WO2006106165A1 - Unlimited-rotation parallel robot with four degrees of freedom - Google Patents

Unlimited-rotation parallel robot with four degrees of freedom Download PDF

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Publication number
WO2006106165A1
WO2006106165A1 PCT/ES2006/000162 ES2006000162W WO2006106165A1 WO 2006106165 A1 WO2006106165 A1 WO 2006106165A1 ES 2006000162 W ES2006000162 W ES 2006000162W WO 2006106165 A1 WO2006106165 A1 WO 2006106165A1
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WO
WIPO (PCT)
Prior art keywords
freedom
degrees
actuators
arms
levels
Prior art date
Application number
PCT/ES2006/000162
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Spanish (es)
French (fr)
Inventor
Vincent Nabat
François PIERROT
Maria De La O Rodriguez Mijangos
Jose Miguel Azcoitia Arteche
Rikardo Bueno Zabalo
Olivier Company
Karmele Florentino Perez De Armentia
Original Assignee
Fundacion Fatronik
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 Fundacion Fatronik filed Critical Fundacion Fatronik
Publication of WO2006106165A1 publication Critical patent/WO2006106165A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for

Definitions

  • the object of the invention is a parallel robot, with four degrees of freedom, with the ability to perform a complete and unlimited rotation, without using additional amplification mechanisms.
  • the robot object of the invention is of special application for pick & place operations.
  • the robots used for the manipulation of pieces are included in three large groups, such as:
  • This type of robots is mainly used for handling large loads and less and less every day in pick & place tasks aimed at moving small loads, but at high speed. This type of robots is widely used when large displacements are needed with respect to one of the axes.
  • SCARA of the English SELECTIVE COMPLIANCE AUTOMATIC ROBOT ARM, which are automatic arm robots, with four degrees of freedom in which the robot arm is attached to a base that can go screwed to a pedestal.
  • SCARA On this base a column is arranged and attached to this column, and in a plane perpendicular to it (horizontal plane), an arm is mounted that can rotate with respect to the vertical axis of the column.
  • a second arm is mounted on the end of this first arm, also arranged in a horizontal plane, which can rotate actuated from the same column and at whose free end the corresponding tool is arranged.
  • the tool is attached to the second arm through a vertical drive or nut-spindle, which allows controlling the orientation of the tool and its translation along the vertical axis.
  • These robots have four degrees of freedom and, in particular, the rotation of the lower arm in the horizontal plane, the rotation of the upper arm in the horizontal plane, the rotation of the tool and the vertical translation of the tool, that is, they are achieved Three translations and a turn.
  • the arrangement of the union closest to the tool limits the vertical course that can be obtained.
  • the actuator of the lower arm is usually placed at the base of the robot, while the rest of the actuators are mounted on the arms, which increases the value of the mass to move and worsens the dynamics of the robot, decreasing its working speed.
  • SCARA robot An alternative to the SCARA robot is the so-called "DOUBLE SCARA" which, like SCARA robots, incorporates a column that is screwed to a pedestal through its base but, with the difference that two independent arms are mounted on the column, horizontally, they can revolve around a vertical axis.
  • the arms are in planes parallel to each other and at their ends two other arms are mounted, horizontal, which can rotate with respect to the arms attached to the column.
  • the last two arms are joined together by their free ends, forming an articulated parallelogram.
  • the tool is arranged by means of a nut-spindle drive, which allows the rotation of the tool and the translation in the vertical axis.
  • the two actuators of the arms are located in the base of the robot.
  • SCARA-type robots are described by examples in Japanese Patents 2003275977, 2003275978, 2003275979 and 2003759787 or in US Patents 4,693,666, 6,086,442, 6,212,968, 6,354,167 and 2002/0102155. - Delta type robots
  • These robots are also used for pick & place tasks and have as main feature the fact that all actuators are mounted on a fixed structure, thus reducing the mass of the moving elements.
  • This type of robot has three degrees of freedom, obtaining the fourth degree of freedom, mounting the tool on the platform through a telescopic arm.
  • a robot of this type but more evolved is described in European Patent 1 084 802 which aims at a parallel robot in which all joints of the mobile platform are of the articulation type, this being a favorable factor to achieve high speeds and accelerations .
  • This robot comprises four kinematic chains driven by four actuators that are fixed at one end and with a specific orientation to the base plate and at the other end to the kinematic chain.
  • the kinematic chains are attached to the mobile platform that carries the tool, the mobile platform consisting of two pieces or bars that are joined at its ends to the four kinematic chains and a third bar that is mounted between the two first, through two articulated joints, this bar being the one that carries the tool.
  • the mobile platform allows a rotation of + 45 ° that can be amplified by using toothed crowns.
  • the parallel robot object of the invention is composed of two parallel levels, each of which comprises two actuators attached to a support and at least two arms connected to each other articulated and actuated by the actuators, which define at one end of one of the arms a point that can move with two degrees of freedom.
  • These Two points of each of the levels are joined by a mechanical system and the tool is mounted on one of the two points, thus achieving four degrees of freedom at the end of the tool, three translations and a rotation around a vertical axis.
  • the mechanical system arranged between the points that move with two degrees of freedom in each level is linked to one of the levels by means of a revolution joint, while at the other level it is joined through a cylindrical joint, being in the latter union where the tool is mounted.
  • the mechanical element can be an articulated bar or an elastic element such as a cable.
  • the main advantage of this robot is that the tool can perform a complete and unlimited rotation without using additional mechanisms.
  • All the joints of the robot are of the revolution, cylindrical or spherical type, all of them favorable to achieve high accelerations and high speeds, which makes the robot especially suitable for pick and place tasks.
  • the arms of one of the levels can be operated independently and directly by the two actuators, in the manner of robots
  • the actuators can be arranged vertically one above the other, with a common vertical axis, or in parallel with parallel vertical axes.
  • the robot can incorporate, at least in one of the levels, two additional arms, so that two of the arms are joined directly to the actuators and the other two articulated to the arms joined to the actuators, finally joining by their free end in a point that is the that moves with two degrees of freedom.
  • two of the arms are attached directly to the actuators and the other two are dragged by the first.
  • the bars that join to constitute the point that moves with two degrees of freedom can be formed by a parallelogram constituted by spherical joints and joined to the arms mounted on the actuators, by means of revolution joints .
  • the actuators can be of revolution or linear guides. If the actuators are linear guides, they must be arranged with their axes in parallel.
  • Figure 1 Shows a perspective of the robot object of the invention according to an embodiment in which each of the levels is composed of four bars that define an articulated parallelogram.
  • Figure 2. Shows a perspective of an embodiment variant of the robot of Figure 1 in which two of the bars of one of the levels are formed by spatial parallelograms joined by spherical joints.
  • Figure 3. Shows a variant of Figures 1 and 2, in which the same level actuators are mounted along parallel vertical axes.
  • FIG.- It shows an embodiment of the robot of the invention, in which each of the levels is composed of two bars that are operated directly and independently by the two actuators of their level.
  • Figure 5. Shows a robot according to the object of the invention in which the actuators are linear guides.
  • Figure 6. It shows one of the levels of a robot according to the object of the invention in which the point that moves with two degrees of freedom is located at an intermediate point of one of the arms.
  • the robot of the invention is composed of two levels (I), (II), each of which comprises:
  • Each of the points (6) moves in a horizontal plane, with two degrees of freedom.
  • the point (6) of the level (I) and the point (6) of the level (II) are joined through a coupling mechanism (7), making one of the joints by means of a revolution joint and the other by a cylindrical joint.
  • the tool (10) is mounted that can be moved with four degrees of freedom, three translations and a rotation along a vertical axis, this rotation being a complete turn.
  • the actuators are mounted on the support (3), in vertical arrangement, along a common vertical axis.
  • a robot of these same characteristics is shown in which the actuators of the same level are arranged along different vertical axes.
  • Figure 4 shows a variant embodiment in which the bars (8), (9) have been removed, the bars (4), (5) being operated independently and directly by the actuators (1), ( 2) respectively, similar to SCARA type robots.
  • a robot with this configuration has been represented in the two levels (I), (II) but, obviously, the robot could be constituted by a level with two arms (4), (5) actuated directly and another level with four arms (4), (5), (8), (9) articulated according to the embodiments described in figures 1, 2 or 3.
  • the actuators (1), (2) are attached to the bars (4), (8) by means of revolution joints.
  • the actuators could be constituted by linear guides (13), in which case they must be arranged with their parallel axes as shown in figure 5.
  • the actuators by means of linear guides can be used in both levels (I), (II) or well only in one of them, using unions of revolution on the other level.

Abstract

The invention relates to an unlimited-rotation parallel robot with four degrees of freedom (as shown in Figure 1). The inventive robot comprises two levels (I), (II), each of said levels consisting of: two actuators (1), (2) which are connected to a fixed column or support (3); two horizontally-positioned arms (4), (8), whereby one end of each arm is connected to the respective actuator (1), (2); and two arms (5), (9) which, at one end, are articulated with the free end of the other respective arm (4) (8) and which, at the other end, are connected to one another at a point (6), such as to define an articulated parallelogram. Each of the aforementioned points (6) moves in a horizontal plane with two degrees of freedom. The level (I) point (6) and the level (II) point (6) are connected by means of a coupling mechanism (7), one of said connections comprising a rotary joint and the other comprising a cylindrical joint. According to the invention, a tool (10) is mounted at the point (6) comprising the cylindrical joint and said tool can move with four degrees of freedom, namely three translational movements and one rotational movement along a vertical axis, said rotation comprising a complete, unlimited rotation.

Description

ROBOT PARALELO DE CUATRO GRADOS DE LIBERTAD CON ROBOT PARALLEL OF FOUR DEGREES OF FREEDOM WITH
ROTACIÓN ILIMITADAUNLIMITED ROTATION
D E S C R I P C I Ó ND E S C R I P C I Ó N
OBJETO DE LA INVENCIÓNOBJECT OF THE INVENTION
Es objeto de Ia invención un robot paralelo, con cuatro grados de libertad, con capacidad de realizar una rotación completa e ilimitada, sin emplear mecanismos de amplificación adicionales.The object of the invention is a parallel robot, with four degrees of freedom, with the ability to perform a complete and unlimited rotation, without using additional amplification mechanisms.
El robot objeto de Ia invención es de especial aplicación para operaciones de pick&place.The robot object of the invention is of special application for pick & place operations.
ANTECEDENTES DE LA INVENCIÓNBACKGROUND OF THE INVENTION
En las tareas de pick&place en las cuales Ia velocidad de trabajo no está limitada por el propio proceso, como por ejemplo en las operaciones de corte, fresado, etc., Ia tendencia es utilizar robots de muy alta velocidad.In pick & place tasks in which the working speed is not limited by the process itself, such as in cutting, milling, etc., the tendency is to use very high speed robots.
Los robots utilizados para Ia manipulación de piezas están comprendidos en tres grandes grupos, como son:The robots used for the manipulation of pieces are included in three large groups, such as:
- Robots cartesianos Estos robots están compuestos por tres uniones prismáticas cuyos ejes coinciden con un volumen cartesiano que define el área de trabajo de los mismos.- Cartesian robots These robots are composed of three prismatic joints whose axes coincide with a Cartesian volume that defines their work area.
Este tipo de robots es utilizado principalmente para Ia manipulación de grandes cargas y cada día menos en las tareas de pick&place destinadas a mover pequeñas cargas, pero a gran velocidad. Este tipo de robots es muy utilizado cuando se necesitan grandes desplazamientos respecto de uno de los ejes.This type of robots is mainly used for handling large loads and less and less every day in pick & place tasks aimed at moving small loads, but at high speed. This type of robots is widely used when large displacements are needed with respect to one of the axes.
- Robots SCARA. Los robots mas utilizados en las tareas de pick&place son los robos denominados SCARA, del inglés SELECTIVE COMPLIANCE AUTOMATIC ROBOT ARM, que son robots de brazo automático, con cuatro grados de libertad en los cuales el brazo del robot está unido a una base que puede ir atornillada a un pedestal. Sobre esta base se dispone una columna y unido a esta columna, y en un plano perpendicular a Ia misma (plano horizontal), se monta un brazo que puede girar respecto al eje vertical de Ia columna. Sobre el extremo de este primer brazo se monta un segundo brazo, también dispuesto en un plano horizontal, que puede girar accionado desde Ia misma columna y en cuyo extremo libre se dispone Ia herramienta correspondiente. La herramienta está unida al segundo brazo a través de un accionamiento o tuerca-husillo vertical, que permite controlar Ia orientación de Ia herramienta y su translación a Io largo del eje vertical.- SCARA robots. The most commonly used robots in pick & place tasks are thefts called SCARA, of the English SELECTIVE COMPLIANCE AUTOMATIC ROBOT ARM, which are automatic arm robots, with four degrees of freedom in which the robot arm is attached to a base that can go screwed to a pedestal. On this base a column is arranged and attached to this column, and in a plane perpendicular to it (horizontal plane), an arm is mounted that can rotate with respect to the vertical axis of the column. A second arm is mounted on the end of this first arm, also arranged in a horizontal plane, which can rotate actuated from the same column and at whose free end the corresponding tool is arranged. The tool is attached to the second arm through a vertical drive or nut-spindle, which allows controlling the orientation of the tool and its translation along the vertical axis.
Estos robots tienen cuatro grados de libertad y, en concreto, Ia rotación del brazo inferior en el plano horizontal, Ia rotación del brazo superior en el plano horizontal, Ia rotación de Ia herramienta y Ia translación vertical de Ia herramienta, es decir, se consiguen tres translaciones y un giro.These robots have four degrees of freedom and, in particular, the rotation of the lower arm in the horizontal plane, the rotation of the upper arm in the horizontal plane, the rotation of the tool and the vertical translation of the tool, that is, they are achieved Three translations and a turn.
Estos robots presentan dos problemáticas principales:These robots have two main problems:
La disposición de Ia unión más cercana a Ia herramienta limita el curso vertical que se puede obtener. El actuador del brazo inferior suele ir colocado en Ia base del robot, mientras que el resto de actuadores van montados en los brazos, Io que incrementa el valor de Ia masa a mover y empeora Ia dinámica del robot, disminuyendo su velocidad de trabajo.The arrangement of the union closest to the tool limits the vertical course that can be obtained. The actuator of the lower arm is usually placed at the base of the robot, while the rest of the actuators are mounted on the arms, which increases the value of the mass to move and worsens the dynamics of the robot, decreasing its working speed.
Una alternativa al robot SCARA es el llamado "DOBLE SCARA" que al igual que los robots SCARA, incorpora una columna que se atornilla a un pedestal a través de su base pero, con la diferencia de que sobre Ia columna se montan dos brazos independientes, en posición horizontal, que pueden girar en torno a un eje vertical. Los brazos se encuentran en planos paralelos entre sí y en sus extremos se montan otros dos brazos, horizontales, que pueden girar respecto a los brazos unidos a Ia columna. Los dos últimos brazos se unen entre sí por sus extremos libres, formando un paralelogramo articulado.An alternative to the SCARA robot is the so-called "DOUBLE SCARA" which, like SCARA robots, incorporates a column that is screwed to a pedestal through its base but, with the difference that two independent arms are mounted on the column, horizontally, they can revolve around a vertical axis. The arms are in planes parallel to each other and at their ends two other arms are mounted, horizontal, which can rotate with respect to the arms attached to the column. The last two arms are joined together by their free ends, forming an articulated parallelogram.
En el extremo de unión de estos dos brazos, se dispone Ia herramienta mediante un accionamiento tuerca-husillo, que permite el giro de Ia herramienta y Ia traslación en el eje vertical. A diferencia del SCARA simple, los dos actuadores de los brazos se encuentran en Ia base del robot.At the joining end of these two arms, the tool is arranged by means of a nut-spindle drive, which allows the rotation of the tool and the translation in the vertical axis. Unlike the simple SCARA, the two actuators of the arms are located in the base of the robot.
El principal inconveniente de los robots doble SCARA, es su limitada zona de trabajo.The main drawback of SCARA double robots is its limited work area.
Robots tipo SCARA se describen por ejemplos en las Patentes japonesas 2003275977, 2003275978, 2003275979 y 2003759787 o en las Patentes estadounidenses 4.693.666, 6.086.442, 6.212.968, 6.354.167 y 2002/0102155. - Robots tipo deltaSCARA-type robots are described by examples in Japanese Patents 2003275977, 2003275978, 2003275979 and 2003759787 or in US Patents 4,693,666, 6,086,442, 6,212,968, 6,354,167 and 2002/0102155. - Delta type robots
Estos robots también son utilizados para tareas de pick&place y tienen como característica principal el hecho de que todos los actuadores se montan sobre una estructura fija, reduciéndose así Ia masa de los elementos móviles.These robots are also used for pick & place tasks and have as main feature the fact that all actuators are mounted on a fixed structure, thus reducing the mass of the moving elements.
EI primer robot conocido de este tipo se describe en Ia Patente US 4.976.582. Este robot está compuesto por tres cadenas cinemáticas articuladas por uno de sus extremos a una plataforma móvil que portaThe first known robot of this type is described in US Patent 4,976,582. This robot is composed of three kinematic chains articulated by one of its ends to a mobile platform that carries
Ia herramienta correspondiente y por su otro extremo, a través de una junta de rotación, a un actuador solidario a una estructura fija o placa base. Este tipo de robot tiene tres grados de libertad, obteniéndose el cuarto grado de libertad, montando Ia herramienta en Ia plataforma mediante un brazo telescópico.The corresponding tool and at its other end, through a rotation joint, to an actuator integral to a fixed structure or base plate. This type of robot has three degrees of freedom, obtaining the fourth degree of freedom, mounting the tool on the platform through a telescopic arm.
Un robot de este tipo pero mas evolucionado se describe en la Patente Europea 1 084 802 que tiene por objeto un robot paralelo en el cual todas las uniones de Ia plataforma móvil son del tipo articulación, siendo éste un factor favorable para alcanzar altas velocidades y aceleraciones.A robot of this type but more evolved is described in European Patent 1 084 802 which aims at a parallel robot in which all joints of the mobile platform are of the articulation type, this being a favorable factor to achieve high speeds and accelerations .
Este robot comprende cuatro cadenas cinemáticas accionadas mediante cuatro actuadores que están fijados por uno de sus extremos y con una orientación específica a Ia placa base y por su otro extremo a la cadena cinemática. Las cadenas cinemáticas, a su vez, están unidas a Ia plataforma móvil que porta Ia herramienta, estando Ia plataforma móvil constituida por dos piezas o barras que se unen en sus extremos a las cuatro cadenas cinemáticas y una tercera barra que se monta entre las dos primeras, a través de dos uniones articuladas, siendo esta barra la que porta la herramienta. La plataforma móvil permite una rotación de + 45° que se puede amplificar mediante el empleo de coronas dentadas.This robot comprises four kinematic chains driven by four actuators that are fixed at one end and with a specific orientation to the base plate and at the other end to the kinematic chain. The kinematic chains, in turn, are attached to the mobile platform that carries the tool, the mobile platform consisting of two pieces or bars that are joined at its ends to the four kinematic chains and a third bar that is mounted between the two first, through two articulated joints, this bar being the one that carries the tool. The mobile platform allows a rotation of + 45 ° that can be amplified by using toothed crowns.
El diseño específico de Ia plataforma móvil y el empleo de uniones articuladas conlleva a obtener una configuración isostática e impone una disposición de las cadenas cinemáticas, y como consecuencia de los actuadores, no homogénea. Esta disposición particular de los actuadores unido a Ia configuración isostática impide que el robot tenga un comportamiento homogéneo y rigidez en todo el volumen de trabajo, Io cual supone una importante desventaja.The specific design of the mobile platform and the use of articulated joints leads to an isostatic configuration and imposes an arrangement of the kinematic chains, and as a consequence of the actuators, not homogeneous. This particular arrangement of the actuators together with the isostatic configuration prevents the robot from having a homogeneous behavior and rigidity throughout the workload, which is a significant disadvantage.
Para las tareas de pick&place, se requieren cuatro grados de libertad, pero ninguno de los robots o manipuladores mencionados es capaz de obtener una rotación completa sin emplear mecanismos adicionales, como por ejemplo:For pick & place tasks, four degrees of freedom are required, but none of the robots or manipulators mentioned are capable of obtaining complete rotation without using additional mechanisms, such as:
- En los robots tipo delta, según Ia Patente US 4.976.582 se requiere un brazo telescópico en el montaje de Ia herramienta.- In delta robots, according to US Patent 4,976,582 a telescopic arm is required in the assembly of the tool.
- En los robots del tipo descrito en Ia EP 1 084 802 se requiere un sistema de amplificación o transformación del movimiento mediante poleas, coronas dentadas, etc.,- In robots of the type described in EP 1 084 802 a system of amplification or transformation of the movement by pulleys, toothed crowns, etc., is required.
- Un sistema con tuerca-husillo en los robots tipo SCARA.- A spindle nut system in SCARA type robots.
DESCRIPCIÓN DE LA INVENCIÓNDESCRIPTION OF THE INVENTION
El robot paralelo objeto de Ia invención está compuesto por dos niveles paralelos, cada uno de los cuales comprende dos actuadores unidos a un soporte y al menos dos brazos unidos entre sí articuladamente y accionados por los actuadores, que definen en un extremo de uno de los brazos un punto que puede desplazarse con dos grados de libertad. Estos dos puntos de cada uno de los niveles están unidos mediante un sistema mecánico y Ia herramienta está montada en uno de los dos puntos, consiguiendo así cuatro grados de libertad en el extremo de Ia herramienta, tres translaciones y una rotación alrededor de un eje vertical.The parallel robot object of the invention is composed of two parallel levels, each of which comprises two actuators attached to a support and at least two arms connected to each other articulated and actuated by the actuators, which define at one end of one of the arms a point that can move with two degrees of freedom. These Two points of each of the levels are joined by a mechanical system and the tool is mounted on one of the two points, thus achieving four degrees of freedom at the end of the tool, three translations and a rotation around a vertical axis.
El sistema mecánico dispuesto entre los puntos que se desplazan con dos grados de libertad en cada nivel, está unido a uno de los niveles mediante una junta de revolución, mientras que al otro nivel se une a través de una junta cilindrica, siendo en esta última unión donde se monta Ia herramienta. El elemento mecánico puede ser una barra articulada o un elemento elástico como por ejemplo un cable.The mechanical system arranged between the points that move with two degrees of freedom in each level, is linked to one of the levels by means of a revolution joint, while at the other level it is joined through a cylindrical joint, being in the latter union where the tool is mounted. The mechanical element can be an articulated bar or an elastic element such as a cable.
La principal ventaja de este robot es que Ia herramienta pueda realizar una rotación completa e ilimitada sin necesidad de utilizar mecanismos adicionales.The main advantage of this robot is that the tool can perform a complete and unlimited rotation without using additional mechanisms.
Todas las juntas del robot son de tipo revolución, cilindrico o esférico, todas ellas favorables para alcanzar altas aceleraciones y altas velocidades Io que Ie hace ser al robot especialmente adecuado para tareas de pick and place.All the joints of the robot are of the revolution, cylindrical or spherical type, all of them favorable to achieve high accelerations and high speeds, which makes the robot especially suitable for pick and place tasks.
Los brazos de uno de los niveles pueden estar actuados independiente y directamente por los dos actuadores, al modo de los robotsThe arms of one of the levels can be operated independently and directly by the two actuators, in the manner of robots
SCARA, pudiendo estar los actuadores dispuestos en vertical uno sobre el otro, con un eje vertical común, o bien en paralelo con ejes verticales paralelos.SCARA, the actuators can be arranged vertically one above the other, with a common vertical axis, or in parallel with parallel vertical axes.
El robot puede incorporar, al menos en uno de los niveles, dos brazos adicionales, de forma que dos de los brazos se unen directamente a los actuadores y los otros dos articuladamente a los brazos unidos a los actuadores, uniéndose finalmente por su extremo libre en un punto que es el que se desplaza con dos grados de libertad. En este caso, dos de los brazos están unidos directamente a los actuadores y los otros dos son arrastrados por los primeros.The robot can incorporate, at least in one of the levels, two additional arms, so that two of the arms are joined directly to the actuators and the other two articulated to the arms joined to the actuators, finally joining by their free end in a point that is the that moves with two degrees of freedom. In this case, two of the arms are attached directly to the actuators and the other two are dragged by the first.
Asimismo, en uno de los niveles, las barras que se unen para constituir el punto que se desplaza con dos grados de libertad, pueden estar formadas por un paralelogramo constituido mediante uniones esféricas y unido a los brazos montados en los actuadores, mediante uniones de revolución.Also, in one of the levels, the bars that join to constitute the point that moves with two degrees of freedom, can be formed by a parallelogram constituted by spherical joints and joined to the arms mounted on the actuators, by means of revolution joints .
Finalmente, los actuadores pueden ser de revolución o guías lineales. En caso de que los actuadores sean guías lineales, deben disponerse con sus ejes en paralelo.Finally, the actuators can be of revolution or linear guides. If the actuators are linear guides, they must be arranged with their axes in parallel.
DESCRIPCIÓN DE LOS DIBUJOSDESCRIPTION OF THE DRAWINGS
Para complementar Ia descripción que se está realizando y con objeto de ayudar a una mejor comprensión de las características de Ia invención, se acompaña como parte integrante de dicha descripción, un juego de dibujos en donde con carácter ilustrativo y no limitativo, se ha representado Io siguiente:To complement the description that is being made and in order to help a better understanding of the characteristics of the invention, a set of drawings is attached as an integral part of said description, in which, for illustrative and non-limiting purposes, Io has been represented. next:
Figura 1.- Muestra una perspectiva del robot objeto de Ia invención según una realización en Ia cual cada uno de los niveles está compuesto por cuatro barras que definen un paralelogramo articulado.Figure 1.- Shows a perspective of the robot object of the invention according to an embodiment in which each of the levels is composed of four bars that define an articulated parallelogram.
Figura 2.- Muestra una perspectiva de una variante de realización del robot de Ia figura 1 en el cual dos de las barras de uno de los niveles están formadas por paralelogramos espaciales unidos por uniones esféricas.Figure 2.- Shows a perspective of an embodiment variant of the robot of Figure 1 in which two of the bars of one of the levels are formed by spatial parallelograms joined by spherical joints.
Figura 3.- Muestra una variante de las figuras 1 y 2, en las cuales los actuadores de un mismo nivel están montados según ejes verticales paralelos.Figure 3.- Shows a variant of Figures 1 and 2, in which the same level actuators are mounted along parallel vertical axes.
Figura 4.- Muestra una realización del robot de Ia invención, en el que cada uno de los niveles está compuesto por dos barras que están actuadas de forma directa e independiente por los dos actuadores de su nivel.Figure 4.- It shows an embodiment of the robot of the invention, in which each of the levels is composed of two bars that are operated directly and independently by the two actuators of their level.
Figura 5.- Muestra un robot de acuerdo con el objeto de Ia invención en el cual los actuadores son guías lineales.Figure 5.- Shows a robot according to the object of the invention in which the actuators are linear guides.
Figura 6.- Muestra uno de los niveles de un robot según el objeto de Ia invención en el cual el punto que se desplaza con dos grados de libertad está situado en un punto intermedio de uno de los brazos.Figure 6.- It shows one of the levels of a robot according to the object of the invention in which the point that moves with two degrees of freedom is located at an intermediate point of one of the arms.
REALIZACIÓN PREFERENTE DE LA INVENCIÓNPREFERRED EMBODIMENT OF THE INVENTION
El robot de Ia invención, tal y como se observa en Ia figura 1 , está compuesto por dos niveles (I), (II), cada uno de los cuales comprende:The robot of the invention, as seen in Figure 1, is composed of two levels (I), (II), each of which comprises:
- Dos actuadores (1), (2) unidos a un soporte o columna fija (3). - Dos brazos (4), (8), dispuestos en posición horizontal, unidos por uno de sus extremos, a los actuadores (1), (2) respectivamente.- Two actuators (1), (2) attached to a fixed support or column (3). - Two arms (4), (8), arranged in a horizontal position, joined by one of its ends, to the actuators (1), (2) respectively.
- Dos brazos (5), (9) unidos articuladamente, a través de uno de sus extremos, al extremo libre de los brazos (4), (8) respectivamente, y por su otro extremo, unidos entre sí en un punto (6), definiendo un paralelogramo articulado.- Two arms (5), (9) articulated together, through one of its ends, to the free end of the arms (4), (8) respectively, and at the other end, joined together at one point (6 ), defining an articulated parallelogram.
Cada uno de los puntos (6) se desplaza en un plano horizontal, con dos grados de libertad.Each of the points (6) moves in a horizontal plane, with two degrees of freedom.
El punto (6) del nivel (I) y el punto (6) del nivel (II) se unen a través de un mecanismo de acoplamiento (7), realizándose una de las uniones mediante una junta de revolución y la otra mediante una junta cilindrica.The point (6) of the level (I) and the point (6) of the level (II) are joined through a coupling mechanism (7), making one of the joints by means of a revolution joint and the other by a cylindrical joint.
En el punto (6) que incorpora Ia junta cilindrica, se monta Ia herramienta (10) que puede desplazarse con cuatro grados de libertad, tres translaciones y una rotación según un eje vertical, siendo este giro un giro completo.At the point (6) that incorporates the cylindrical joint, the tool (10) is mounted that can be moved with four degrees of freedom, three translations and a rotation along a vertical axis, this rotation being a complete turn.
En Ia figura 2 se ha representado una variante alternativa al robot de Ia figura 1 en el cual, en uno de los niveles, las barras (5), (9) están constituidas por paralelogramos formados por barras (11 ) unidas a través de juntas esféricas (12), y que se unen a las barras (4), (8) mediante uniones de revolución.In Figure 2 an alternative variant to the robot of Figure 1 has been represented in which, on one of the levels, the bars (5), (9) are constituted by parallelograms formed by bars (11) joined through joints spherical (12), and which are attached to the bars (4), (8) by means of revolution joints.
En las realizaciones mostradas en las figura 1 y 2, los actuadores están montados en el soporte (3), en disposición vertical, según un eje vertical común. En Ia figura 3, se ha representado un robot de estas mismas características en el cual los actuadores de un mismo nivel están dispuestos según ejes verticales distintos.In the embodiments shown in Figures 1 and 2, the actuators are mounted on the support (3), in vertical arrangement, along a common vertical axis. In Figure 3, a robot of these same characteristics is shown in which the actuators of the same level are arranged along different vertical axes.
En Ia figura 4 se representa una variante de realización en Ia cual se han eliminado las barras (8), (9), estando las barras (4), (5) actuadas de forma independiente y directa por los actuadores (1), (2) respectivamente, de forma similar a los robots tipo SCARA. En Ia figura 4 se ha representado un robot con esta configuración en los dos niveles (I), (II) pero, obviamente, el robot podría estar constituido por un nivel con dos brazos (4), (5) actuados directamente y otro nivel con cuatro brazos (4), (5), (8), (9) articulados según las realizaciones descritas en las figuras 1 , 2 o 3.Figure 4 shows a variant embodiment in which the bars (8), (9) have been removed, the bars (4), (5) being operated independently and directly by the actuators (1), ( 2) respectively, similar to SCARA type robots. In figure 4 a robot with this configuration has been represented in the two levels (I), (II) but, obviously, the robot could be constituted by a level with two arms (4), (5) actuated directly and another level with four arms (4), (5), (8), (9) articulated according to the embodiments described in figures 1, 2 or 3.
En las realizaciones mostradas en las figuras 1 a 4, los actuadores (1 ), (2) están unidos a las barras (4), (8) mediante uniones de revolución. En una realización alternativa, los actuadores podrían estar constituidos por guías lineales (13), en cuyo caso deberán estar dispuestos con sus ejes paralelos tal y como se observa en Ia figura 5. Por supuesto, los actuadores mediante guías lineales pueden utilizarse en los dos niveles (I), (II) o bien únicamente en uno de ellos, utilizándose en el otro nivel uniones de revolución.In the embodiments shown in Figures 1 to 4, the actuators (1), (2) are attached to the bars (4), (8) by means of revolution joints. In an alternative embodiment, the actuators could be constituted by linear guides (13), in which case they must be arranged with their parallel axes as shown in figure 5. Of course, the actuators by means of linear guides can be used in both levels (I), (II) or well only in one of them, using unions of revolution on the other level.
Finalmente, sería posible que Ia unión entre las barras (5), (9) no se realiza a través de sus extremos, sino que en una de las barras se una en un punto intermedio (14) tal y como se observa en Ia figura 6. Finally, it would be possible that the joint between the bars (5), (9) is not carried out through its ends, but that in one of the bars it is joined at an intermediate point (14) as seen in the figure 6.

Claims

R E I V I N D I C A C I O N E S
1.- Robot paralelo de cuatro grados de libertad compuesto por un primer nivel (I) y un segundo nivel (II), cada uno de los cuales comprende:1.- Parallel robot of four degrees of freedom composed of a first level (I) and a second level (II), each of which comprises:
- Dos actuadores (1), (2) unidos a un soporte (3) y- Two actuators (1), (2) attached to a support (3) and
- Al menos dos brazos (4), (5), unidos entre sí, y accionados por los actuadores (1 ), (2), de tal forma que un extremo (6) en uno de los brazos (4), (5) se desplaza horizontalmente con dos grados de libertad, estando el primer nivel (I) y el segundo nivel (II) dispuestos en paralelo y los extremos- At least two arms (4), (5), joined together, and actuated by the actuators (1), (2), so that one end (6) in one of the arms (4), (5 ) moves horizontally with two degrees of freedom, the first level (I) and the second level (II) being arranged in parallel and the ends
(6) del primer nivel (I) y del segundo nivel (II) unidos a través de un mecanismo de acoplamiento mecánico (9), montándose Ia herramienta (10) en uno de los extremos (6).(6) of the first level (I) and the second level (II) joined through a mechanical coupling mechanism (9), the tool (10) being mounted at one of the ends (6).
2.- Robot paralelo de cuatro grados de libertad, según reivindicación 1 , caracterizado porque los brazos (4), (5), de al menos uno de los niveles (I) (II), están actuados de forma directa e independiente por los actuadores (1 ) Y (2).2. Parallel robot of four degrees of freedom, according to claim 1, characterized in that the arms (4), (5), of at least one of the levels (I) (II), are operated directly and independently by the actuators (1) AND (2).
3.- Robot paralelo de cuatro grados de libertad, según reivindicación 1 , caracterizado porque al menos uno de los niveles (I), (II) comprende dos brazos adicionales (8), (9), estando los brazos (4) y (8) unidos, por uno de sus extremos, a los actuadores (1) y (2), y por su otro extremo, a los brazos (5), (9) que, se unen entre sí por su extremo libre para definir el correspondiente extremo (6), formando así un paralelogramo articulado cuyo extremo (6) se desplaza con dos grados de libertad en un plano horizontal.3. Parallel robot of four degrees of freedom, according to claim 1, characterized in that at least one of the levels (I), (II) comprises two additional arms (8), (9), the arms (4) and ( 8) joined, by one of its ends, to the actuators (1) and (2), and by its other end, to the arms (5), (9) which, are joined together by their free end to define the corresponding end (6), thus forming an articulated parallelogram whose end (6) moves with two degrees of freedom in a horizontal plane.
4.- Robot paralelo de cuatro grados de libertad, según reivindicación 3, caracterizado porque las uniones entre los brazos (4), (5), (8), (9) son de revolución 4.- Parallel robot with four degrees of freedom, according to claim 3, characterized in that the joints between the arms (4), (5), (8), (9) are of revolution
5.- Robot paralelo de cuatro grados de libertad, según reivindicación 3, caracterizado porque en al menos uno de los niveles (I), (II), los brazos (5) y5.- Parallel robot with four degrees of freedom, according to claim 3, characterized in that at least one of the levels (I), (II), the arms (5) and
(9) están formados por un paralelogramo compuesto por cuatro barras (11), unidas entre sí mediante juntas esféricas (12) a los brazos (4) y (8), a través de una uniones de revolución.(9) are formed by a parallelogram composed of four bars (11), joined together by spherical joints (12) to the arms (4) and (8), through a revolution joints.
6.- Robot paralelo de cuatro grados de libertad según reivindicación 1 , caracterizado porque los actuadores (1) y (2) de al menos uno de los niveles (I), (II) son actuadores de revolución.6. Parallel robot with four degrees of freedom according to claim 1, characterized in that the actuators (1) and (2) of at least one of the levels (I), (II) are revolution actuators.
7- Robot paralelo de cuatro grados de libertad según reivindicación 1 , caracterizado porque los actuadores (1 ) y (2) de al menos uno de los niveles (I), (II) son actuadores lineales, con sus ejes paralelos.7- Parallel robot with four degrees of freedom according to claim 1, characterized in that the actuators (1) and (2) of at least one of the levels (I), (II) are linear actuators, with their parallel axes.
8.- Robot paralelo de cuatro grados de libertad según reivindicación 1 , caracterizado porque los actuadores (1 ) y (2) de al menos uno de los niveles (I), (II) están dispuestos uno encima de otro, con un eje vertical común.8.- Four degree parallel freedom robot according to claim 1, characterized in that the actuators (1) and (2) of at least one of the levels (I), (II) are arranged one above the other, with a vertical axis common.
9.- Robot paralelo de cuatro grados de libertad según reivindicación 1 , caracterizado porque los actuadores (1) y (2) de al menos uno de los niveles9.- Four degree parallel freedom robot according to claim 1, characterized in that the actuators (1) and (2) of at least one of the levels
(I), (II) están dispuestos en paralelo, con ejes verticales distintos.(I), (II) are arranged in parallel, with different vertical axes.
10- Robot paralelo de cuatro grados de libertad según reivindicación 1 , caracterizado porque el mecanismo de acoplamiento mecánico (7) está unido a los extremos (6) de uno de los niveles mediante una unión de revolución y al extremo (6) del otro nivel mediante una unión cilindrica.10- Four degree freedom parallel robot according to claim 1, characterized in that the mechanical coupling mechanism (7) is connected to the ends (6) of one of the levels by means of a revolution joint and to the end (6) of the other level by a cylindrical joint.
11.- Robot paralelo de cuatro grados de libertad según reivindicación 10, caracterizado porque el mecanismo de acoplamiento mecánico está constituido por un brazo articulado. 11. - Four degree freedom parallel robot according to claim 10, characterized in that the mechanical coupling mechanism is constituted by an articulated arm.
12.- Robot paralelo de cuatro grados de libertad según reivindicación 10, caracterizado porque el mecanismo de acoplamiento está constituido por un elemento flexible.12. - Four degree freedom parallel robot according to claim 10, characterized in that the coupling mechanism is constituted by a flexible element.
13.- Robot paralelo de cuatro grados de libertad según reivindicación 3, caracterizado porque las barras (5) y (9) de al menos uno de los niveles (I) y (II) están unidas en un punto intermedio de una de ellas.13. - Four degree freedom parallel robot according to claim 3, characterized in that the bars (5) and (9) of at least one of the levels (I) and (II) are joined at an intermediate point of one of them.
14.- Robot paralelo de cuatro grados de libertad según reivindicación 1 , caracterizado porque el soporte (3) está unido al suelo mediante un acoplamiento rotativo que permite el giro del robot respecto de un eje vertical. 14. - Four degree freedom parallel robot according to claim 1, characterized in that the support (3) is connected to the ground by means of a rotating coupling that allows the robot to rotate with respect to a vertical axis.
PCT/ES2006/000162 2005-04-04 2006-04-04 Unlimited-rotation parallel robot with four degrees of freedom WO2006106165A1 (en)

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ES2538415A1 (en) * 2013-12-19 2015-06-19 Universidad Politécnica de Madrid Mechanism of the articulated type of serial-parallel morphology of four degrees of freedom to point and guide devices towards distal targets (Machine-translation by Google Translate, not legally binding)
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