WO2017045042A1 - Arrangement for robotic arm - Google Patents

Arrangement for robotic arm Download PDF

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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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WO
Grant status
Application
Patent type
Prior art keywords
arm
end
mounted
element
free end
Prior art date
Application number
PCT/BR2016/000002
Other languages
French (fr)
Portuguese (pt)
Inventor
Cury Nelson Ferraz
Original Assignee
Topema Cozinhas Professionais Indústria E Comércio Ltda
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

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Classifications

    • AHUMAN NECESSITIES
    • A23FOODS OR FOODSTUFFS; THEIR TREATMENT, NOT COVERED BY OTHER CLASSES
    • A23GCOCOA; COCOA PRODUCTS, e.g. CHOCOLATE; SUBSTITUTES FOR COCOA OR COCOA PRODUCTS; CONFECTIONERY; CHEWING GUM; ICE-CREAM; PREPARATION THEREOF
    • A23G9/00Frozen sweets, e.g. ice confectionery, ice-cream; Mixtures therefor
    • A23G9/04Production of frozen sweets, e.g. ice-cream
    • A23G9/22Details, component parts or accessories of apparatus insofar as not peculiar to a single one of the preceding groups
    • A23G9/28Details, component parts or accessories of apparatus insofar as not peculiar to a single one of the preceding groups for portioning or dispensing
    • GPHYSICS
    • G07CHECKING-DEVICES
    • G07FCOIN-FREED OR LIKE APPARATUS
    • G07F11/00Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/66Coin-freed apparatus for dispensing, or the like, discrete articles in which the articles are dispensed by cutting from a mass

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

"APPLIED PROVISION ROBOTIC ARM"

[1] Introduction - The present specification refers to an application for a utility model patent for robot arm belonging to the field of components used in automation systems, which received provision for Sado, particularly in a vending machine automatic ice cream or other edible or beverage products.

[2] TECHNICAL STATE - It is already known a set of ice cream sales, comprised, in essence, for an ice cream machine in usual mass; and a vending unit that is simply juxtaposed in front of the ice cream machine and it contains: devices for a user to choose a type of ice cream a list and pay; dispensers ice cream, ingredients and glass; a robotic arm that picks up a cup and passes through the ice cream machine and the containers of ingredients as scheduled; and dispenser device ready ice cream. This set lends itself to its function, but it has drawbacks, especially the large volume and area required for installation and high cost, this mainly due to the employee's robotic arm.

[3] To overcome this, the applicant has developed and is the subject of another of his patent application, a vending ice cream machine and others, which has as main characteristic to have all the mechanism necessary to the composition and sale of ice cream or others are installed in a single cabinet and provided with a simplified robotic arm to better match the machine to the type of product being sold, usually low cost. [4] Thus, this machine developed by the applicant is understood: for a single cabinet that houses all the necessary components to the composition and automatic ice cream sale or other, including the robotic arm. This machine is efficient for the purpose it is intended and has the advantage to have more appropriate cost to the type of products sold, usually low selling price.

[5] OBJECTIVES OF THE PROVISION - Thus, the present invention aims at providing the robotic arm, designed to be used in that particular ice cream vending machine du other products particularly food products and beverages.

[6] Another objective is to provide a robotic arm compact and robust design to be perfectly adaptable to the vending machine and endure long periods of repetitive request during machine operation steps as well as a robotic arm just manufacturing.

[7] Another objective is to provide a robotic arm low cost, operation and maintenance.

[8] Another objective is to provide a robotic arm can be used in other applications as well as vending machines.

[9] BRIEF DESCRIPTION OF THE PROVISION - Considering therefore the above aspects and objectives and the purpose of them was developed atendê- provision applied robotic arm, object of the present invention, which is comprised substantially by: column housing lift mechanism (engine, transmission, guides) the lifting arm; the robotic arm itself formed: a first, second and third arm members arti- culados relative to each other and subjected to the elevator; the first arm member being mounted directly on the column and lift; the second arm member is pivoted to the first and is mounted extreme joints and two motor assembly and transmitting a hinge assemblies and motor of the E transmission responsible for the movement of said second arm member in the horizontal plane by 180 ° in relation to the first arm member; and the other hinge assembly and engine and transmission responsible for the movement of the third arm element by approximately 270 ° in the horizontal plane relative to the second arm member; said third arm member has a free end provided with gripper able to hold a container; said column and provided with fairings arm hide the mechanisms.

[10] This form of construction of the robot arm is simple, as desirable for the vending machine above alluded ice cream or for other applications; said arm is able to meet the needs particularly of ice cream vending machine or other above, since it has large movements in horizontal planes at different heights ranging from one side, passing in front and moving to the opposite side of the column , over which can carry stops to "catch" a glass, the mass of ice cream, solid ingredients that make up the ice cream and the order to advance and have the ice cream ready in the delivery device, as the lay-out of the machine, thus meeting the main purpose of this provision.

[11] It is evident that this arm can be adapted to numerous other applications, not necessarily a vending machine of the type alluded to herein, but any other that is required wide angular movement in the horizontal plane at different heights.

[12] This arm has simple and compact construction and also easy manufacture as another objective the provision.

[13] Still, this arm has a low cost, operation and maintenance as other objectives of the provision.

[14] LIST OF ILLUSTRATIVE layout drawings - The accompanying drawings relate to the provision applied robotic arm, object of the present invention, in which:

[15] FIG. 1 shows in perspective a robot arm without the care-, grading, in which the mechanism is seen; and

[16] FIG. 2 to 5 show the arm with fairing in front view, side, plan and perspective views, respectively.

[17] DETAILED DESCRIPTION OF THE BASIS OF FIGURES - As illustrate listed above figures, the robotic arm 1 (Figures 1 to 5.), Object of the present invention, is particularly true in a machine 100 for vending ice creams or other object of another patent application of the same applicant and is intended to provide a simple and efficient solution for this application and be optionally used in other applications requiring large angular movement of the arm at different heights and an arm which has simple construction, compact and robust to withstand long periods of use.

[18] Thus, this robot arm 1 consists substantially (Fig. 1): by way of column carrier 2 consists of rectangular rear plate 3 and two extended end plates perpendicular that: baseboard bottom 4 and top plate 5.

[I9] For screw thread type lift mechanism 10 mounted on the column 2 is formed by: rods arranged between the plates 4 and 5: two front-guide rods 11:01 central rear-drive guide rod 12; a support assembly 13 mounted and the sliding guide rods 11 and by an electric motor and gearbox assembly 14 associated with the rod 12 and bracket 13, such that when actuated moves the latter along the rods 11, 12.

[20] For the robotic arm assembly 20 itself essentially formed by the first end 21; second intermediate 22; and third free end 23 of each articulated arm elements relative to the other and the first non-articulated 21 mounted in holder 13 of the elevator 10.

[21] The first end arm member 21 is mounted non-articulated support 13 in the elevator and its rear end is engaged in the nut assembly 24 guide drive shaft 12.

[22] The second intermediate arm member 22 is the longest, is articulated to the first arm member 21 and is basically formed: by two spaced parallel plates from each other 25 between which is mounted the drive mechanism of arms, formed : two sets of joint ends, first 26 and second 27 articulate joints the second intermediate 22 relative to the first end 21 and free end 23 to the third arm members, respectively; and a couple of sets of electric motors and transmission 26 'and 27' arranged between the joints 26 and 27 and associated with these.

[23] Each hinge assembly 26 and motor 27 and transmission 26 ', 27' is substantially formed: by bearing assembly mounted on the arm, mounted on the bearing shaft, constituting the joint 26 or 27; the electric motor 26 ', 27', for sprockets mounted on the shaft and output motor and toothed belt transmission engaged the gears.

[24] The third arm free end members 23 has one end which incorporates hinge part 27 and its free end incorporates a jaw 28 able to "catch" a container 200.

[25] Completing the arm is provided cowl 30 formed (Figures 2 to 5.): A fairing member 31 which covers the column 2 and sets the previous window 32 traversed by the arm first end element 21; a fairing member 33 which covers the second intermediate arm member 22 composed of upper and lower identical closures and locks side planes, cylindrical extreme setting volume 34 overlying the joints and prismatic intermediate section 35 which covers the engine; and cowling member 36 that covers the initial portion of the third arm element free end 23 and terminates adjacent the jaw.

[26] Thus, in operation, the entire arm assembly may be moved up and down through lift column 2 10. Simultaneously, the second intermediate arm member 22 can move in the horizontal plane at an angle of about 180 ° (Fig. 4) relative to the first end of arm member 21 and the third free end of arm members 23 move in the horizontal plane by about 270 ° relative to the second intermediate arm member 22. the claw 28 can receive a container 200 that receives the ice cream or other.

[27] In the basic construction described above, if pieiteia that the robot arm 1, object of the present invention, can be modified in relation to the material, size, functional or ornamental configuration without escape the scope of protection requested.

Claims

s
1) "APPLIED IN ROBOTIC ARM ARRANGEMENT", comprising a support means (2); and an arm (20) mounted articulated to the support means (2), characterized in that the column (2) is formed by rectangular rear plate (3) and two extended end plates perpendicularly in that: the lower base plate (4) and top plate ( 5); threaded screw type lift mechanism (10) mounted on the column (2) is formed: by two front rods-guides (11) and a central rear driving SH- te guide (12); a support assembly (13) mounted in sliding and guide rods (11) and a set of electric motor and gear unit (14) associated with the rod (12) and support (13); a robotic arm assembly itself (20) formed essentially by the first end (21); second intermediate (22); and third free end (23) arm members, each articulated in relation to the other; end of the first arm element (21) is mounted non-articulated on the support (13) of the elevator (10) and its rear end is set nut (24) engaged in the drive guide rod (12); the second intermediate arm member (22) is the longest, is articulated to the first arm member (21) and is formed essentially: two spaced parallel plates of one another (25) between which is mounted the drive mechanism arms, formed: by two sets of extreme articulation first (26) and second (27) joint articulating the second intermediate arm member (22) relative to the first end (21) and the third free end (23) elements arm respectively; and a pair of electric motors and transmission assemblies (26) 'and (27)' arranged between the joints (26) and (27) and associated with these; the third free end arm element (23) has one end which incorporates hinge part (27) and its free end includes a jaw (28) able to "catch" a container (200) and a fairing (30) formed: a fairing element (31) which covers the column (2) and sets the previous window (32) crossed by the first end arm element (21); a fairing element (33) overlying the second intermediate arm member (22) by setting extreme cylindrical volume (34) overlying the articufações intermediate and prismatic section (35) that covers the motor; and fairing element (36) covering the initial free end part of the third arm element (23) and terminates adjacent the jaw (28).
PCT/BR2016/000002 2015-09-15 2016-01-07 Arrangement for robotic arm WO2017045042A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
BR2020150235637 2015-09-15
BR202015023563 2015-09-15

Publications (1)

Publication Number Publication Date
WO2017045042A1 true true WO2017045042A1 (en) 2017-03-23

Family

ID=58288001

Family Applications (1)

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PCT/BR2016/000002 WO2017045042A1 (en) 2015-09-15 2016-01-07 Arrangement for robotic arm

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WO (1) WO2017045042A1 (en)

Citations (6)

* Cited by examiner, † Cited by third party
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 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

Patent Citations (6)

* Cited by examiner, † Cited by third party
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 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

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