WO2006106165A1 - Robot parallele a quatre degres de liberte et a rotation illimitee - Google Patents

Robot parallele a quatre degres de liberte et a rotation illimitee 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
Other languages
English (en)
Spanish (es)
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/fr

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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

Le robot de cette invention, comme illustré dans la figure 1, est composé de deux niveaux (I), (II), dont chacun comprend: deux actionneurs (1), (2) assemblés à un support ou à une colonne fixe (3); deux bras (4), (8) disposés en position horizontale et assemblés par une de leurs extrémités aux actionneurs (1), (2) respectivement; deux bras (5), (6) assemblés de manière articulée au moyen d'une de leurs extrémités à l'extrémité libre des bras (4), (8) respectivement et assemblés entre eux en un point (6) par leur autre extrémité délimitant un parallélogramme articulé. Chacun des points (6) se déplace dans un plan horizontal avec deux degrés de liberté. Le point (6) du niveau (I) et le point (6) du niveau (II) sont assemblés par l'intermédiaire d'un mécanisme de couplage (7), d'une part, au moyen d'un joint de révolution et, d'autre part, au moyen d'un joint cylindrique. Sur le point (6) qui comprend le joint cylindrique, on monte l'instrument (10) susceptible de se déplacer avec quatre degrés de liberté, trois translations et une rotation selon un axe vertical, la rotation étant complète et illimitée.
PCT/ES2006/000162 2005-04-04 2006-04-04 Robot parallele a quatre degres de liberte et a rotation illimitee WO2006106165A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES200500761A ES2262428B1 (es) 2005-04-04 2005-04-04 Robot paralelo de cuatro grados de libertad con rotacion ilimitada.
ESP200500761 2005-04-04

Publications (1)

Publication Number Publication Date
WO2006106165A1 true WO2006106165A1 (fr) 2006-10-12

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PCT/ES2006/000162 WO2006106165A1 (fr) 2005-04-04 2006-04-04 Robot parallele a quatre degres de liberte et a rotation illimitee

Country Status (2)

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ES (1) ES2262428B1 (fr)
WO (1) WO2006106165A1 (fr)

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7673537B2 (en) 2007-06-01 2010-03-09 Socovar, Société En Commandite Parallel manipulator
CN101712151A (zh) * 2009-11-11 2010-05-26 哈尔滨工业大学深圳研究生院 一种大倾角六自由度并联机器人
WO2012031635A1 (fr) * 2010-09-10 2012-03-15 Abb Research Ltd. Robot industriel
CN102441891A (zh) * 2011-10-12 2012-05-09 燕山大学 具有二维移动和一维转动的三自由度工业机器人
CN102615649A (zh) * 2012-04-11 2012-08-01 北京交通大学 一种滚动双四平行四边形机器人
JP2013013990A (ja) * 2011-07-06 2013-01-24 Canon Electronics Inc パラレルリンクロボット
CN102990658A (zh) * 2012-12-27 2013-03-27 广西大学 含prr运动副开环子链和prrrr运动副闭环子链的并联机构
CN103056871A (zh) * 2012-12-27 2013-04-24 广西大学 一种运动副组合为rprrr-prrrp的两闭环子链并联机构
WO2014024289A1 (fr) * 2012-08-09 2014-02-13 富士通株式会社 Robot
ES2538415A1 (es) * 2013-12-19 2015-06-19 Universidad Politécnica de Madrid Mecanismo del tipo articulado de morfología serial-paralela de cuatro grados de libertad para apuntar y guiar dispositivos hacia dianas distales
CN104972456A (zh) * 2015-07-16 2015-10-14 哈尔滨工业大学 一种可实现平面二维定位和空间二维定向的双平面并联机构
CN105835034A (zh) * 2016-04-14 2016-08-10 燕山大学 三自由度工业移动翻转台
CN106346446A (zh) * 2016-06-23 2017-01-25 南京理工大学 一种四自由度大工作空间双动平台并联机器人机构
CN106413995A (zh) * 2014-02-27 2017-02-15 Abb瑞士股份有限公司 紧凑型机器人设备
CN108127686A (zh) * 2017-12-27 2018-06-08 清华大学 一种驱动方式可变的连杆支链及含该支链的并联机构
US10737379B2 (en) 2013-05-23 2020-08-11 Abb Schweiz Ag Compact parallel kinematics robot

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WO1998017443A1 (fr) * 1996-10-18 1998-04-30 Kabushiki Kaisha Yaskawa Denki Robot articule
EP1084802A2 (fr) * 1999-09-17 2001-03-21 Toyoda Koki Kabushiki Kaisha Robot à structure parallèle à quatre degrés de liberté
JP2004291166A (ja) * 2003-03-27 2004-10-21 Toyoda Mach Works Ltd 四自由度パラレルロボット
JP2005066723A (ja) * 2003-08-21 2005-03-17 Osaka Kiko Co Ltd ４自由度パラレルロボット

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WO1998017443A1 (fr) * 1996-10-18 1998-04-30 Kabushiki Kaisha Yaskawa Denki Robot articule
EP1084802A2 (fr) * 1999-09-17 2001-03-21 Toyoda Koki Kabushiki Kaisha Robot à structure parallèle à quatre degrés de liberté
JP2004291166A (ja) * 2003-03-27 2004-10-21 Toyoda Mach Works Ltd 四自由度パラレルロボット
JP2005066723A (ja) * 2003-08-21 2005-03-17 Osaka Kiko Co Ltd ４自由度パラレルロボット

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PIERROT-O.COMPAY F.: "H4: a ne family of 4-DOF parallel robots", 1999 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (CAT. NO 99TH8399), 19 September 1999 (1999-09-19) - 23 September 1999 (1999-09-23), ATLANTA, GA, USA *
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Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7673537B2 (en) 2007-06-01 2010-03-09 Socovar, Société En Commandite Parallel manipulator
CN101712151A (zh) * 2009-11-11 2010-05-26 哈尔滨工业大学深圳研究生院 一种大倾角六自由度并联机器人
WO2012031635A1 (fr) * 2010-09-10 2012-03-15 Abb Research Ltd. Robot industriel
US10166684B2 (en) 2010-09-10 2019-01-01 Abb Research Ltd. Industrial robot including a parallel kinematic manipulator
JP2013013990A (ja) * 2011-07-06 2013-01-24 Canon Electronics Inc パラレルリンクロボット
CN102441891B (zh) * 2011-10-12 2013-12-18 燕山大学 具有二维移动和一维转动的三自由度工业机器人
CN102441891A (zh) * 2011-10-12 2012-05-09 燕山大学 具有二维移动和一维转动的三自由度工业机器人
CN102615649A (zh) * 2012-04-11 2012-08-01 北京交通大学 一种滚动双四平行四边形机器人
CN104520075A (zh) * 2012-08-09 2015-04-15 富士通株式会社 机器人
WO2014024289A1 (fr) * 2012-08-09 2014-02-13 富士通株式会社 Robot
JPWO2014024289A1 (ja) * 2012-08-09 2016-07-21 富士通株式会社 ロボット
US9475190B2 (en) 2012-08-09 2016-10-25 Fujitsu Limited Robot
CN103056871A (zh) * 2012-12-27 2013-04-24 广西大学 一种运动副组合为rprrr-prrrp的两闭环子链并联机构
CN102990658A (zh) * 2012-12-27 2013-03-27 广西大学 含prr运动副开环子链和prrrr运动副闭环子链的并联机构
US10737379B2 (en) 2013-05-23 2020-08-11 Abb Schweiz Ag Compact parallel kinematics robot
ES2538415A1 (es) * 2013-12-19 2015-06-19 Universidad Politécnica de Madrid Mecanismo del tipo articulado de morfología serial-paralela de cuatro grados de libertad para apuntar y guiar dispositivos hacia dianas distales
CN106413995A (zh) * 2014-02-27 2017-02-15 Abb瑞士股份有限公司 紧凑型机器人设备
CN104972456A (zh) * 2015-07-16 2015-10-14 哈尔滨工业大学 一种可实现平面二维定位和空间二维定向的双平面并联机构
CN105835034A (zh) * 2016-04-14 2016-08-10 燕山大学 三自由度工业移动翻转台
CN106346446B (zh) * 2016-06-23 2018-11-13 南京理工大学 一种四自由度大工作空间双动平台并联机器人机构
CN106346446A (zh) * 2016-06-23 2017-01-25 南京理工大学 一种四自由度大工作空间双动平台并联机器人机构
CN108127686A (zh) * 2017-12-27 2018-06-08 清华大学 一种驱动方式可变的连杆支链及含该支链的并联机构

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Publication number Publication date
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ES2262428B1 (es) 2007-11-16

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