WO2017045042A1 - Arrangement for robotic arm - Google Patents
Arrangement for robotic arm Download PDFInfo
- Publication number
- WO2017045042A1 WO2017045042A1 PCT/BR2016/000002 BR2016000002W WO2017045042A1 WO 2017045042 A1 WO2017045042 A1 WO 2017045042A1 BR 2016000002 W BR2016000002 W BR 2016000002W WO 2017045042 A1 WO2017045042 A1 WO 2017045042A1
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- Prior art keywords
- arm
- free end
- covering
- column
- robotic arm
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Classifications
-
- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23G—COCOA; COCOA PRODUCTS, e.g. CHOCOLATE; SUBSTITUTES FOR COCOA OR COCOA PRODUCTS; CONFECTIONERY; CHEWING GUM; ICE-CREAM; PREPARATION THEREOF
- A23G9/00—Frozen sweets, e.g. ice confectionery, ice-cream; Mixtures therefor
- A23G9/04—Production of frozen sweets, e.g. ice-cream
- A23G9/22—Details, component parts or accessories of apparatus insofar as not peculiar to a single one of the preceding groups
- A23G9/28—Details, component parts or accessories of apparatus insofar as not peculiar to a single one of the preceding groups for portioning or dispensing
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/66—Coin-freed apparatus for dispensing, or the like, discrete articles in which the articles are dispensed by cutting from a mass
Definitions
- TECHNICAL STATE A set of ice cream sales is already known, comprised basically of: a usual mass ice cream machine; and by a vending unit that is simply juxtaposed in front of the ice cream machine and contains: devices for a user to choose a type of ice cream from a list and to pay; ice cream dispensers, ingredients and glass; a robotic arm, which takes a glass and goes through the ice cream machine and ingredient containers as scheduled; and by dispensing device of the ready ice cream.
- This set lends itself to its function, but has drawbacks, especially the large volume and area required for installation and high cost, mainly due to the robotic arm employed.
- an ice cream vending machine and others which has as its main feature all the mechanism necessary for the composition and sale of ice cream or others are housed in a single cabinet and have a simplified robotic arm to best match the machine to the generally low-cost type of product being sold.
- this machine developed by the applicant is comprised of: a single cabinet that houses all the components necessary for the composition and vending of ice cream or others, including the robotic arm. This machine is efficient for its intended purpose and has the advantage of being more cost-effective for the type of products sold, usually of low selling price.
- the present patent is intended to provide the robotic arm, designed to be employed, particularly in this ice cream vending machine of other products particularly edible products and beverages.
- Another objective is to provide a robotic arm of compact and robust construction to be perfectly adaptable to the vending machine and to withstand long repetitive stresses during machine operating steps, as well as a simple to manufacture robotic arm.
- Another objective is to provide a low cost robotic arm for acquisition, operation and maintenance.
- Another objective is to provide a robotic arm that can be employed in applications other than vending machines.
- the robotic arm arrangement, object of the present patent which is substantially comprised of: column which houses arm lift mechanism (motorization, transmission, guides); the robotic arm itself formed: by first, second and third artificial arm elements related to each other and subject to the elevator; the first arm element being directly mounted on the column and elevator; the second arm member is hinged to the first and has extreme joints mounted and two engine and transmission assembly, one of the joint and engine and transmission assemblies responsible for moving said second arm element in a horizontal plane 180 ° relative to the first arm element; and the other pivot and engine and transmission assembly responsible for moving the third arm member about 270 ° in the horizontal plane relative to the second arm member; said third arm element has the free end provided with a claw capable of holding a container; said column and arm provided with fairings that hide the mechanisms.
- This form of robotic arm construction is simple as desired for the above mentioned ice cream vending machine or for other applications; said arm is capable of meeting the needs particularly of the above or other ice cream vending machine as it has wide horizontal plane movements at different heights from one side, moving forward and moving to the opposite side of the column , along which you can make stops to "get” a cup, the ice cream batter, solid ingredients that make up the ice cream and finally move on and arrange the ice cream ready in the delivery device, according to the lay-out of the machine, thus meeting the main purpose of this provision.
- the present arm features simple and compact construction as well as equally simple fabrication according to another layout objective.
- the present arm has low cost of acquisition, operation and maintenance according to other provision objectives.
- FIG. 1 shows the perspective robotic arm without the caring, in which its mechanism is seen
- Figs. 2 through 5 show the fairing arm in front, side, top and perspective views, respectively.
- the robotic arm 1 (Figs. 1 to 5), object of the present invention, applies particularly to an ice cream or other vending machine 100, the subject of another patent application of the same applicant and is intended to provide a simple and efficient solution for such application and optionally to be used in other applications requiring wide angular movement of the arm at different heights and an arm having a simple, compact and compact construction. robust to withstand long periods of use.
- the present robotic arm 1 is formed substantially (fig. 1): by a column-shaped support 2 formed by rectangular rear plate 3 and two end plates extending perpendicular to that: lower base plate 4 and upper plate 5.
- screw-type elevator mechanism 10 mounted on column 2 formed by: rods arranged between plates 4 and 5: two front guide rods 11 and one central rear drive guide rod 12; by mounting bracket 13 mounted and sliding on guide rods 11 and by electric motor and reducer assembly 14 associated with rod 12 and bracket 13, such that when actuated moves the latter along rods 11, 12.
- robotic arm assembly itself 20 formed essentially of first end 21; second intermediate 22; and third free end 23 arm elements hinged relative to one another and first unmounted 21 mounted on elevator support 13.
- the first end arm member 21 is mounted un-articulated on the lift support 13 and its rear end has nut assembly 24 engaged with the drive guide rod 12.
- the second intermediate arm element 22 is the longest, hinges to the first arm element 21 and is basically formed by two parallel plates spaced from each other 25 between which the arm movement mechanism formed is formed. by two end joint assemblies, first 26 and second 27 joints which articulate second intermediate 22 with respect to first end 21 and third free end 23 arm members respectively; and by a pair of 26 'and 27' transmission and electric motor assemblies arranged between joints 26 and 27 and associated with them.
- Each linkage assembly 26, 27 and engine and transmission 26 ', 27' is formed substantially: by arm-mounted bearing assembly, bearing-mounted shaft, constitutive of linkage 26 or 27; by the electric motor 26 ', 27', by axle-mounted sprockets and motor output and by transmission sprocket on the sprockets.
- the third free end arm member 23 has an end incorporating part of the pivot 27 and its free end incorporating a jaw 28 capable of "catching" a container 200.
- a fairing 30 formed (Figs. 2 to 5): by a fairing element 31 covering the column 2 and defining front window 32 crossed by the first end arm element 21; by fairing element 33 covering the second intermediate arm element 22 composed of equal upper and lower closures and flat side closures, forming cylindrical extreme volumes 34 covering the joints and intermediate prismatic section 35 covering the motors; and by fairing element 36 covering the initial portion of the third free end arm member 23 and terminating adjacent the jaw.
- the entire arm assembly can be moved up and down column 2 via elevator 10.
- the second intermediate arm element 22 can be angled in the horizontal plane by about 180 ° (fig. 4) with respect to the first end arm member 21 and the third free end arm member 23 moving in plane about 270 ° with respect to the second intermediate arm member 22.
- Claw 28 may receive a container 200 that receives ice cream or the like.
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- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Food Science & Technology (AREA)
- Polymers & Plastics (AREA)
- Manipulator (AREA)
Abstract
The present abstract relates to a utility model for a robotic arm (1), which pertains to the field of components for use in automation systems and comprises: a column (2); a screw-type lifting mechanism (10), mounted on the column (2); a robotic arm assembly per se (20), comprised essentially of a first end element (21), a second intermediate element (22) and a third free end element (23), which are articulated in relation to each other, the first end element (21) being mounted in a non-articulated fashion on the lifting mechanism (10), the second intermediate element (22) being comprised of two parallel spaced-apart plates (25), between which are mounted two end articulation assemblies, namely a first assembly (26) and a second assembly (27), and a pair of electric motor and transmission assemblies (26)' and (27)', which are disposed between the articulation assemblies (26) and (27) and are associated therewith, and the third free end element (23) having one free extremity, which comprises a claw (28) capable of gripping a receptacle (200); and a housing (30).
Description
"DISPOSIÇÃO APLICADA EM BRAÇO ROBÓTICO" "ARTICLE APPLIED IN ROBOTIC ARM"
[1] INTRODUÇÃO - O presente relatório descritivo refere-se a um pedido de patente de modelo de utilidade para braço robótico, pertencente ao campo dos componentes usados em sistemas de automação, que recebeu disposição para ser sado, particularmente, em uma máquina de vendas automáticas de sorvetes ou outros produtos comestíveis ou bebidas. [1] INTRODUCTION - This descriptive report relates to a utility model patent application for the robotic arm, pertaining to the field of components used in automation systems, which has been arranged to be sado particularly in a vending machine. ice cream or other edible products or beverages.
[2] ESTADO DA TÉCNICA - Já é conhecido um conjunto de vendas de sorvetes, compreendido, basicamente: por uma máquina de sorvete em massa usual; e por uma unidade de venda automática que é simplesmente justaposta em frente a máquina de sorvete e que contém: dispositivos para que um usuário escolha um tipo de sorvete de uma lista e para pagar; dispensadores do sorvete, ingredientes e copo; um braço robótico, que pega um copo e passa pela máquina de sorvete e pelos recipientes de ingredientes conforme programado; e por dispositivo dispensador do sorvete pronto. Esse conjunto presta-se para sua função, mas apresenta inconvenientes, principalmente o grande volume e área necessária para instalação e alto custo, este decorrente, principalmente, do braço robótico empregado. [2] TECHNICAL STATE - A set of ice cream sales is already known, comprised basically of: a usual mass ice cream machine; and by a vending unit that is simply juxtaposed in front of the ice cream machine and contains: devices for a user to choose a type of ice cream from a list and to pay; ice cream dispensers, ingredients and glass; a robotic arm, which takes a glass and goes through the ice cream machine and ingredient containers as scheduled; and by dispensing device of the ready ice cream. This set lends itself to its function, but has drawbacks, especially the large volume and area required for installation and high cost, mainly due to the robotic arm employed.
[3] Para superar isso, a requerente desenvolveu e é objeto de um outro seu pedido de patente, uma máquina de vendas automáticas de sorvete e outros, que apresenta como característica principal ter todo o seu mecanismo, necessário à composição e venda de sorvetes ou outros, instalados em um único gabinete e dotado de um braço robótico simplificado para melhor adequar a máquina ao tipo de produto a ser vendido, geralmente de baixo custo.
[4] Assim, essa máquina desenvolvida pela requerente é compreendida: por um único gabinete que aloja todos os componentes necessários à composição e venda automática de sorvetes ou outros, dentre eles o braço robótico. Essa máquina é eficiente para o fim a que se destina e apresenta como vantagem ter custo mais adequado ao tipo de produtos vendidos, geralmente de baixo preço de venda. [3] In order to overcome this, the applicant has developed and is the subject of another patent application, an ice cream vending machine and others, which has as its main feature all the mechanism necessary for the composition and sale of ice cream or others are housed in a single cabinet and have a simplified robotic arm to best match the machine to the generally low-cost type of product being sold. [4] Thus, this machine developed by the applicant is comprised of: a single cabinet that houses all the components necessary for the composition and vending of ice cream or others, including the robotic arm. This machine is efficient for its intended purpose and has the advantage of being more cost-effective for the type of products sold, usually of low selling price.
[5] OBJETIVOS DA DISPOSIÇÃO - Assim, a presente patente tem por objetivo prover o braço robótico, desenvolvido para ser empregado, particularmente nessa máquina de venda de sorvetes du outros produtos particularmente produtos comestíveis e bebidas. [5] OBJECTIVES OF THE ARRANGEMENT - Thus, the present patent is intended to provide the robotic arm, designed to be employed, particularly in this ice cream vending machine of other products particularly edible products and beverages.
[6] Outro objetivo é prover um braço robótico de construção compacta e robusta para ser perfeitamente adaptável à máquina de vendas e suportar longos períodos de solicitação repetitivos durante as etapas de funcionamento da máquina, bem como um braço robótico de fabricação simples. [6] Another objective is to provide a robotic arm of compact and robust construction to be perfectly adaptable to the vending machine and to withstand long repetitive stresses during machine operating steps, as well as a simple to manufacture robotic arm.
[7] Outro objetivo é prover um braço robótico de baixo custo de aquisição, operação e manutenção. [7] Another objective is to provide a low cost robotic arm for acquisition, operation and maintenance.
[8] Outro objetivo é prover um braço robótico possível de ser empregado em outras aplicações além de máquinas de vendas. [8] Another objective is to provide a robotic arm that can be employed in applications other than vending machines.
[9] DESCRIÇÃO RESUMIDA DA DISPOSIÇÃO - Tendo em vista portanto, os aspectos e objetivos acima e no propósito de atendê- los foi desenvolvida a disposição aplicada em braço robótico, objeto da presente patente, o qual é compreendido, substancialmente, por: coluna que aloja mecanismo elevador (motorização, transmissão, guias) de elevação do braço; pelo braço robótico propriamente dito formado: por primeiro, segundo e terceiro elementos de braço arti-
culados uns em relação aos outros e sujeitos ao elevador; o primeiro elemento de braço ficando diretamente montado na coluna e elevador; o segundo elemento de braço é articulado no primeiro e tem montados articulações extremas e dois conjunto de motor e transmissão, um dós conjuntos de articulação e motor e transmissão responsável pela movimentação de dito segundo elemento de braço em plano horizontal por 180° em relação ao primeiro elemento de braço; e o outro conjunto de articulação e motor e transmissão responsável pelo movimento do terceiro elemento de braço por cerca de 270° no plano horizontal em relação ao segundo elemento de braço; dito terceiro elemento de braço tem a extremidade livre provida de garra apta a segurar um recipiente; dita coluna e braço providos de carenagens que escondem os mecanismos. [9] SUMMARY DESCRIPTION OF THE ARRANGEMENT - In view of the above aspects and objectives, and in order to address them, the robotic arm arrangement, object of the present patent, which is substantially comprised of: column which houses arm lift mechanism (motorization, transmission, guides); the robotic arm itself formed: by first, second and third artificial arm elements related to each other and subject to the elevator; the first arm element being directly mounted on the column and elevator; the second arm member is hinged to the first and has extreme joints mounted and two engine and transmission assembly, one of the joint and engine and transmission assemblies responsible for moving said second arm element in a horizontal plane 180 ° relative to the first arm element; and the other pivot and engine and transmission assembly responsible for moving the third arm member about 270 ° in the horizontal plane relative to the second arm member; said third arm element has the free end provided with a claw capable of holding a container; said column and arm provided with fairings that hide the mechanisms.
[10] Essa forma de construção do braço robótico é simples, conforme desejável para a máquina de vendas automáticas de sorvete acima aludida ou para outras aplicações; dito braço é apto a atender às necessidades particularmente da máquina de vendas de sorvete ou outros acima, uma vez que tem amplos movimentos em planos horizontais em diferentes alturas que vão de uma lateral, passando em frente e deslocando-se até a lateral oposta da coluna, ao longo do que pode realizar paradas para "pegar" um copo, a massa de sorvete, ingredientes sólidos que compõem o sorvete e ao fim avançar e dispor o sorvete pronto no dispositivo de entrega, conforme o lay-out da máquina, atendendo assim ao objetivo principal da presente disposição. [10] This form of robotic arm construction is simple as desired for the above mentioned ice cream vending machine or for other applications; said arm is capable of meeting the needs particularly of the above or other ice cream vending machine as it has wide horizontal plane movements at different heights from one side, moving forward and moving to the opposite side of the column , along which you can make stops to "get" a cup, the ice cream batter, solid ingredients that make up the ice cream and finally move on and arrange the ice cream ready in the delivery device, according to the lay-out of the machine, thus meeting the main purpose of this provision.
[11] É evidente que o presente braço pode ser adaptado para inúmeras outras aplicações, não necessariamente uma máquina de
vendas do tipo ora aludida, mas qualquer outra em que seja necessária ampla movimentação angular em plano horizontal em diferentes alturas. [11] Clearly the present arm can be adapted for countless other applications, not necessarily a sales of the type mentioned here, but any other where wide angular movement in the horizontal plane at different heights is required.
[12] O presente braço apresenta construção simples e compacta bem como fabricação igualmente simples conforme outro óbjetivo da disposição. [12] The present arm features simple and compact construction as well as equally simple fabrication according to another layout objective.
[13] Ainda, o presente braço apresenta baixo custo de aquisição, operação e manutenção conforme outros objetivos da disposição. [13] In addition, the present arm has low cost of acquisition, operation and maintenance according to other provision objectives.
[14] LISTA DE DESENHOS ILUSTRATIVOS DA DISPOSIÇÃO - Os desenhos anexos referem-se à disposição aplicada em braço robótico, objeto da presente patente, nos quais: [14] LIST OF ILLUSTRATIVE ARRANGEMENT DRAWINGS - The accompanying drawings refer to the arrangement applied to the robotic arm, object of the present patent, in which:
[15] A fig. 1 mostra o braço robótico em perspectiva sem a care- nagem, na qual é visto o seu mecanismo; e [15] Fig. 1 shows the perspective robotic arm without the caring, in which its mechanism is seen; and
[16] As fig. 2 a 5 mostram o braço com a carenagem em vistas frontal, lateral, planta e em perspectiva, respectivamente. [16] Figs. 2 through 5 show the fairing arm in front, side, top and perspective views, respectively.
[17] DESCRIÇÃO DETALHADA COM BASE NAS FIGURAS - Conforme ilustram as figuras acima relacionadas, o braço robótico 1 (figs. 1 a 5), objeto da presente patente, aplica-se particularmente em uma máquina 100 de venda automática de sorvetes ou outros, objeto de outro pedido de patente da mesma requerente e destina- se a prover uma solução simples e eficiente para essa aplicação e opcionalmente ser usado em outras aplicações que necessitem ampla movimentação angular do braço em diferentes alturas e um braço que tenha construção simples, compacta e robusta para suportar longos períodos de utilização. [17] DETAILED DESCRIPTION BASED ON THE FIGURES - As illustrated in the above related figures, the robotic arm 1 (Figs. 1 to 5), object of the present invention, applies particularly to an ice cream or other vending machine 100, the subject of another patent application of the same applicant and is intended to provide a simple and efficient solution for such application and optionally to be used in other applications requiring wide angular movement of the arm at different heights and an arm having a simple, compact and compact construction. robust to withstand long periods of use.
[18] Assim, o presente braço robótico 1 é formado, substancialmente (fig. 1 ): por um suporte em forma de coluna 2 formada por
placa traseira retangular 3 e duas placas extremas prolongadas perpendicularmente daquela: placa-base inferior 4 e placa superior 5. [18] Thus, the present robotic arm 1 is formed substantially (fig. 1): by a column-shaped support 2 formed by rectangular rear plate 3 and two end plates extending perpendicular to that: lower base plate 4 and upper plate 5.
[Í9] Por mecanismo elevador tipo parafuso rosca 10 montado na coluna 2 formado por: hastes dispostas entre as placas 4 e 5: duas hastes-guias dianteiras 11 e uma haste-guia de acionamento traseira central 12; por conjunto de suporte 13 montado e deslizante nas hastes-guia 11 e por conjunto de motor elétrico e redutor 14 associado à haste 12 e suporte 13, tal que quando acionado move este último ao longo das hastes 11 ,12. [I9] By screw-type elevator mechanism 10 mounted on column 2 formed by: rods arranged between plates 4 and 5: two front guide rods 11 and one central rear drive guide rod 12; by mounting bracket 13 mounted and sliding on guide rods 11 and by electric motor and reducer assembly 14 associated with rod 12 and bracket 13, such that when actuated moves the latter along rods 11, 12.
[20] Por conjunto de braço robótico propriamente dito 20 formado essencialmente por primeiro extremo 21 ; segundo intermediário 22; e terceiro extremo livre 23 elementos de braço articulados uns em relação aos outros e o primeiro 21 montado não articulado no suporte 13 do elevador 10. [20] By robotic arm assembly itself 20 formed essentially of first end 21; second intermediate 22; and third free end 23 arm elements hinged relative to one another and first unmounted 21 mounted on elevator support 13.
[21] O primeiro elemento de braço extremo 21 fica montado não- articulado no suporte 13 do elevador e sua extremidade traseira tem conjunto porca 24 engrenada na haste-guia de acionamento 12. [21] The first end arm member 21 is mounted un-articulated on the lift support 13 and its rear end has nut assembly 24 engaged with the drive guide rod 12.
[22] O segundo elemento de braço intermediário 22 è o mais longo, fica articulado no primeiro elemento de braço 21 e é formado basicamente: por duas placas paralelas espaçadas uma da outra 25 entre as quais fica montado o mecanismo de movimentação dos braços, formado: por dois conjuntos de articulação extremos, primeira 26 e segunda 27 articulações que articulam o segundo intermediário 22 em relação ao primeiro extremo 21 e ao terceiro extremo livre 23 elementos de braço respectivamente; e por um par de conjuntos de motores elétricos e transmissão 26' e 27' dispostos
entre as articulações 26 e 27 e associados a estas. [22] The second intermediate arm element 22 is the longest, hinges to the first arm element 21 and is basically formed by two parallel plates spaced from each other 25 between which the arm movement mechanism formed is formed. by two end joint assemblies, first 26 and second 27 joints which articulate second intermediate 22 with respect to first end 21 and third free end 23 arm members respectively; and by a pair of 26 'and 27' transmission and electric motor assemblies arranged between joints 26 and 27 and associated with them.
[23] Cada conjunto de articulação 26, 27 e motor e transmissão 26', 27' é formado substancialmente: por conjunto mancai montado no braço, eixo montado no mancai, constitutivos da articulação 26 ou 27; pelo motor elétrico 26', 27', por rodas dentadas montadas no eixo e saída do motor e por correia dentada de transmissão engrenada nas rodas dentadas. [23] Each linkage assembly 26, 27 and engine and transmission 26 ', 27' is formed substantially: by arm-mounted bearing assembly, bearing-mounted shaft, constitutive of linkage 26 or 27; by the electric motor 26 ', 27', by axle-mounted sprockets and motor output and by transmission sprocket on the sprockets.
[24] O terceiro elementos de braço extremo livre 23 tem uma extremidade que incorpora parte da articulação 27 e sua extremidade livre incorpora uma garra 28 apta a "pegar" um recipiente 200. [24] The third free end arm member 23 has an end incorporating part of the pivot 27 and its free end incorporating a jaw 28 capable of "catching" a container 200.
[25] Completando o braço é prevista carenagem 30 formada (figs. 2 a 5): por elemento de carenagem 31 que recobre a coluna 2 e define janela anterior 32 atravessada pelo primeiro elemento de braço extremo 21 ; por elemento de carenagem 33 que recobre o segundo elemento de braço intermediário 22 composto por fechamentos iguais superior e inferior e fechamentos laterais planos, configurando volumes extremos cilíndricos 34 que recobrem as articulações e trecho prismático intermediário 35 que recobre os motores; e por elemento de carenagem 36 que recobre a parte inicial do terceiro elementos de braço extremo livre 23 e que termina adjacente à garra. [25] Completing the arm is a fairing 30 formed (Figs. 2 to 5): by a fairing element 31 covering the column 2 and defining front window 32 crossed by the first end arm element 21; by fairing element 33 covering the second intermediate arm element 22 composed of equal upper and lower closures and flat side closures, forming cylindrical extreme volumes 34 covering the joints and intermediate prismatic section 35 covering the motors; and by fairing element 36 covering the initial portion of the third free end arm member 23 and terminating adjacent the jaw.
[26] Assim, quando em funcionamento, todo o conjunto do braço pode ser movido para cima e para baixo na coluna 2 através do elevador 10. Simultaneamente, o segundo elemento de braço intermediário 22 pode mover-se em ângulo no plano horizontal por cerca de 180° (fig. 4) em relação ao primeiro elemento de braço extremo 21 e o terceiro elementos de braço extremo livre 23 mover-se ém plano
horizontal por cerca de 270° em relação ao o segundo elemento de braço intermediário 22. A garra 28 pode receber um recipiente 200 que recebe o sorvete ou outros. [26] Thus, when in operation, the entire arm assembly can be moved up and down column 2 via elevator 10. At the same time, the second intermediate arm element 22 can be angled in the horizontal plane by about 180 ° (fig. 4) with respect to the first end arm member 21 and the third free end arm member 23 moving in plane about 270 ° with respect to the second intermediate arm member 22. Claw 28 may receive a container 200 that receives ice cream or the like.
[27] Dentro da construção básica, acima descrita, pieiteia-se que o braço robótico 1 , objeto da presente patente, possa ser modificado em relação a material, dimensão, configuração funcional ou ornamental sem que fuja do âmbito de proteção solicitado.
[27] Within the basic construction described above, it is intended that the robotic arm 1, object of the present patent, may be modified in relation to material, dimension, functional or ornamental configuration without departing from the requested scope of protection.
Claims
S s
REIVINDICAÇÕES
1 ) "DISPOSIÇÃO APLICADA EM BRAÇO ROBÓTICO", formado por um meio de suporte (2); e por um braço (20) montado articulado no meio de suporte (2), caracterizado por coluna (2) formada por placa traseira retangular (3) e duas placas extremas prolongadas perpendicularmente daquela: placa-base inferior (4) e placa superior (5); por mecanismo elevador tipo parafuso rosca (10) montado na coluna (2) formado: por duas hastes-guias dianteiras (11 ) e uma has- te-guia de acionamento traseira central (12); por conjunto de suporte (13) montado e deslizante nas hastes-guia (11 ) e por conjunto de motor elétrico e redutor (14) associado à haste (12) e suporte (13); por conjunto de braço robótico propriamente dito (20) formado essencialmente por primeiro extremo (21); segundo intermediário (22); e terceiro extremo livre (23) elementos de braço, articulados uns em relação aos outros; o primeiro elemento de braço extremo (21) fica montado não-articulado no suporte (13) do elevador (10) e sua extremidade traseira tem conjunto porca (24) engrenada na haste-guia de acionamento (12); o segundo elemento de braço intermediário (22) é o mais longo, fica articulado no primeiro elemento de braço (21 ) e é formado basicamente: por duas placas paralelas espaçadas uma da outra (25) entre as quais fica montado o mecanismo de movimentação dos braços, formado: por dois conjuntos de articulação extremos, primeira (26) e segunda (27) articulações que articulam o segundo elemento de braço intermediário (22) em relação ao primeiro extremo (21) e ao terceiro extremo livre (23) elementos de braço respectivamente; e por um par de conjuntos de motores elétricos e transmissão (26)' e (27)' dispostos entre as articulações (26) e (27) e associados a estas; o terceiro elemento de braço extremo livre (23)
tem uma extremidade que incorpora parte da articulação (27) e sua extremidade livre incorpora uma garra (28) apta a "pegar" um recipiente (200) ;e por carenagem (30) formada: por elemento de carenagem (31) que recobre a coluna (2) e define janela anterior (32) atravessada pelo primeiro elemento de braço extremo (21 ); por elemento de carenagem (33) que recobre o segundo elemento de braço intermediário (22) configurando volumes extremos cilíndricos (34) que recobrem as articufações e trecho prismático intermediário (35) que recobre os motores; e por elemento de carenagem (36) que recobre a parte inicial do terceiro elemento de braço extremo livre (23) e que termina adjacente à garra (28).
1) "ROBOTIC ARM ARRANGEMENT" consisting of a support means (2); and by an arm (20) hinged to the support means (2), characterized by a column (2) formed by rectangular back plate (3) and two end plates extending perpendicularly thereto: lower base plate (4) and upper plate ( 5); a screw-mounted elevator mechanism (10) mounted on the column (2) formed by: two front guide rods (11) and one central rear drive guide rod (12); by mounting bracket (13) mounted and sliding on guide rods (11) and by electric motor and reducer assembly (14) associated with rod (12) and bracket (13); by robotic arm assembly itself (20) formed essentially by first end (21); second intermediate (22); and third free end (23) arm members, pivotal to each other; the first end arm member (21) is mounted non-articulated on the lift support (13) (10) and its rear end has nut assembly (24) engaged with the drive guide rod (12); the second intermediate arm element (22) is the longest, is hinged to the first arm element (21) and is basically formed by two parallel plates spaced from each other (25) between which is mounted the movement mechanism of the formed by two end joint assemblies, first (26) and second (27) joints which articulate the second intermediate arm element (22) relative to the first end (21) and the third free end (23) arm respectively; and by a pair of electric and transmission motor assemblies (26) 'and (27)' disposed between and associated with joints (26) and (27); the third free end arm element (23) it has an end that incorporates part of the joint (27) and its free end incorporates a claw (28) able to "catch" a container (200), and by fairing (30) formed by: fairing element (31) covering the column (2) and defines front window (32) traversed by the first end arm member (21); by fairing element (33) covering the second intermediate arm element (22) forming cylindrical end volumes (34) covering the puffings and intermediate prismatic section (35) covering the motors; and by a fairing element (36) covering the initial part of the third free end arm element (23) and terminating adjacent to the jaw (28).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| BR2020150235637 | 2015-09-15 | ||
| BR202015023563U BR202015023563U2 (en) | 2015-09-15 | 2015-09-15 | array applied to robotic arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2017045042A1 true WO2017045042A1 (en) | 2017-03-23 |
Family
ID=58288001
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/BR2016/000002 WO2017045042A1 (en) | 2015-09-15 | 2016-01-07 | Arrangement for robotic arm |
Country Status (2)
| Country | Link |
|---|---|
| BR (1) | BR202015023563U2 (en) |
| WO (1) | WO2017045042A1 (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0001686A1 (en) * | 1977-10-20 | 1979-05-02 | Imperial Chemical Industries Plc | An industrial manipulator for placing articles in close proximity to adjacent articles and a method of close packing articles therewith |
| WO1985004157A1 (en) * | 1984-03-14 | 1985-09-26 | Meyer Ronald K | Apparatus for automated assembly of flowable materials |
| DE3446854A1 (en) * | 1984-12-21 | 1986-07-03 | Blohm + Voss Ag, 2000 Hamburg | Industrial robot with at least three parallel axes of rotation |
| WO1991015833A1 (en) * | 1990-04-09 | 1991-10-17 | Fadis S.R.L. | Automatic dispenser for doughy food products |
| US5132914A (en) * | 1988-04-01 | 1992-07-21 | Restaurant Technology, Inc. | Food preparation system and method |
| US20070106422A1 (en) * | 2005-08-23 | 2007-05-10 | Motoman, Inc. | Apparatus and methods for a robotic beverage server |
-
2015
- 2015-09-15 BR BR202015023563U patent/BR202015023563U2/en not_active IP Right Cessation
-
2016
- 2016-01-07 WO PCT/BR2016/000002 patent/WO2017045042A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0001686A1 (en) * | 1977-10-20 | 1979-05-02 | Imperial Chemical Industries Plc | An industrial manipulator for placing articles in close proximity to adjacent articles and a method of close packing articles therewith |
| WO1985004157A1 (en) * | 1984-03-14 | 1985-09-26 | Meyer Ronald K | Apparatus for automated assembly of flowable materials |
| DE3446854A1 (en) * | 1984-12-21 | 1986-07-03 | Blohm + Voss Ag, 2000 Hamburg | Industrial robot with at least three parallel axes of rotation |
| US5132914A (en) * | 1988-04-01 | 1992-07-21 | Restaurant Technology, Inc. | Food preparation system and method |
| WO1991015833A1 (en) * | 1990-04-09 | 1991-10-17 | Fadis S.R.L. | Automatic dispenser for doughy food products |
| US20070106422A1 (en) * | 2005-08-23 | 2007-05-10 | Motoman, Inc. | Apparatus and methods for a robotic beverage server |
Also Published As
| Publication number | Publication date |
|---|---|
| BR202015023563U2 (en) | 2017-03-21 |
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