown) in housing 184 . Opposing axle sections 176 and 180 define a second lower axle 177 . End effector 128 includes a cylindrical tube 128a with central axle section 186 disposed therein. Center axle section 186 is mounted within lower gimbal ring 172 by any suitable means, such as bolts 186a, extending through bolt plate 186b. The central axle section 186 may be non-rotatable with respect to the lower gimbal ring 172, but the cylindrical tube 128a, and hence the end effector, is rotatable about the central axle section 186. Center axle section 186 defines a first lower axle 190 that is generally perpendicular to second lower axle 177 .

As best shown in FIG. 10, two spaced apart L-shaped brackets 224 are shown coupled, eg, bolted, to the end effector 128 at two locations. An L-shaped bracket is shown extending below the center axle section 186 and connected to a square-shaped receptacle 220 . A rigid connecting rod 212 is rotatably mounted within and retained therein by a pin 225 extending through the receptacle 220 , with spaced L-shaped brackets 224 located on either side of the receptacle 220 . is shown. Similarly, a rigid connecting rod 216 including a trapezoidal head 216 a is shown rotatably mounted on axle section 186 . At its upper end, connecting rod 212 is connected to upper outer ring 52 , and at its upper end, connecting rod 216 is connected to upper gimbal ring 116 , as previously described. As best shown when comparing FIGS. 10 and 11, when the outrigger bar 40 articulates, the connecting rod 212 will rotate. Through its connection to upper outer ring 52 , connecting rod 212 causes end effector 128 to rotate about axle section 186 to maintain end effector 128 generally parallel to upper outer ring 52 .

Claims (16)

a. a stationary baseplate having a central opening;
b. a ring structure having a central aperture and arranged to receive an elongated outrigger bar;
c. A parallel kinematic structure disposed between said stationary base plate and said ring structure, said parallelogram link including a drive link pivotally connected to said parallelogram link, said parallelogram link a parallel kinematic structure formed from two bar-shaped members for providing motion of said ring structure in three dimensions while maintaining the structure generally parallel to said stationary base plate;
d. an upper gimbal ring mounted within the ring structure and pivotable about a first axis;
e. said elongated outrigger bar having an upper end mounted within said ring structure and pivotable about a second axis, said second axis being substantially perpendicular to said first axis; said elongated outrigger bar having a length that extends through said central opening of said stationary baseplate to a lower end portion;
f. a lower gimbal ring mounted within the lower end portion of the elongated outrigger bar and pivotable about a third axis;
g. a first control linkage connecting the lower gimbal ring to the upper gimbal ring to maintain the lower gimbal ring substantially parallel to the upper gimbal ring during pivotal movement of the outrigger bar;
h. An end effector arranged to carry a tool and move to different positions within a three-dimensional range of motion, said end effector being attached to said lower gimbal ring and pivotable about a fourth axis. and wherein the fourth axis is substantially perpendicular to the third axis; and
i. a second control linkage connecting the end effector to the ring structure to maintain the end effector substantially parallel to the ring structure regardless of the position of the end effector within the three-dimensional range of motion; Ready, industrial robots. the parallel kinematic structure comprising:
a. a plurality of actuators fastened on the stationary base plate and disposed about the central opening;
b. a plurality of control arms movable with respect to said stationary base plate and at different positions relative to each other, each rotatably coupled to said drive link and to said drive link at one end; having said parallelogram links rotatably coupled and rotatably coupled at opposite ends to said ring structure, said plurality of control arms maintaining said ring structure generally parallel to said stationary base plate; and a plurality of control arms arranged to move the ring structure to different height and horizontal positions. 3. The industrial robot of Claim 2, wherein the parallel kinematic structure comprises a delta robot. The industrial robot of claim 1, wherein the three-dimensional range of motion is in the shape of a truncated cone. The industrial robot of claim 1, further comprising a tool attached to said end effector. 6. The industrial robot of claim 5, wherein said tool is selected from the group consisting of suction tips, pneumatic grippers, electric grippers, and forced air tips. 3. The industrial robot of claim 2, wherein each of said plurality of actuators is selected from the group consisting of rotary servomotors, linear motors, stepper motors, electric motors, hydraulic cylinders, and pneumatic cylinders. 2. The industrial robot of claim 1, further comprising a central gimbal ring mounted within said central opening of said stationary baseplate and pivotable about a fifth axis. further comprising a sleeve mounted within said central gimbal ring and pivotable about a sixth axis, said sixth axis being substantially perpendicular to said fifth axis, said sleeve within said 9. The industrial robot of claim 8, arranged to allow sliding movement of said elongated outrigger bar. 2. The industrial robot of claim 1, wherein said elongated outrigger bar is mounted within said upper gimbal ring. The first control linkage comprises an inflexible rod having a length, the second control linkage comprises an inflexible rod having a length, the lengths of the first and second control linkages 2. The industrial robot of claim 1, wherein the widths are approximately equal. 2. The industrial robot of claim 1, wherein said stick bar includes a portion that is generally cylindrical. 3. The industrial robot of Claim 2, wherein the plurality of actuators comprises at least three drives. 3. The industrial robot of Claim 2, wherein the plurality of actuators are pivoted through a predetermined arc. said stationary base plate including a notch corresponding to each control arm, each said notch being associated with each said control arm when said notch is moved to a fully lowered position; 15. The industrial robot of claim 14, allowing the passage of a . 6. The industrial robot of claim 5, wherein the end effector provides unlimited rotational motion over 360 degrees.

Images