KR20000070148A - A device for relative displacement 0f two elements - Google Patents

Abstract

The mechanism for the relative displacement of the two elements 1, 2 comprises articulating links 4, 5 provided between the element and the force supply devices 6, 7, 8 which provide the force to the relative displacement of the element. The articulation links 4 and 5 form at least one four-section link system FS1. Furthermore, the mechanism comprises at least one pivot arm device 11. The four-link system FS1 and the pivot arm device 11 are interconnected by the connecting device 12.

Description

Mechanism for relative displacement of two elements {A DEVICE FOR RELATIVE DISPLACEMENT 0F TWO ELEMENTS}

Robots of the kind defined by the introduction are described in US Pat. No. 4,976,582. For the positioning of the second element, the robot comprises three force supply devices, which in turn comprise three force input members arranged triangularly on the first element. Each force member is connected to a movable second element through its own connection comprising two linkages and an intermediate linkage. These three connections joined in parallel are similarly arranged in triangulation. Each such connection is a first link device comprising two first links that are pivotally connected to a second element and a first device rigidly connected to the moving part of the force input member and connected to the two first links by a connecting device. Contains two links. The second link is movable about one single degree of freedom relative to the stop of the force application member. The linkage formed by the first link is connected to the second element resulting in two but not more than two degrees of freedom. In practice, the first linkage forms a four-section linkage system of parallel form. The disadvantage of this known robot is that it becomes relatively bulky as a result of the triangulation mentioned above. The angle between planes orbiting two adjacent second links, ie, must always be 180 ° or less. Therefore, it is very difficult to place two or more robots in close proximity to one another without collisions. Another disadvantage is that all arms must be the same length. This means that it is impossible to fit the robot to the moving pattern in question. Work performance must always be performed symmetrically in a symmetrical work area, which is not cost effective.

It is also difficult to arrange to work horizontally on Kenvey, loading pallets and the like as a result of the known bilateral triangle structure.

The present invention relates to a mechanism for the relative displacement of two elements comprising an articulation link provided between the element and a force supply for providing the force to the relative displacement of the element.

The relative displacement of the two elements aims to position them in a way that they are directed towards each other by the force supply. More specifically, the mechanism according to the invention is adapted to constitute a regulator or a robot. The second element is adapted to carry a work piece which performs a function aimed at, for example, picking up, placing, wrapping and palletizing directly or indirectly via a conveying device. However, it is known that the work member may be adapted to perform other work operations as mentioned previously. According to the first embodiment, the first element may form a base member mounted in the space, but according to the second embodiment, the first element may form a base member having a characteristic of a transporter movable relative to the armature. The force supply is then used to adjust the position of the carrier with respect to the skeleton.

1 is a schematic perspective view of a robot according to the present invention,

FIG. 2 is a view similar to FIG. 1 showing a modified embodiment,

3 is a perspective view of a robot as a modified embodiment similar to FIGS. 1 and 2,

4 is a schematic diagram similar to FIG. 1 but modified in design and function,

FIG. 5 is a perspective view showing an embodiment where the three force supply devices include a force input member disposed at a stationary portion fixed to the first element and a moving portion arranged to operate the pivot arm device through the link arm device; FIG. ego,

6 is a perspective view of another earlier embodiment,

7 is a perspective view of another embodiment in which the pivot arm device is located in proximity to the first element,

8 is a perspective view of yet another embodiment where the pivot arm device is pivotable in all directions with respect to the connecting device connected to the first element via a four-section link system, FIG.

9 is a schematic perspective view showing a robot provided with a transmitter intended to rotate a work member disposed on a pivot arm device;

10 is a perspective view showing another embodiment of the transmitter capable of transmitting a driving force between two link members pivotable in all directions relative to each other,

11 is a schematic perspective view showing how double force transmission is achieved in a joint having two degrees of freedom, i.e., a relative turn around two inclined axes,

12 is a perspective view of an embodiment similar to FIG. 10 but in a somewhat modified state,

13 is a perspective view of another embodiment similar to the embodiment of FIG. 8.

It is an object of the present invention to devise a route for developing an instrument of the kind specified in the introduction in order to eliminate or at least reduce one or more of the disadvantages mentioned above. A special purpose is to provide great flexibility for the design of the instrument so that two or more instruments are arranged to work relatively closely to each other. According to another aspect, an object of the present invention is to provide improved mobility of a robot.

The object of the present invention is that the articulated link forms at least one four-link system, the mechanism also comprises one pivot arm device and the four-link system and the pivot arm device are interconnected by a connecting device. Is achieved.

The invention creates a possibility for the symmetrical design of the instrument according to the invention and thus a design adapted for the purpose of its working area. For example, this symmetrical characteristic of the instrument according to the invention offers the possibility of very high density packing of a plurality of robots.

Various preferred developments of the invention are defined in the dependent claims. These developments and benefits in conjunction with the present invention are addressed in more detail by the following description.

More detailed embodiments of the present invention are described below with reference to the accompanying drawings.

For simplicity of understanding, the same reference numerals are used for similar or corresponding elements in other embodiments below, but special symbols are added to each embodiment.

The robot shown in FIG. 1 is for the relative displacement of two elements 1, 2. In the example the element 1 is for forming a base member, while the element 2 is for positioning in space. The element 2 is for carrying the work piece 3 indirectly, as indicated in figure 1, either directly or through a transport device to be dealt with later.

The robot comprises articulating links 4, 5 provided between the elements 1, 2 and the force supply devices 6, 7, 8 providing the force to the relative displacement of the element.

The joint links 4 and 5 add two links 9 and 10 to form a four-section link system FS1. The robot further comprises a pivot arm device 11 and a linkage device 12 for interconnecting the four-section link system FS1 and the pivot arm device 11.

In the example, the links 4, 5; 9, 10 are constituted by paired parallel four-link system FS1 and are therefore of the same length. Thus, the four-section link system FS1 forms a parallelogram.

The first force supply 6 is provided to pivot the link 4 and thereby also the link 5 of the four-section link system in the first plane to change the shape of the four-section link system. This plane extends closer to substantially parallel to the plane in which the link is installed in the four-link system FS1.

The force supply device 6 comprises a stopper which is tightly connected to the link 9 and a force injection member provided with a moving part which is tightly connected to rotate on the link 4. The force injection member is formed closer by the rotating means whose stator is connected to the link 9 and its rotor is connected to the link 4.

The second force supply 7 is arranged to pivot the four-link system FS1 in another plane that forms an angle, preferably substantially perpendicular to the first plane. The force supply device 7 comprises a stopper which is tightly connected to the element 1 and a force injection member provided with a moving part which is tightly connected to rotate on the link 9. In the example the force input member is formed by means of rotation provided with a stator connected rigidly to the element 1 and a rotor connected to the link 9. The rotating means included in the devices 6, 7 are indicated by 13 and 14, respectively, and their axis of rotation extends in the example substantially at right angles to each other, preferably to one another. It is noted that the rotating means 13 follows the link 9 in the example when the four-link system FS1 is pivoted by the rotating means 14.

A third force supply 8 is arranged to operate to pivot the pivot arm device 11. The device 8 comprises a force application member 15 having a stop fixed to the element 1 and a moving part arranged to operate the pivoting device 11. More specifically, the link arm device 16 is disposed between the moving part of the force input member 15 and the pivot arm device 11. The pivot arm device is, for example, a link which is hingedly connected to the arm 17 and the arm 17 and the pivot arm device 11, which are rigidly connected to the moving part of the force input member 15, respectively via joints 19 and 20, respectively. An arm 18. This joint allows the rotation of the link arm 18 in all directions relative to the arm 17 and the pivot arm device 11, respectively. That is, the joints should allow relative pivotal movement about the pivot axis tilted relative to each other. Thus, the joint can be performed by cardon coupling. They can also be performed by ball joints, which means that additional degrees of freedom are added in the form of relative rotation.

The four-link system FS1 is arranged between the connecting device 12 and the element 1 in FIG. 1 and the pivot arm device 11 is arranged between the second element 2 and the connecting device 12.

The pivot arm device 11 is performed by means of a simple pivot arm 21 in the example. The connecting device 12 has a structural feature, which connects the pivot arm 21 to the link 10 configured in the four-link system FS1 in a hinged manner.

The pivot arm 21 has two arm portions 22 and 23 located on each side of the pivot axis of the pivot arm, respectively indicated by 24, the first arm portion 22 being attached to the second element 2. The second arm portion 23 is connected to the link arm device 16 via a joint 20. The pivot arm 21 is pivotally connected to the link 10 and the connecting device 12 with one single degree of freedom. In the example the pivot axis 24 of the pivot arm 21 is controlled such that the pivot arm 21 receives pivotability in a plane substantially perpendicular to the plane, where the links 4 and 5 of the four-link system are pivoted. It is possible.

In FIG. 1 a third link 25 is shown that forms another four-link system with each other link 4, 5. This third link is connected to the element 1 by a joint 26 and to the link element 28 via the joint 27, which is connected to the link element 28 via the joint 29. It is connected to the link 10 in FS1. The shape of (FS1) can be changed in its own plane by the turning of the links 4, 5 and in addition can be rotated in a plane of rotation perpendicular to the turning plane, so that the joints 26,27 of the link 25 Is required such that the link 25 is pivoted in all directions with respect to the respective element 1 and the link element 28. Joints with at least two non-parallel pivot axes or ball joints are therefore of interest. The link element 28 is however pivotally connected to the link 10 of the four-section link system FS1 with one single degree of freedom. That is, the joint 29 allows full turn around the axis. This axis must extend perpendicular to the adjacent joint axis of the four-bar linkage system to produce parallelogram function. This further requires that the links 25 are substantially parallel to the links 4, 5 and have a length substantially equal to the length they have.

Therefore, the working member 3 by the robot shown in FIG. 1 can be adjusted in the Z direction by the rotating means 13. The work means 3 can furthermore be adjusted in the XY plane by the proper operation of at least one of the rotating means 14, 15, both.

The other embodiment shown in FIG. 2 corresponds to a substantial part of the previous embodiment. The first difference is that the link / link elements indicated by 25 and 28 in FIG. 1, respectively, do not exist in this case. This element is thus not necessary but can be added when higher stability of the four-link system FS1 is required. The robot has a slimmer design and a larger workspace without these elements.

Another embodiment in FIG. 3 is closely related to the embodiment according to FIG. 2. There are mainly only two differences; The first difference is that the pivot arm 21a is connected to the link arm 18a in the region between the ends of the pivot arm. That is, the pivot arm 21a is connected to the connecting device 12a as one of its ends, and the other end thereof carries the working member 3a. The second difference is also that the force injection member 13a is fixed as its stop with respect to the first element 1a. The moving part (drive shaft) of the member 13a instead has a gearwheel 30, which drives the gearwheel 31 which is tightly connected to one of the links 4a at an angle to the four-section link system. In other words, the gearwheels 30, 31 form angular gears, which are driven by the member 14a in rotation so that the force input member 13a is driven to follow the same angular velocity (the links 4a, 5a). This rotation is allowed when it is rotated by the force injection member 14a about the axis of rotation indicated by 32. The moving part of the force injection member 14a is rotatably connected to the link 9a as before, and the link 9a is hingedly connected to the links 4a and 5a. It is noted here that the gearwheel 31 is mounted rotatably with respect to the link 9a.

Another embodiment shown in FIG. 4 differs from the embodiment according to FIG. 1 in that each of the articulated links 4b, 5b and 25b is connected to the first element 1b and the connecting device 12b respectively, in this case and It can also be considered in the previous embodiment to include the link 10b by a joint which allows the link to pivot in all directions with respect to the first element 1b and the connecting device 12b. It is also noted that in the embodiment according to FIG. 1 an element 28b with the characteristics of a hinged link element in relation to the link 10 forms a rigid element of the connecting device 12b in this case. However, the use of the embodiment shown therein is also within the scope of the embodiment according to FIG. 4.

It has already been mentioned that the joints 26b and 27b are arranged to allow the rotation of the link 25b in all directions with respect to the element 1b and the connecting arrangement 12b. Thus, reference is made here to a joint with a pivot axis arranged at an angle, such as a cardiac joint or a ball joint. Corresponding considerations are valid for the joints indicated by 33 between each link 4b, 5b and element 1b and connecting device 12b. However, the joint connection of the link 4b to the element 1b is somewhat special, such as the result generated through the force injection members 13b and 14b on the same principle that the joint connection has already been discussed. The link 4b is thus connected to the element 1b via the rotational axes of the two force injection members 13b, 14b, which extend substantially perpendicular to each other. Thus, the rotational axes of the members 13b and 14b as well as the overall pivotability of the link 4b with respect to the element 1b are provided provided that the members 13b and 14b allow the pivoting of the problem.

Thus, the above discussion appears in the embodiment according to FIG. 1 and in the embodiment according to FIG. 4 the link 9 included in the four-link system FS1 is coupled with the force injection members 13b and 14b to the element 1b. It is formed by itself.

The degree of freedom is obtained by the link between (5) and (9) in engagement with the rotational axis of the member (14) between the link (5) and the first element (1) in FIG. Two degrees of freedom are obtained as joint 33 for link 5b in FIG. 4.

The other embodiment shown in FIG. 5 differs from the previous embodiment in such a way that the force supply devices 6c, 7c as well as the force supply device 8c comprise link arm devices 16c, 34, 35 respectively. The force injection members 13c, 14c and 15c operate the second element 2c, respectively. The link arm devices 34 and 35 include angle arms 36 and 37 similar to those effective for the link arm device 16c, which are fixed to rotate on the moving parts of the respective force injection members 13c and 14c. And links 38 and 39 are connected between these arms 36 and 37 and the second element 2c, respectively. From what has already been described for the link arm 18c, the link arms 38, 39 also have their respective arms 36, 37 and element 2c (via joints allowing rotation in all directions of the link arm). Pivot arm 21c) is hingedly connected. It is once again related to other joints, such as ball joints or cardan joints, which allow turning about two pivot axes which are arranged at an angle to each other.

It is first in the embodiment according to FIG. 5 a force supply 6c that affects the movement of the second element 2c in the Z direction. The device 7c influences the movement in the Y direction while the device 8c affects the movement in the X direction.

It is shown in Fig. 5 how the pivot arm 21c is provided with a stabilizing bar 40 which gives a relatively wider joint base of the pivot arm 21c so that it is stable relative to the connecting element 12c.

A four-section link system FS1 is arranged between the connecting device 12d and the second element 1d in another embodiment according to FIG. 6. The pivot arm device 11d is pivotable with respect to the connecting device 12d about the pivot axis 41, in which case it is not necessary, but is substantially parallel to the swing plane of the four-link system FS1. The latter can be pivoted by the force injection member 13d.

The pivot arm device 11d is in this case with respect to the connecting device 12d by means of a joint device indicated generally at 42 which allows pivoting of the pivot arm device 11d in all directions with respect to the connecting device 12d. It is possible to turn. In this case, the pivot arm device 11d is further formed as a four-section link system further including a link 43 corresponding to the pivot arm 21 mentioned previously, except for the link 21d. In addition to links 44 and 45, the link 43 forms a four-way link system in this manner. It is thus pointed out that the links 21d and 43 are pivotable in relation to the link 45 which is rotatable about the previously mentioned axis 41. By virtue of the possibility of turning the links 21d and 43 relative to the link 45 and the possibility of turning about the axis 41, the freedom of pivoting the pivot arm device 11d in relation to the connecting device 12d is thus in all directions. Is provided by

The second element 2d is not disposed directly on the pivot arm 21d in this embodiment, but instead is placed on a link indicated by 44 which is partially carried by the arm 21d. This is maintained as a result of the fact that the direction of the element 2d in space is actually the result of the two four-link system being continuously coupled, but by the relative swinging motion of the four-section link system about the axis 41, the second The rotational position of the element 2d is substituted on the other hand. The force supply devices 7d, 8d with the force injection members 14d, 15d, respectively, are in this case as usual, as in the previous case according to FIG. 5, which is here connected to the second element 2d which is the link 44. Link arm devices 35d and 16d are connected to operate them, respectively. It first operates the second element 2d in the Z direction in the drawing while the device 7d pivots the pivot arm about an axis 41 substantially perpendicular in FIG. 6 so that the element 2d is arranged in the X direction. Is a power supply device 8d. The force supply 7d can finally be arranged through the element 2d of FS1 in the Y direction.

The four-section link system FS1 is provided between the connecting device 12e and the second element 2e in the embodiment according to FIG. 7, and the pivot arm device 11e is provided with the first element 1e and the connecting device ( 12e). The force injection member 15e affects the pivoting of the pivot arm 21e about the axis indicated by 46 and fixes the force injection member 13e such that its stator is rotatably fixed to the rotor of the member 15e. To be followed. The force injection member 14e, on the other hand, has a stator connected to the first element 1e.

Therefore, the four-section link system FS1 can be rearranged by the pivot arm 21e so that the element 2e is replaced in the Y direction. The member 13e causes the pivoting movement in the Z direction of the FS1 and the element 2e through the engaging link arm device. The force member 14e pivots FS1 horizontally through the engaging link arm device, that is, substantially parallel to the pivot plane of the pivot arm 21e so that the element 2e is replaced in the X direction.

Another embodiment in FIG. 8 is a connecting device 12f by means of a joint 47 which allows the pivot arm 21f of the pivot arm device to pivot the pivot arm 21f in all directions with respect to the connecting device 12f. Except for being connected to, it mainly corresponds to the embodiment of FIGS. 2 and 3. The force supply device 8f having the force applying member 15f and the engaging link arm device 16f contributes to operating the pivot arm 21f in the horizontal plane. In this case the movement can be pivoted with the aid of the force injection member 14f, which pivot arm 21f is also connected to the second element 1f as a stop in the vertical plane and moves the force injection member 15f as the moving part. Is there. Since the members 14f and 15f have their respective axes of rotation extending at an angle to one another, ie substantially perpendicularly, the pivot arms 21f can thus be pivoted as desired in space. This allows the joint 19f between the arm 17f and the link arm 18f of the link arm device 16f to be pivotally disposed with only one degree of freedom, that is, about one single axis. The biaxial axis should be substantially parallel to the pivot axis of the member 15f, but a substantially right angle is inclined to the axis of rotation of the member 14f. The four-section link system FS1 is also pivoted vertically with the aid of the force input member 13f to change the vertical position of the pivot arm 21f.

In the embodiment shown in Fig. 9, the four-segment link system FS1 is pivotable vertically by the force injection member 13g and the pivot arm 21g is connected with the aid of the pim input member 15g to the connecting device 12g. Can be turned horizontally with respect to The transmitter 49 for rotation of the work member 3g disposed on the link 9g and driven by the drive motor 48 is a force transmission member in the form of a shaft 51 and / or a four-section link system FS1. It does not affect the relative motion between the traction transmission element 52 and the axis / pivot arm 21g and FS1 located around the conversion wheels 53 and 54 extending along its link 5g. And a pivot arm 21g and a angular gear member 55 provided between the conversion wheels for force transmission. In the example, the shaft 51 extends along the link 5g, which has a gearwheel driven at one end thereof by the motor 48. The mechanism is suitably arranged so that the gear wheels of the motor 48 and the shaft 51 each form a first angular gear. In the example, the gearwheel 56 at the other end of the shaft 51 is connected to the drive of the gearwheel 57 via a third gearwheel 58 forming a respective gear as each of the other gearwheels 56 and 57. Is placed on. The shaft fixedly to the gearwheel 57 is firmly connected to the brake wheel indicated by 53 so that by its rotation the traction transmission element 52 causes the conversion wheel 54 to rotate and thereby the work member 3g. Turn). Thereby the working member can be adjusted as desired. It is naturally noted that the conversion wheels 53, 54 and the traction transmission element 52 can be replaced by a gear arrangement with the required axis. In addition to the coupling gear wheel, the shaft 51 is similarly replaced by a conversion wheel having a traction transmission element.

In the example, the force injection member 14g is arranged to turn around the FS1 through the link 9g. The motor 48 arranged in the link 9g follows thereby. The member 15g is suitably disposed substantially coaxially with the member 14g.

It is noted that the solution shown in FIG. 9 can naturally be applied to the embodiment according to all the described embodiments according to FIGS. 1-8.

In Fig. 10 another embodiment suitable for obtaining a rotation of the work member 3h on the basis of the first element 1h is shown and its proper rotational position is adjusted. Such adjustment of the rotational position may also be required for other manual work in which the working member is performed, which is evident from the above discussion, but the adjustment is also a robot means by which the working member 3h changes the rotational position in space with such pivoting motion. It is always desired by the pivotable embodiment of.

In FIG. 10 it is shown how the force application member 59 has a stop fixed by the first element 1h and a moving part connected to the arm 60. The pivotable arm with respect to the arm is indicated by 61. The pivotable link to the arm or link is indicated at 62. By proper driving of the force injection member 59, the working member 3h is thus replaced through the arms 60, 61.

The drive motor 114 is positioned to generate energy for rotating the work member 3h on the first element 1h. The drive motor 114 has a maintenance part connected to the element 1h and a moving part here arranged to rotate the drive wheel 115 in the form of a drive shaft. Furthermore, wheel 116 is rotatably mounted at the outer end of arm 60 and traction transfer element 117 is disposed around these two wheels 115, 116 in the form of a loop. The wheel 116 is connected to the shaft 118 and the conical gearwheel 119 is fixed thereto. The axis is rotatable relative to the outer end of the arm 60. The support element 120 is also mounted about an axis 118 that is movable around the axis 118 in one degree of freedom, ie forward rotation. This support member 120 is pivotally connected to the rotatable shaft 121 with respect to the arm 61 with one degree of freedom. The conical gearwheel 122 and the wheel 123 are firmly connected to rotate on the shaft 121, in the loop shape the traction transmission element 124 is located around the wheel 123, the element 124 is also an arm In 61 it is firmly connected to rotate on the shaft 126 mounted at its end.

The gearwheels 119, 122 together form angular gears in that the axes 118, 121 extend substantially circumferentially with respect to each other. The shaft 126 carries a rotatably and firmly connected conical gearwheel 127, which meshes with the conical gearwheel 128 forming another angular gear, which is connected to the work piece 3h. ) Is rotatably connected. The gearwheel 128 is disposed rotatably on the shaft 129. This axis extends perpendicular to the axis 126. Another support element 130 is mounted on two axes 126 and 129 as one degree of freedom, ie forward rotation.

The embodiment according to FIG. 10 works in the following way: The arm 60 is rotatable by actuating the force input member 59 and the arm 61 can be rotated thereby. The described connection / transmission of force through the support elements 120,130 pivotally connected to the respective gears and gearwheel shaft is achieved by means of the arm 60 and the arm 61 on the one hand between the arm 61 and the arm 62 on the other hand. Meaning change, two rotations are obtained with respect to mobility at two degrees of freedom, ie axes perpendicular to each other. This means that arm 60 rotatable in one plane can cause arm 62 to operate when arm 62 is positioned away from the plane of rotation for arm 60, as shown in FIG. 10. The drive wheel 115 is rotated by the drive of the drive motor 114. The drive wheel 115 drives the traction transfer element 117 in the form of belts, lines, wires and chains around it, and also causes the wheel 116 to rotate. The shaft 121 is rotated through the angle gear 119/122 and this also leads to the rotation of the wheel 123, which drives the wheel 125 through the element 124 so that the shaft 126 is rotated. Lose. This causes the work member 3h to rotate through the gears 127 and 128.

It is noted that the embodiment according to Fig. 10 can be applied by all the embodiments according to Figs. 1-9. The arm indicated by 60 in FIG. 10 is thus formed, for example, by the arm indicated by 17 in the previous figure and the arm indicated by 61 in FIG. 10 is formed by the link arm 18. . The arm indicated by 62 is thus formed by the pivot arm 21 itself or possibly by the link indicated by 44. The force member 59 then corresponds to the member indicated by 17.

The fundamental solution for dual force transmission between two parts of the instrument that is pivotable about a dual non-parallel axis with respect to each other is shown in FIG. 11. With the guidance of the embodiment according to FIG. 11, the force transmission can occur twice compared to the force transmission between the arm 60 and the arm 61 shown in FIG. 10. The description here is that a double set of transmission elements 131, 132 driven by separate drive motors and positioned on each drive wheel 133, 134 is arranged in FIG. 11. The axis 135 of the other wheel 133 extends through the tube axis 135 while the axis 135 in the wheel 134 is formed as a tube axis. The tube shaft 135 is provided with a first conical gear wheel 137 and the shaft 136 is provided with a second conical gear wheel 138 whose end extends through the tube shaft 135. The gear wheel 137 connected to the tube shaft 135 meshes with the conical gear wheel 139 located on the tube shaft 140 forming the respective gears. The wheel 141 is firmly connected to the tube shaft 140 and the traction transmission element 142 is located on and driven by the wheel 141.

Another conical gearwheel 143 meshes with the gearwheel 138, the gearwheel 143 extending through the tube shaft 140 and connected to a wheel 145 driving the traction transmission element 146. Fixed to 144, which extends to a wheel (not shown) driven by it, which is also a problem for element 142.

Thereby, the transmission shown in FIG. 11 allows for dual force transmission and joints having two degrees of freedom, i.e., joints allowing rotation around two angularly arranged axes, are formed simultaneously. The transmission can be used to provide a robot structure combined in two degrees of freedom. The elements 131, 133, 136, 138, 143, 144, 145, 146 can be used for example to rotate the work piece 3 and other elements can be used for different degrees of freedom of the robot, for example to replace the part carrying the work piece 3.

It is noted that the axes 135, 136, 140 and 144 do not need to be inherently driven respectively, but rather drive respective conversion wheels for the traction transmission element. Gear wheels are arranged on the shafts 135, 136, 140 and 144 instead of wheel transformations, which are capable of affecting the corresponding driving function and the driven function, respectively, through corresponding gear wheels arranged on the rotatable axis.

Another embodiment is shown in the embodiment discussed in FIG. 12 by the guidance of FIG. 10. Axle transmissions 146 and 147 disposed along arms 60i and 61i are used in place of the wheels driven by them for traction transmission elements and drive wheel force transmissions, respectively. This means that the respective gear function has to be arranged in the joint transition in a way that is clear from FIG.

The other embodiment shown in FIG. 13 is similar to that shown in FIG. 8 except that the pivot arm device 11j is more complex similar to the case in the embodiment according to FIG. 6. In Fig. 13, the pivot arm device 11j forms the joint articulation link system closer to where the pivot arm 21j forms one link. The connecting device 12j is in this case connected to the pivot arm device 11j by a joint device 47j formed by pivot axes 47ja and 47jb disposed at two angles with respect to each other. Thus, the pivot shaft 47jb is connected to the link 45j formed in the four-section link system 11j so that the link can be rotated with respect to the connecting device 12j as only one degree of freedom. The pivot axis 47j connects the pivot arm 21j to the link 45j, and here also has only one degree of freedom. The remaining links in the four-link system are indicated by 43j and 44j, respectively.

In the example the work member 3j is substantially parallel to the turning plane of (FS1). It is connected to the link 44j in the four-section link system 11j. It suitably forms parallel quadrilaterals.

In the example, the pivot axis 47jb is substantially parallel to the pivot plane for (FS1). But this is not required. The axes 47ja and 47jb are appropriately perpendicular to each other.

Thus, the four-section link system 11j is pivotable about the axis 47jb with respect to the connecting device 12j by the force member 14j in a manner similar to the pivot arm 21f discussed and shown in FIG. . The pivot arm 21j is pivotable with respect to the link 45j around the axis 47ja by the force member 15j. In FIG. 13 the force transmission between the force member 14j and the pivot arm 21j is basically arranged in the manner described in FIG.

In general, for all the embodiments described, the appropriate control unit, in particular the computer type, causes the second element 2 and the member 3 to be connected directly or indirectly to the desired movement path here. It is arranged to control the member.

It is apparent that the present invention is not limited to the above-described embodiments. Therefore, the detailed application of the embodiment can be carried out depending on the situation which is not separated from the invention shown in claim 1.

The idea shown in FIG. 3 in which the four-segment link system FS1 is pivoted by the respective gear function between the force input members 13a coupled with one link in the four-segment link system is according to FIGS. 1,2 and 4. It is noted that it is applicable to the embodiment. The main advantage in this arrangement is that the force injection member 13 no longer needs to follow when the four-link system is rotated by the force injection member 14. Thus, the loads and their related inertia that need to be moved are reduced.

Claims (23)

Apparatus for the relative displacement of two elements (1,2), articulated links (4,5) disposed between the elements and a force supply (6,7) for supplying force for the relative displacement of the elements 8, wherein the articulation link forms one or more four-link system FS1, and the mechanism also includes one or more pivot arm devices 11, wherein the four-link system and the pivot arm device are connected. Apparatus characterized in that they are interconnected by a device (12). The instrument as claimed in claim 1, wherein the four-link system (FS1) is a parallelogram. 3. The first force supply (6) according to claim 1 or 2, wherein the first force supply (6) is arranged to pivot the links (4, 5) of the four-link system in the first plane to change the shape of the four-link system. Features of the appliance. Apparatus according to the preceding claim, characterized in that the second force supply (7) is arranged to pivot the link (4,5) of the four-section link system (FS1) in a second plane inclined with respect to the first plane. Apparatus according to claim 1, characterized in that the third force supply (8) is arranged to pivot the pivot arm device (11). The four-way link system FS1 is arranged between the connecting device and the first element 1 formed as the base member, and the pivot arm device 11 comprises the second element 2 and the connecting device 12. The apparatus, characterized in that disposed between. 6. The four-way link system FS1 is arranged between the connecting device 12e and the second element 2e, and the pivot arm device 11e is formed as a base member. A device, characterized in that it is arranged between the element 1e and the connecting device. 8. The linkage device (16, 34) according to claim 5 and 6 or 7, wherein the first, second and / or third force supply (6, 7, or 8) is connected to the first element. And 35 a force input member having a moving part adapted to operate the second element through 35. 10. The instrument according to claim 8, wherein the link arm device (16) is connected to a pivot arm device (11). 9. Apparatus according to claim 8, wherein the link arm arrangement (34e, 35e) is connected to a four-way link system. 10. The instrument according to claim 9, wherein said pivot arm device (11) comprises at least one pivot arm (21). 12. The pivotal arm (21) according to claim 11, wherein the pivot arm (21) has two arm parts (22, 23) located on each side of the pivot axis (24), the first arm part being connected to the second element (2) and the second arm The part is connected to the link arm device (16). The instrument according to claim 1, wherein the pivot arm device (21, 21a, 21b) is pivotally connected to the connecting device with only one degree of freedom. 12. The pivoting arm arrangement (11f, 11j) according to any one of the preceding claims, wherein the pivot arm arrangement (11f, 11j) is connected to the coupling arrangement (12f, 12j) by means of articulation (47,47j) that permits pivotability of the pivot arm arrangement in all directions. Apparatus characterized in that the connection. A first force supply for turning the links (4, 5) of a four-section link system (FS1), according to one of claims 3 and 6 and possibly of claims 4 and 7-14. 6a), in which one or more of these links are influenced through each gear (30,31). The method of claim 1, wherein the articulated link is three or more, two of which form the four-link system mentioned above and the third link forms another four-section link system with each of the other links. Instrument. Device according to claim 15, characterized in that each of the articulating links (4b, 5b, 25b) is independently rotatable in all directions to the first element (1b) and to the connecting device (12b). The pivot arm mechanism (11d, 11j) is arranged as a third four-link system having two links (43, 43j, 21d, 21j) extending from the connecting devices (12d, 12j). Mechanism characterized in that the pivoting in all directions with respect to the connecting device. The transmitter according to claim 1, wherein the transmitter driven by the drive motors 48,59 on the first elements 1g, 1h to rotate the work members 3g, 3h is along the arms, links, etc. 5g, 60, 21g. An angle gear member disposed between the force transmission member in the form of an elongated shaft 51, 146 and / or the traction transmission elements 52, 117 located around the shift wheel and the shift wheel for transmission to the mobility of the mechanism without dispersing these axes / forces. (56,57,58; 119,122). A dual set of motion transfer elements (131, 132, 142, 146) driven by a separate drive motor is arranged for dual force transmission between two parts of the pivotable device in relation to each other about a dual non-equilibrium axis. The motion transfer element is operatively engaged with the tube axis 135 and the axis 136 extending through the tube axis and corresponds to a set of axes / tube shafts 140 and 142 connected to the motion transmission element on the axis and tube axis. In addition to the gear wheels, angular gear wheels capable of forming a pivotable joint about a dual non-parallel shaft are provided, respectively, and the angular gear wheels 138, 143, 137, 139 are formed through the joint as a result of the gear wheel forming the intermediate angular gear. Apparatus characterized in that it operates to transmit an extended force. 21. The instrument of claim 20 wherein the motion transfer element is an axis provided with a gearwheel disposed to engage a gearwheel disposed on the axis / tube axis. 21. The instrument according to claim 20, wherein the motion transmission mechanism is a traction transmission element (131, 132; 142, 146) located on a conversion wheel connected to the shaft and the tube shaft, respectively. Apparatus according to the preceding claim, characterized in that it is formed by an industrial robot, the second element (2) of which carries the working member (3) directly or indirectly.