WO2018036634A1 - Robot cinématique parallèle à arbre télescopique - Google Patents

Robot cinématique parallèle à arbre télescopique Download PDF

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Publication number
WO2018036634A1
WO2018036634A1 PCT/EP2016/070141 EP2016070141W WO2018036634A1 WO 2018036634 A1 WO2018036634 A1 WO 2018036634A1 EP 2016070141 W EP2016070141 W EP 2016070141W WO 2018036634 A1 WO2018036634 A1 WO 2018036634A1
Authority
WO
WIPO (PCT)
Prior art keywords
coupling member
outer tube
inner shaft
shaft
robot according
Prior art date
Application number
PCT/EP2016/070141
Other languages
English (en)
Inventor
Daniel LUNDBÄCK
Original Assignee
Abb Schweiz Ag
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 Abb Schweiz Ag filed Critical Abb Schweiz Ag
Priority to PCT/EP2016/070141 priority Critical patent/WO2018036634A1/fr
Publication of WO2018036634A1 publication Critical patent/WO2018036634A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C3/00—Shafts; Axles; Cranks; Eccentrics
    • F16C3/02—Shafts; Axles
    • F16C3/03—Shafts; Axles telescopic
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2220/00—Shaping
    • F16C2220/40—Shaping by deformation without removing material
    • F16C2220/48—Shaping by deformation without removing material by extrusion, e.g. of metallic profiles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2322/00—Apparatus used in shaping articles
    • F16C2322/50—Hand tools, workshop equipment or manipulators
    • F16C2322/59—Manipulators, e.g. robot arms

Definitions

  • more than one telescopic shaft is used.
  • the parallel kinematics robot may for example be an industrial robot of the delta type.
  • the parallel kinematics robot may have one telescopic shaft or more than one telescopic shaft.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Ocean & Marine Engineering (AREA)
  • Shafts, Cranks, Connecting Bars, And Related Bearings (AREA)

Abstract

Un robot cinématique parallèle (1) comprend une section de base (3), un effecteur terminal (5) et au moins un arbre télescopique (7) disposé entre la section de base et l'effecteur terminal. L'arbre télescopique comprend un arbre interne (13) et un tube externe (11) disposé à l'extérieur sur l'arbre interne. L'arbre télescopique comprend au moins un ensemble d'éléments de couplage, comprenant un premier élément de couplage (21; 31; 41) disposé à l'intérieur sur le tube externe (11) et un second élément de couplage (22; 32; 42) disposé à l'extérieur sur l'arbre interne (13). Lesdits premier et second éléments de couplage sont conçus pour transmettre un couple entre le tube externe et l'arbre interne, et ils sont configurés pour une mise en prise coulissante axiale l'un avec l'autre. Le second élément de couplage est conçu pour s'étendre au moins partiellement à l'extérieur du tube externe pendant le fonctionnement de l'arbre télescopique.
PCT/EP2016/070141 2016-08-26 2016-08-26 Robot cinématique parallèle à arbre télescopique WO2018036634A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2016/070141 WO2018036634A1 (fr) 2016-08-26 2016-08-26 Robot cinématique parallèle à arbre télescopique

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2016/070141 WO2018036634A1 (fr) 2016-08-26 2016-08-26 Robot cinématique parallèle à arbre télescopique

Publications (1)

Publication Number Publication Date
WO2018036634A1 true WO2018036634A1 (fr) 2018-03-01

Family

ID=56801554

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2016/070141 WO2018036634A1 (fr) 2016-08-26 2016-08-26 Robot cinématique parallèle à arbre télescopique

Country Status (1)

Country Link
WO (1) WO2018036634A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020219268A1 (fr) * 2019-04-25 2020-10-29 AMP Robotics Corporation Systèmes et procédés pour ensemble pince à aspiration télescopique

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5740699A (en) * 1995-04-06 1998-04-21 Spar Aerospace Limited Wrist joint which is longitudinally extendible
US7188544B2 (en) 1998-12-03 2007-03-13 Abb Ab Industrial robot
DE102008019725A1 (de) * 2008-04-18 2009-10-29 Elau Gmbh Deltaroboter mit dreieckig profilierter Teleskopachse
DE102010033429A1 (de) * 2009-08-04 2011-02-10 Majatronic Gmbh Industrieroboter
EP2301726A1 (fr) 2009-09-24 2011-03-30 CAMA 1 SpA Tige télescopique pour robot industriel selon le concept delta
DE102010029784B3 (de) * 2010-06-08 2011-07-28 Beckhoff Automation GmbH, 33415 Roboter

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5740699A (en) * 1995-04-06 1998-04-21 Spar Aerospace Limited Wrist joint which is longitudinally extendible
US7188544B2 (en) 1998-12-03 2007-03-13 Abb Ab Industrial robot
DE102008019725A1 (de) * 2008-04-18 2009-10-29 Elau Gmbh Deltaroboter mit dreieckig profilierter Teleskopachse
DE102010033429A1 (de) * 2009-08-04 2011-02-10 Majatronic Gmbh Industrieroboter
EP2301726A1 (fr) 2009-09-24 2011-03-30 CAMA 1 SpA Tige télescopique pour robot industriel selon le concept delta
DE102010029784B3 (de) * 2010-06-08 2011-07-28 Beckhoff Automation GmbH, 33415 Roboter

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020219268A1 (fr) * 2019-04-25 2020-10-29 AMP Robotics Corporation Systèmes et procédés pour ensemble pince à aspiration télescopique
US11407123B2 (en) 2019-04-25 2022-08-09 AMP Robotics Corporation Systems and methods for a telescoping suction gripper assembly
US11654581B2 (en) 2019-04-25 2023-05-23 AMP Robotics Corporation Systems and methods for an articulated suction gripper assembly

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