MX341585B - Robot industrial tipo delta. - Google Patents

Robot industrial tipo delta.

Info

Publication number
MX341585B
MX341585B MX2013001804A MX2013001804A MX341585B MX 341585 B MX341585 B MX 341585B MX 2013001804 A MX2013001804 A MX 2013001804A MX 2013001804 A MX2013001804 A MX 2013001804A MX 341585 B MX341585 B MX 341585B
Authority
MX
Mexico
Prior art keywords
delta
hinge
end portion
industrial robot
type industrial
Prior art date
Application number
MX2013001804A
Other languages
English (en)
Other versions
MX2013001804A (es
Inventor
Pablo Martínez Esponda Juan
Original Assignee
Automatische Technik México S A De C V *
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 Automatische Technik México S A De C V * filed Critical Automatische Technik México S A De C V *
Priority to MX2013001804A priority Critical patent/MX341585B/es
Publication of MX2013001804A publication Critical patent/MX2013001804A/es
Priority to PCT/IB2014/000153 priority patent/WO2014125360A1/en
Priority to US14/440,595 priority patent/US20150343631A1/en
Publication of MX341585B publication Critical patent/MX341585B/es

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
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • 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
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • 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
    • B25J15/0023—Gripper surfaces directly activated by a fluid
    • 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
    • B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
    • 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
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple 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
    • 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
    • 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
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/19—Drive system for arm
    • Y10S901/21—Flaccid drive element
    • 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
    • Y10T74/20317—Robotic arm including electric motor

Abstract

La presente invención se refiere a un robot tipo delta que comprende: una base (1); una pluralidad de servomotores (20) unidos a la base (1); un efector universal (3); y tres brazos articulados, cada uno de los cuales recibe movimiento rotacional de dicho al menos uno de los servomotores de dicha pluralidad de servomotores; y en donde cada uno de dichos brazos articulados (40) tiene un par de brazos multidireccionales, cada uno de dichos brazos multidireccionales comprende: un brazo proximal (41) unido en un primer extremo a una articulación esférica (44) y unido en un segundo extremo a una polea rotor hombro (22), en donde dicha polea rotor hombro (22) en turno está acoplada a una flecha (23) de un servomotor (20) de dicha pluralidad de servomotores, la flecha tiene un extremo de flecha, y dicho extremo de flecha está unido a un rodamiento (26), en donde para cada par de brazos multidireccionales, las poleas rotor hombro quedan una frente a otra; en donde dicho rodamiento (26) está unido a un soporte (27) y éste, unido a un soporte estabilizador (34) que en turno está unido a un soporte central (30) colocado sobre la base (1) para estabilizar y alinear un eje de rotación de las poleas rotor hombro (22), y un brazo distal (45) unido en un primer extremo distal a dicha articulación esférica (44) y en un segundo extremo al efector universal (3) por medio de una articulación esférica de efector (51).
MX2013001804A 2013-02-14 2013-02-14 Robot industrial tipo delta. MX341585B (es)

Priority Applications (3)

Application Number Priority Date Filing Date Title
MX2013001804A MX341585B (es) 2013-02-14 2013-02-14 Robot industrial tipo delta.
PCT/IB2014/000153 WO2014125360A1 (en) 2013-02-14 2014-02-14 Industrial delta type robot
US14/440,595 US20150343631A1 (en) 2013-02-14 2014-02-14 Industrial Delta Type Robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
MX2013001804A MX341585B (es) 2013-02-14 2013-02-14 Robot industrial tipo delta.

Publications (2)

Publication Number Publication Date
MX2013001804A MX2013001804A (es) 2013-05-07
MX341585B true MX341585B (es) 2016-08-25

Family

ID=48741757

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2013001804A MX341585B (es) 2013-02-14 2013-02-14 Robot industrial tipo delta.

Country Status (3)

Country Link
US (1) US20150343631A1 (es)
MX (1) MX341585B (es)
WO (1) WO2014125360A1 (es)

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ES1078824Y (es) * 2013-02-08 2013-06-10 Matriruiz S L Conjunto de medios mecánicos incorporables a un robot delta para realización de engomado de tapas
JP2016036863A (ja) * 2014-08-06 2016-03-22 ソニー株式会社 パラレルリンクロボットおよびパラレルリンク構造
JP6264241B2 (ja) * 2014-09-12 2018-01-31 日本精工株式会社 玉軸受の組立方法及び組立装置
WO2017015235A1 (en) * 2015-07-17 2017-01-26 The Johns Hopkins University Delta mechanism with enhanced torsional stiffness
GB201513850D0 (en) 2015-08-05 2015-09-16 Renishaw Plc Coordinate positioning machine
US9751211B1 (en) 2015-10-08 2017-09-05 Google Inc. Smart robot part
JP6558850B2 (ja) * 2015-10-13 2019-08-14 株式会社ミツバ ロボット装置およびパラレルロボット
US10105845B1 (en) 2016-02-05 2018-10-23 Boston Dynamics, Inc. Modular robot system
DE102016206652A1 (de) * 2016-04-20 2017-10-26 Krones Aktiengesellschaft Vorrichtung und Verfahren zum Umgang mit in mindestens einer Reihe hintereinander bewegten Stückgütern
JP6603890B2 (ja) * 2017-02-20 2019-11-13 パナソニックＩｐマネジメント株式会社 作業装置および電子機器組立方法
CN106971763B (zh) * 2017-05-04 2018-07-20 合肥工业大学 一种实时动态平衡装置
JP6898774B2 (ja) * 2017-05-19 2021-07-07 川崎重工業株式会社 操作装置
JP6438525B1 (ja) * 2017-05-26 2018-12-12 ファナック株式会社 物品の重さを測定する重さ測定システムおよび方法
GB2568459B (en) 2017-10-13 2020-03-18 Renishaw Plc Coordinate positioning machine
CN107756431B (zh) * 2017-11-20 2024-01-26 长沙理工大学 一种空间单自由度四爪夹紧机构
EP3740094A4 (en) * 2018-01-15 2021-12-29 Inwatec Aps Method for gripping, moving and releasing a piece of cloth with a gripper, and a gripper
US10941843B2 (en) * 2018-01-22 2021-03-09 International Institute Of Information Technology, Hyderabad Telescopic differential screw mechanism based 3-DOF-parallel manipulator platform to achieve omnidirectional bending
JP6698719B2 (ja) * 2018-02-14 2020-05-27 ファナック株式会社 パラレルリンクロボット
USD881962S1 (en) * 2018-03-02 2020-04-21 Abb Schweiz Ag Arm for an industrial robot
EP3784446B1 (en) * 2018-04-24 2023-09-27 ABB Schweiz AG A parallel kinematic robot
CN109080723A (zh) * 2018-09-10 2018-12-25 天津市大然科技有限公司 基于并联机构的单腿跳跃机器人
US10906172B2 (en) 2018-11-14 2021-02-02 Battelle Energy Alliance, Llc Linear delta systems, hexapod systems, and related methods
US11059166B2 (en) 2018-11-14 2021-07-13 Battelle Energy Alliance, Llc Linear delta systems with additional degrees of freedom and related methods
US10821599B2 (en) * 2018-11-14 2020-11-03 Battelle Energy Alliance, Llc Dual linear delta assemblies, linear delta systems, and related methods
CN109773757B (zh) * 2019-03-08 2024-03-19 河北工业大学 Delta机器人
GB2582972B (en) * 2019-04-12 2021-07-14 Renishaw Plc Coordinate positioning machine
DE102019134209A1 (de) * 2019-12-12 2021-06-17 Synapticon GmbH Verbesserter Delta-Roboter
CN114014010B (zh) * 2021-11-19 2023-09-01 贵州慧联科技有限公司 一种万向弹性吸盘机构

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JP4659098B2 (ja) * 2009-02-13 2011-03-30 ファナック株式会社 ３自由度を有する姿勢変更機構を備えたパラレルリンクロボット
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JP5408211B2 (ja) * 2011-09-06 2014-02-05 株式会社安川電機 パラレルリンクロボット、パラレルリンクロボットシステムおよびパラレルリンクロボットの制御方法
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JP5849993B2 (ja) * 2013-06-07 2016-02-03 株式会社安川電機 パラレルリンクロボット及びロボットシステム並びに搬送設備の構築方法

Also Published As

Publication number Publication date
WO2014125360A1 (en) 2014-08-21
US20150343631A1 (en) 2015-12-03
MX2013001804A (es) 2013-05-07

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