WO2018106101A1

WO2018106101A1 - Reconfigurable modular industrial delta robot, system and tool for same

Info

Publication number: WO2018106101A1
Application number: PCT/MX2017/000146
Authority: WO
Inventors: Juan Pablo Martínez Esponda
Original assignee: Automatische Technik México S.A. De C.V.
Priority date: 2016-12-07
Filing date: 2017-12-06
Publication date: 2018-06-14
Also published as: MX2016016187A

Abstract

The present invention relates to a modular industrial delta robot formed by a system of multiple components that can be personalised or configured according to the initial or subsequent needs of a client, to offer maximum performance and efficiency in accordance with the productive processes thereof. The configurable components are the diameter of the base of the robot, the quantity of motors that apply torque to the arms, the lengths and diameter of the bars of the arms, the lengths and diameters of the bars of the forearms, and the diameter of the effector assembly of the present invention, thereby personalising or configuring the work space, flexibility, speed, torque and precision, according to the specific needs of the client.

Description

INDUSTRIAL MODULAR ROBOT TYPE RECONFIGURABLE, SYSTEM

AND TOOL OF THE SAME

Field of the Invention

The present invention relates to a delta type modular industrial robot formed by a multi-component system that can be customized or configured according to the initial needs of a customer to offer maximum performance and efficiency according to their production processes.

The present invention also describes a series of tools that can be adapted, configured and / or customized in the robot or system of the present invention according to the specific needs of the client.

Also, the present invention describes different methods for configuring, customizing, adapting and / or controlling the multiple components or tools of the robot or system of the present invention.

Background of the Invention

Delta-type industrial robots, as well as automated systems used in modern industry tend to be expensive and limiting.

It is a reality that today, there are small, medium and large entrepreneurs that require certain equipment, robots and systems to carry out different activities within an industry such as, but not limited to, assembly, assembly, packaging, unpacking, repacking, packaging, handling, separation, and organization of products.

Normally these entrepreneurs allocate a considerable amount of money in the purchase of automated systems and industrial robots of delta type thinking about the versatility of application that they will obtain in the future, only to realize that, with the passage of time, they require equipment of greater capacity and / or larger due to an increase in the demand for their products as a result of their great business success. In these cases, the employer will have to make substantial modifications to his current process that involve a new investment of a similar magnitude to the one he made initially, and in most cases, the client will be forced to completely replace his previous equipment with others of greater capacity and / or larger size to be able to reach their objectives, or buy new equipment and combine new and old equipment.

Obviously, the most serious problem for the client is the economic reinvestment that he has to do to modify his production process, however there are other important problems that the client will have to face, such as, but not limited to, lack of compatibility between the new equipment and the old equipment (even more between equipment of different manufacturers), long periods of integration between the new and old equipment, rearrangement of other production lines to be able to expand the process in question, training of the personnel to use the new equipment, among others .

For example, a small or medium-sized entrepreneur has initiated production and packaging operations of refreshing beverages and has made a considerable investment in the purchase of industrial delta robots that can lift a maximum mass of 5 kg in a cylindrical work space with a diameter of 800 mrn and the maximum speed of the robot. However, after two years your company has been so successful that now the demand for its drinks has doubled and it has also incorporated other products into its production process, but it cannot meet that demand since its robots and systems They limit it. Therefore, this small or medium businessman will have to buy new equipment that can lift up to 10 kg in a cylindrical workspace with a diameter of 1,000 mm and at the same maximum speed of the robot in a short or medium term, which means, that there will be that invest time, money and effort to achieve that goal. The present invention provides a modular robot and a system that can be initially customized to the customer and subsequently reconfigured to increase load capacity and workspace, which would obviously save time, money and effort to an entrepreneur who seeks to double his inventory. .

It can be argued that a large entrepreneur has sufficient economic solvency to make a major investment from the beginning or not to spare in expenses subsequent to the entry of operations of his factory; However, normally investors or entrepreneurs seek to invest a smaller amount of money to obtain a better profit margin and a greater return on investment. The present invention by means of its robots and systems with multiple reconfigurable and / or customizable components allow to achieve this.

Currently, there are delta-type industrial robots such as, for example, US patent 7 188 544 B2 of ABB AB, which describes a delta-type industrial robot with a rotating arm system in space and that includes a base section, a movable plate, as well as other elements with which it can theoretically load up to 8 kg of mass in its most expensive configuration (theoretically because in the practical industrial implementation, it has only been seen handling loads less than 3 kilograms). However, the robot of said document lacks the possibility of configuring and reconfiguring its various components at customer needs over time and based on the growth of their production processes, while the robot of the present invention can achieve this.

Omron Adept Technologies, Inc.'s Adept Quattro ™ robots are four-arm delta robots designed for different packaging, manufacturing, assembly and material handling applications. However, there is a series or family of each of these robots designed for specific objectives, namely to work at a certain speed, in a certain workspace, with some flexibility, maximum torque and precision. The technical specifications of these robots are completely silent with respect to the possibility of reconfiguring said robot according to the specific needs of the client, and instead, the client has to spend more money to acquire an Adept Quattro ™ robot that is not made tailored to the client and that does not have the ability to be reconfigured to the initial or future needs of the client.

Brief Description of the Invention

The delta type industrial robot of the present description is composed of three trapezoidal joint assemblies, three motor base assemblies, three articulated arm assemblies, six forearm assemblies and an effector assembly. One of the objectives of the present invention is to provide a robot characterized by having a maximum customization capacity according to the needs of the client. The items that can be customized are:

The base of the robot of the present invention is composed of three trapezoidal joint assemblies and three servomotor base assemblies, the first component Customizable of the present invention is the diameter of the base of the robot since by manufacturing in different dimensions the base trapezoids of the trapezoidal junction assemblies that form the robot, the diameter of the base of each robot can be directly customized and therefore, adapt the base of the robot of the present invention to the dimensional needs of the client.

The second customizable component of the robot of the present invention consists in the simple or double application of torque on each arm without reducing the maximum angular speed when increasing to double torque. This is possible since the motor base assembly can be configured in a simple version with a motor, a reducer and a counterpoint assembly or in a double version with two motors and two reducers, and therefore, the robot of the present invention it is able to adapt to the customer's torque needs and maintain its maximum angular speed by increasing to double torque.

Each arm assembly of the present invention is formed by a shoulder rotor that aligns the shoulder axis with respect to one or two motors of the motor base assembly and by a shoulder oppressor that aligns the upper bar and lower bar of the assembly of the arm with respect to the shoulder rotor.

The third customizable component of the robot of the present invention consists in the ability to use upper and lower bars of different diameters in the arm assemblies. It is possible to customize the diameter of the upper and lower bars by modifying the dimensions of the diameter of the perforations of the shoulder rotors and the elbows of the robot, and therefore, the robot of the present invention is able to become a robot more flexible or rigid and thus adapt to the stability needs of the arm required by the client.

The fourth customizable component of the robot of the present invention consists in the ability to customize the length of the arm assemblies by means of modifying the length of the upper and lower bars of the arm assemblies, and hence the robot of The present invention is capable of adapting the length of its arms to the dimensional needs of the client.

The fifth customizable component of the robot of the present invention consists in the ability to customize the length of the forearm assemblies by modifying the length of the forearm bar, and therefore, the robot of the present invention is capable of adapt the length of your forearms to the dimensional needs of the client.

The sixth customizable component of the robot of the present invention consists in the ability to use bars of different diameters in the forearm assemblies, by increasing or reducing the diameter of the forearm bars of the robot of the present invention, the robot is capable to modify its flexibility or rigidity and thus adapt to the needs of stability in the forearm required by the client.

The effector assembly of the robot of the present invention is made up of an effector ring that is similar to that of the prior art, since it joins the six forearm assemblies by means of spherical joints. However, the interior of the effector assembly of the present invention is very different from that of the prior art since it has a large perforation and two perforated tabs where tools for the robot can be assembled and disassembled very easily. In addition, the seventh customizable component of the robot of the present invention consists in varying the diameter of the effector assembly by selecting three different sizes of effector rings; a small one, a medium one and a large one, and therefore, the robot of the present invention is able to adapt the diameter of its effector assemblies to the dimensional needs of the client.

Another objective of the present invention compared to other delta robots of the prior art, is to provide superior customization for the benefit of the customer. In general, there are five variables that any client wishes to customize, these are: workspace, flexibility, speed, torque and precision.

As demonstrated in the first, fourth, fifth and seventh customizable capacity of the robot of the present invention, in comparison to the prior art, the only delta type robot capable of customizing its four functional dimensions is obtained (Diameter of the robot base, arm length, forearm length and effector diameter) in conjunction with the kinematics and dynamics to obtain a work space and functionality fully customized to the client's needs.

As for flexibility, as shown in the third and sixth customizable capacity of the robot of the present invention, in comparison to the prior art, the only delta type robot capable of modifying the diameters of the arms of its arms and forearms is obtained to adjust the level of flexibility or rigidity to the needs of the client.

As for the angular speed of the arms, the robot of the present invention can customize the type of reducer and the type of motor to the needs of the customer to maximize the rotational speed and angular acceleration of each arm assembly. As for the torque, unlike the delta robots in the prior art, the delta robot of the present invention is the only one capable of driving each of the arm assemblies by means of one or two motors, capacity that It allows to double the torque applied to each arm assembly and, in turn, maintain the maximum angular speed of each arm assembly by increasing to double torque.

As for the precision, the delta-type robot of the present invention is capable of using planetary type reducers with narrow clearance between its gears or harmonic type with near-zero strike, capacity that combined with the stiffness chosen for the configuration of the robot, allows to customize the precision of the robot to the application and needs of the client.

Finally, another objective of the present invention is to provide the ability to eliminate the intrusion generated by the delta-like robots of the art prior to the industrial processes where they are installed. The robots of the prior art have to be assembled to the industrial processes by three brackets in star-like configuration at the base of the robot, this is directly related to the creation of structures that trap the industrial processes within their structures, complicating the installation of the robots, the maintenance application to both the robot and the industrial process in question and the adaptability of the client's future process.

The delta-type robot of the present invention has the ability to be assembled to the industrial process by a single point, which allows to create structures that only come into lateral contact with the customer's industrial process, allowing and facilitating the robot's mobility for maintenance application to the robot and the process and allowing the customer to change or modify their processes Easier way in the future.

Brief description of the figures

The present invention will be better understood from the following figures taken in conjunction with the detailed description of the invention, wherein the figures describe:

Figure 1 shows a perspective view of the complete assembly of the delta modular robot of the present invention in a first preferred three-engine mode;

Figure 2 shows a perspective view of the complete assembly of the delta modular robot of the present invention in a second preferred six-engine mode;

Figure 3 shows a top view of the three-type delta modular robot;

Figure 4 shows a top view of the six-engine delta modular robot;

Figure 5a shows the trapezoidal joint assembly of the present invention composed of a base trapezoid, Figure 5b shows a rear trapezoidal assembly without square and Figure 5c shows an expanded trapezoidal joint assembly;

Figure 6 shows a perspective view of a simple motor base assembly of the present invention corresponding to the first preferred three motor mode;

Figure 7 shows a perspective view of a double motor base assembly of the present invention corresponding to the second preferred six engine mode;

Figure 8 shows a perspective view of the articulated arm assembly of the present invention;

Figure 9 shows a perspective view of the forearm assembly of the present invention; Figure 10 is a perspective view of the effector assembly of the present invention;

Figures lia and 11b show a top view of the delta type modular robot of the present invention in its second preferred six-engine mode, wherein the dimensions of the robot 11b are larger than those of the robot lia;

Figures 12a and 12b show a perspective view of a tool for handling bottles; Y

Figures 13a and 13b show a perspective view of a tool for manipulating soft objects with cylindrical shape.

DETAILED DESCRIPTION OF THE INVENTION Referring to FIGS. 1 and 3, the complete assembly of the delta-type modular robot 0 of the present invention is shown in its first preferred three-engine mode, which is formed by a base with three base assemblies. of simple motors 3, three trapezoidal junction assemblies 2, three articulated arm assemblies 5, six forearm assemblies 6 and an effector assembly 7; wherein the three trapezoidal junction assemblies 2 assemble the three simple motor base assemblies 3 to generate the delta-like robotic configuration. Each of the simple motor base assemblies 3 is assembled by means of the reducer shaft 21 and the tailstock shaft 25 to a respective shoulder rotor 40 of each articulated arm assembly 5. Each of the articulated arm assemblies 5 a in turn, it is assembled in each of its two spherical joints 45 located at its elbow 44 laterally and independently with a forearm assembly 6 (See figure 8). All forearm assemblies 6 are preferably longitudinally equal to each other for form a parallelogram between the robot base and the effector ring 70. Finally, Figure 1 also shows the coupling of each pair of forearm assemblies 6 to an effector assembly 7 by means of an effector ring 70 which has three outputs 73 in where each outlet 73 has two spherical joints 71 as shown in Figure 10.

The simple motor base assemblies 3 are attached by fasteners 26 to the trapezoidal joint assemblies 2, such that each trapezoidal junction assembly 2 joins two simple motor base assemblies 3 to thereby position the three simple motor base assemblies 3 in a delta type configuration. It should be noted that one of the trapezoidal joint assemblies 2 cannot be seen in figures 1 or 3 since it is covered by a structural profile 1. The trapezoidal joint assembly 2 which is covered by the structural profile 1 lacks a square 11 as will be described at the end of this paragraph. Likewise, the base trapezoid 10 and the square 11 of each trapezoidal joint 2 are assembled together by means of fasteners 12 and the robot base formed by three trapezoidal joint assemblies 2 and three simple motor base assemblies 3, assembles the structural profile 1 by means of the fasteners 13 that connect the brackets 11 of each trapezoidal joint assembly 2 to the structural profile 1 and in the case of the trapezoidal joint assembly 2 covered by the structural profile 1, the base trapezoid 10 is assembled directly by means of fasteners 12 to the structural profile 1.

Now, with reference to FIGS. 2 and 4, a complete assembly of the delta 0 'modular robot of the present invention is shown in its second preferred embodiment of six engines, which is comprised of a base with three double motor base assemblies 4, three trapezoidal joint assemblies 2, three articulated arm assemblies 5, six forearm assemblies 6 and an effector assembly 7; wherein the three trapezoidal junction assemblies 2 assemble the three double motor base assemblies 4 to generate the delta-like robotic configuration. Each of the double motor base assemblies 4 is assembled by means of the two axes of the two reducers 21 to a respective shoulder rotor 40 of each articulated arm assembly 5. Each of the articulated arm assemblies 5 in turn it is assembled in each of its two spherical joints 45 located on its elbow 44 laterally and independently with a forearm assembly 6 (See Figure 8). All forearm assemblies 6 are preferably longitudinally equal to each other to form a parallelogram between the robot base and the effector ring 70. Finally, Figure 2 also shows the coupling of each pair of forearm assemblies 6 to an effector assembly 7 by means of an effector ring 70 which has three outlets 73 where each outlet 73 has two spherical joints 71 as shown in Figure 10.

The double motor base assemblies 4 are attached by fasteners 26 to the trapezoidal joint assemblies 2, such that each trapezoidal junction assembly 2 joins two double motor base assemblies 4 to thereby position the three 4 double motor base assemblies in a delta type configuration. It should be noted that one of the trapezoidal joint assemblies 2 cannot be seen in figures 2 or 4 since it is covered by a structural profile 1. The trapezoidal joint assembly 2 that is covered by the profile Structural 1 lacks a square 11 as will be described at the end of this paragraph. Likewise, the base trapezoid 10 and the square 11 of each trapezoidal joint 2 are assembled together by means of fastening elements 12 and the robot base formed by three trapezoidal joint assemblies 2 and by three double motor base assemblies 4 is assembled to the structural profile 1 by means of the fasteners 13 that join the brackets 11 of each trapezoidal joint assembly 2 to the structural profile 1 and in the case of the trapezoidal joint assembly 2 covered by the structural profile 1, the base trapezoid 10 is assembled directly by means of fasteners 12 to the structural profile 1.

In figures 5a to 5c the trapezoidal joint assembly 2 is shown in greater detail which is a key element that allows the base of the delta type robot of the present invention to be formed, the trapezoidal joint assembly 2 is formed by a base trapezoid 10 and a square 11, the square 11 and the base trapezoid 10 contain four holes or perforations each to join both parts by means of four fasteners 12. The fasteners 12 can be selected from a group comprising, but not limited to normal screws, pressure screws, rivets, pins, or a combination thereof. The base trapezoid 10 is formed by two alignment flanges 14 centrally located between the upper portions 15 and lower portions 16 of the base trapezoid 10, wherein the upper portion 15 and lower 16 are in low relief in relation to the flanges 14 which are in high relief. Both the upper portion 15 and the lower portion 16 have three horizontally distributed holes to make their corresponding coupling with the base assemblies of 3 or double single motors 4. The base 10 trapezoid also has an upper wall 18 in which the four perforations are located in which the fasteners 12 are inserted to create the assembly between the base 10 trapezoid and the square 11. This upper wall 18 is important together with the lower face, outer front face 19 and rear face since by expanding these walls or faces longitudinally, the radius of the robot base of the present invention can be modified, as shows more clearly in Figure 5c.

The square 11 contains a rear wall 17 with four holes or perforations to laterally fix the trapezoidal joint assembly 2 to the structural profile 1. It should be noted that two trapezoidal joint assemblies 2 contain squares 11 with rear walls 17 to fix the trapezoidal joint assembly 2 to the structural profile 1, while a trapezoidal joint assembly lacks a square 11 and is fixed directly from the base trapezoid 10 to the bottom of the structural profile 1 by means of fasteners 12, as shown more clearly in the figure 5b.

The base 10 trapezoids can be manufactured in different lengths in order to increase or decrease the diameter of the robot base according to the needs of the client or the task that needs to be performed. To increase or decrease the diameter of the base of a robot, the length of the upper face of the upper wall 18 must be modified, as well as the lower face (not shown), the front outer face 19 and the back face (no shown) of the base 10 trapezoid, the lower face being the counterpart of the upper face and the rear face being the counterface of the front face 19. The three base 10 trapezoids of each robot must be manufactured with the same lengths for conserve delta type symmetry at the base of the robot, according to the first reconfigurable component of the robot.

It should be mentioned that regardless of the manufacturing length of the base trapezoids 10 of each robot, the alignment flanges 14, upper portion 15 and lower portion 16 remain intact and therefore always allow proper alignment and coupling with the motor base assemblies single 3 or double 4.

Likewise, the three perforations distributed horizontally in each upper portion 15 and lower 16 remain intact, so that they can always be attached to the simple 3 or double 4 motor base assemblies without the need to make modifications to the engine bases 20.

The four perforations that are in the upper wall 18 of the base trapezoid 10 and which serve to join the base trapezoid 10 to the square 11 by means of fasteners 12 must be correctly positioned when modifying the length of the diameter of each base of robot. The correct position of the perforations for the two base trapezoids 10 corresponding to the two frontal trapezoidal junction assemblies 2 having squares 11 is that shown by the four perforations of the square 11 when the front outer face 19 of the square 11 is aligned in parallel and comes into contact with the upper portion 15 of the base trapezoid 10, as can be seen more clearly in Figures 5a and 5c. The correct position for the four perforations of the third base trapezoid 10 corresponding to the rear trapezoidal joint assembly 2 covered by the structural profile 1 is that central to the upper face 18 of the base trapezoid 10 which coincides longitudinally with the two grooves (not shown in the figures) of structural profile 1, such and as can be seen more clearly in Figure 5b.

Figure 6 shows the simple motor base assembly 3 in which to each articulated arm assembly 5 the torque from a single motor 22 and reducer 21 of a simple motor base assembly 3 is applied. simple motor base 3 comprises an engine base 20, a reducer 21, a motor 22, a tailstock base 23, a tailstock bearing 24, a tailstock shaft 25 and fasteners 26, 27 (not shown in Figure 6), 28 and 29 to couple the components of the simple motor base assembly 3 and also, connect the simple motor base assembly 3 to the other assemblies.

To create a precise alignment between the trapezoidal junction assemblies 2 and the simple motor base assemblies 3, the motor base 20 has a receiving slot 30 that engages with the flanges aligners 14 of two base trapezoids 10 through elements of clamping 26, which are fixed to the holes of the upper 15 and lower portion 16 of the trapezoidal joint assembly 2 shown in Figure 5.

The reducer 21 is assembled to the first bore 31 of the motor base 20 by means of fasteners 27, while the counterpoint base 23 is assembled into the second bore 32, by means of fasteners 28. The fasteners 27 and 28 can be selected from, but not limited to, normal screws, pressure screws, rivets, pins, or a combination thereof, while the reducers can be selected from, but not limited to, planetary reducers, harmonic reducers or a combination thereof.

The motor 22 is fixed to the reducer 21 by means of fasteners 29. The fasteners can be be selected from, but not limited to, normal screws, pressure screws, rivets, pins, or a combination thereof, while the motors can be selected from, but not limited to, servomotors, stepper motors, motors alternating current, direct current motors or a combination thereof.

The tailstock base 23 is assembled to the second bore 32 of the motor base 20 by means of fasteners 28. In the seat of the tailstock base 23 a tailstock bearing 24 is assembled and a tailstock shaft is assembled onto the tailstock bearing 24 25. The articulated arm assemblies 5 are attached to the simple motor base assembly 3 through the counterpoint axis 25 and the output shaft of the reducer 21, each connected to one side of the shoulder rotor 40 of each articulated arm assembly 5. It should be mentioned that in the first perforation 31 of the motor base 20 the reducer 21 is generally assembled and in the second perforation 32 the counterpoint 25 is generally assembled; however, the reducer 21 and the tailstock shaft 25 could be assembled inversely at the convenience of the customer so that in the first bore 31 of the motor base 20 the tailstock 25 can be assembled and in the second bore 32 assemble the reducer 21.

Figure 7 is a perspective view showing a double motor base assembly 4 in which to each articulated arm assembly 5 the torque from two motors 22 and two reducers 21 of a double motor base assembly 4 is applied. The double motor base assembly 4 is formed by a motor base 20, two reducers 21, two motors 22, fasteners 26, 27 and 29 and a flexible copy (not shown) to assemble the components of the assembly. 4 double engine base and also, assemble or attach the double 4 motor base to the other assemblies.

To create a precise alignment between the trapezoidal junction assemblies 2 and the double motor base assemblies 4, the motor base 20 has a receiving slot 30 that engages with the alignment flanges 14 of two base trapezoids 10 through elements of clamping 26, which are fixed to the holes of the upper 15 and lower portion 16 of the trapezoidal joint assembly 2 shown in Figure 5.

Two reducers 21 are assembled to the motor base 20 by means of fasteners 27, a first reducer 21 in the first perforation 31 of the motor base 20 and a second reducer 21 in the second perforation 32 of the motor base 20 or vice versa . The fasteners can be selected from, but are not limited to, normal screws, pressure screws, rivets, pins, or a combination thereof, while the reducers can be selected from, but not limited to, planetary reducers, harmonic reducers or a combination thereof.

Two motors 22 are fixed to the two reducers 21, one motor 22 to each reducer 21 by means of fasteners 29. The fasteners can be selected from, but are not limited to, normal screws, pressure screws, pins, or a combination thereof, while the motors can be selected from, but are not limited to, servomotors, stepper motors, alternating current motors, direct current motors or a combination thereof.

The double motor base assembly 4 does not require a tailstock base 23, a tailstock bearing 24 or a tailstock shaft 25, due to the two motors 22 assembled in the double motor base assembly 4.

The articulated arm assemblies 5 are attached to the double motor base assembly 4 through the two output shafts of the reducers 21, a gear output shaft 21 to each side of the shoulder rotor 40 of each arm assembly 5.

It is worth mentioning that the assembly of the first reducer 21 on the first side of the shoulder rotor 40 is made directly, without intermediate elements and the assembly of the second reducer 21 on the second side of the shoulder rotor 40 is made indirectly using a flexible copy assembled between the output arrow of the second reducer 21 and the second side of the shoulder rotor 40. Said flexible copy has the ability to deform elastically temporarily to compensate for the angular offset that may exist between the output of each arrow of the reducers on the shoulder rotor 40.

As discussed in the beginning of the description of figures 6 and 7, the robots formed by simple motor base assemblies 3 that provide the torque of a single motor 22 and reducer 21 to each articulated arm assembly 5 are designed to satisfy initial needs of customers with high speed rotational and low or medium torque productions. If the customer were to need an increase in their production to achieve high torque and maintain their high rotational speed in the articulated arm assemblies 5 of their robot, then the simple motor base assemblies 3 could be improved to become assemblies of double motor base 4 and thus provide twice the torque and, in turn, maintain the same maximum rotational speed in each arm assembly through the use of two motors 22 and two reducers 21 to each articulated arm assembly 5. To make this change, the base of simple motors 3 is disassembled the base of tailstock 23, tailstock bearing 24 and tailstock shaft 25 and are replaced by a second reducer 21 and a second motor 22 whereby this simple motor base assembly 3 would become a double motor base assembly 4, according to the second reconfigurable component of the robot.

It is important to note that increasing or doubling the torque and maintaining the same maximum rotational speed of the robot arm assemblies is something that no delta robot can do to date, since most existing delta robots in the market They usually have a factory set design that cannot be reconfigured to add two motors connected to each articulated arm assembly to obtain double torque and maintain the same rotational speed of the robot.

Figure 8 shows the articulated arm assembly 5 formed by a shoulder rotor 40 in which a reducer 21 and a counterpoint shaft 25 or two reducers 21 (one with a flexible copy) are introduced depending on whether the base assembly of Engine is simple 3 or double 4 as mentioned above. The articulated arm assembly 5 also comprises a shoulder oppressor 41, an upper bar 42, a lower bar 43, an elbow 44, two spherical joints 45, fasteners 46, 47, 49 and 50 and a joint element 48. The upper and lower bar 42 43 pass through two perforations formed between the shoulder rotor joint 40 and the shoulder oppressor 41, while at the other end the upper and lower bar 42 are inserted into an elbow 44 and secured by fasteners 47 and a joint element 48. The shoulder rotor 40 and shoulder presser 41 are joined together by means of fasteners 46. To assemble the upper and lower bars 42 to the elbow 44, the joint element 48 is added which is inserted into the elbow cavities 44 for glue and maximize the force of the assembly between the elbow 44 and the upper bar 42 and lower 43, while the connecting element 48 is fresh, the upper bars 42 and lower 43 are inserted into the two perforations of the elbow 44 in the desired position and the assembly is allowed to rest for a certain time so that the connecting element 48 hardens. The fasteners 47 are optional and, if necessary, are introduced in an upper and lower part of the elbow 44 to press the upper bar 42 and lower 43 against the walls of the perforations of the elbow 44 and provide a force of Extra support to the elbow assembly. The fasteners 46 and 47 can be selected from, but are not limited to, prisoners, normal thymes, pressure screws, rivets, pins, or a combination thereof, and where the joint element is epoxy glue although it could Use any other type of glue.

For those cases in which the client has some special requirement of size of the workspace or of creating a more flexible or rigid robot, together with the modification of the diameter of the robot base, for the robot of the present invention can be expand or reduce both the diameter and the length of the upper 42 and lower bars 43 of their arm assemblies 5.

When it is desired to modify or change the diameter of the upper bars 42 and lower 43 according to the needs of the customer to obtain greater flexibility or stiffness in the structure of the arm assemblies 5, the shoulder rotor 40 must also be modified, the shoulder oppressor 41 and the elbow 44 with the aim that the perforations that receive the upper bar 42 and lower 43 fit the new corresponding diameter of the upper bars 42 and lower 43 created to the extent of the customer, according to the third reconfigurable component of the robot.

When it is desired to modify or change the length of the upper 42 and lower bars 43 of the arm assemblies 5 according to the needs of the client to obtain a customized workspace to the needs of the client, both the upper and lower bars 42 They can also be manufactured in different lengths that allow you to customize the work space of the robot according to customer needs. The new upper 42 and lower bars 43 would replace the previous ones and would be assembled by means of the fasteners 46 and 47 to the respective shoulder rotor 40 and shoulder oppressor 41 and to the elbow 44, according to the fourth reconfigurable element of the robot.

Figure 9 shows the forearm assembly 6 formed by a forearm bar 60, two copies 61 each assembled at one end of the forearm bar 60 by means of a connecting element 63, and two spherical seats 62, a spherical seat 62 on each copy 61. A spherical seat 62 of the forearm bar 60 is coupled to the spherical joint 45 of the elbow 44, while the other spherical seat 62 of the bar is coupled to a spherical joint 71 of the effector assembly 7 .

Each arm assembly 5 is connected to two forearm assemblies 6 by means of two spherical joints 45 positioned at the elbow 44 of the arm assembly 5. To maintain a delta-like configuration in the robot, it is very important to maintain equal lengths in each one of the arm assemblies 5 and forearm assemblies 6.

For those cases in which the client has a special requirement for work space size or to create a more flexible or rigid robot, together with the modification of the robot's base diameter, the diameter and length of the upper and lower bars 42 of the arm assemblies 5, for the robot of the present invention the diameter and length of the forearm bars 60 of its forearm assemblies 6 can be extended or reduced.

When it is desired to modify or change the length or diameter of the forearm bars 60 of the forearm assemblies 6 according to the needs of the client to obtain a work space or a flexibility or stiffness of the forearm assembly 6 customized to the needs of the customer, the length and diameter of the forearm bars 60 can be manufactured of different dimensions, thus allowing a better flexibility, rigidity or precision, or a greater or lesser working space according to the fifth and sixth reconfigurable components of the robot.

When changing the diameter of the forearm bars 60 and to create a correct assembly, the outer and inner diameter of each of the two copies 61 of the assemblies of each forearm 6 must also be modified.

Figure 10 shows the effector assembly 7 of the present invention formed externally by an effector ring 70 and six spherical joints 71 that are assembled such that two spherical joints 71 are assembled on each of the three projections 73 of the effector ring 70, two spherical joints 71 for each projection 73 of the effector ring 70. Furthermore, as shown in the same figure, the effector ring 70 of the present invention is totally different in its internal part compared to the art robots prior to the fact that it comprises an internal perforation 72 and two tabs 74 located in the internal perforation 72 such that the flanges 74 are facing each other or located opposite each other. Each of the flanges 74 has perforations or holes evenly distributed along the flanges 74 in order to adapt tools to the internal perforation 72 and flanges 74 of the effector ring 70, which are assembled by fasteners 75. The elements clamping can be selected from, but not limited to, normal screws, pressure screws, rivets, pins, or a combination thereof.

The existence of two tabs is innovative since they allow better functionality to assemble or disassemble tools to the assembly of effector 7 of the robot more easily and quickly.

Although the effector ring 70 shown shows only two tabs 74 and three perforations per flange, as many tabs and perforations 70 could be added to the effector ring as necessary to hold the tools according to the needs of any customer.

The effector ring 70 can be small, medium or large, depending on the tool to be adapted and / or according to the client's work space needs according to the seventh reconfigurable component of the robot.

Figures lia and 11b show two top views of delta-type modular robots of the present invention in its version of six engines of different sizes to provide different custom workspace to the customer, comparing them between customizing the components to the needs of Some customer, the delta lia robot shows the preferred dimensions of the present invention and the delta 11b robot shows expanded dimensions in its three trapezoidal junction assemblies 2, in its three articulated arm assemblies 5 and in its six assemblies forearm 6. It should be noted that different robot sizes can be obtained, as to the variation of one or all of the reconfigurable elements and the present figure is only a non-limiting example of the different dimensions according to the tasks to be performed.

Figures 12a and 12b show the assembly of a tool for handling containers formed by a copy cleaner A 80, two clamping bars 85, four clamping elements 87 and three clamps for handling containers according to the needs of a customer, each clamp you can manipulate a bottle simultaneously, for example, a customer who needs to handle a certain amount of containers simultaneously, the number of tweezers to handle containers could be from a single to a greater quantity defined according to the needs of any customer, The advantage of being able to attach various clamps to an effector assembly 7 of a delta-type robot is that the more bottles are handled simultaneously, the cycle time necessary to meet the needs of the customer will be longer and having more time to perform One cycle, the robot can move more carefully to protect the customer's product.

Each clamp for handling containers consists of a clamp for containers 81, a pneumatic piston 82, two clamping elements 88 and an opening sphere 83. Each clamp for containers 81 has a small base with two perforations that allow the clamp for containers 81 is attached to two clamping bars 85 by means of two clamping elements 88, the clamp for container 81 also has two clamp fingers 86 which allow it to hold containers preferably inside the lip or neck of the container, although both fingers of clamp 86 could also hold the containers on the outside of the lip or neck of the container.

The tool for handling containers is attached to the effector ring 70 of the effector assembly 7 of the industrial robot by means of a copy effector A 80, which has in its lower part two perforations in which the two clamping bars 85 are assembled, said clamping bars 85 are held by means of two fasteners 87 to the effector copy Ά 80 and, finally, to those two bars the amount of tweezers are assembled to handle packages that the customer needs. It should be noted that the copy effector A 80 comprises at its top at least one flange 89, preferably two flanges 89, with a plurality of perforations distributed along this (s) so that said perforations align with the perforations of the tabs 74 of the effector ring 70. The tabs 89 protrude from the top of the effector copy A 80 and may be located opposite each other. The tabs 89 are properly dimensioned in such a way that they enter into the inner part 72 of the effector ring 70.

The clamp 81 must be made of a flexible material that allows its two clamp fingers 86 to deform elastically temporarily without being injured to hold or release the client's containers.

As for the functionality of each caliper to manipulate containers, we can find two states, the first state is of contraction in which a pneumatic feed controlled by the robot keeps the pneumatic piston 82 of each caliper to manipulate containers contracted in order to maintain the opening sphere 83 in the position close to the body of the pneumatic piston 82 whereby the container clamp 81 is maintained in its normal position without deforming. The second state is of expansion in which a pneumatic feed controlled by the robot keeps the pneumatic piston 82 of each caliper expanded to manipulate containers in order to keep the opening sphere 83 in the position far from the body of the pneumatic piston 82 whereby certain force is induced by the opening sphere 83 to the pincer fingers 86 that promote its temporary elastic deformation which allows Hold the container in question.

When the robot is positioned on or inside one or some containers, the robot controller can modify the state of the tool (s) so that they pass from the first state to the second state; While the tools are kept in the second state, the robot can manipulate the container (s) according to the client's needs, finally, when the robot has positioned the client's container (s) in its final destination, then the robot controller you can change the state of the tool or tools to handle containers again so that they pass from the second to the first state without being injured; when returning to the first state, the container (s) are free again and the robot can move to any other point of the movement routine.

Figures 13a and 13b show a tool for manipulating soft cylindrical objects, such as bread. The tool is formed by a copier effector B 90 which in turn integrates a wide finger 91 in the same piece, two thin fingers 92, a pneumatic piston 93, a piston base clamp 94, a piston plunger clamp 95, six bearings 96, four fasteners 97 and a fastener 98.

The tool for handling soft cylindrical objects is coupled by means of its copy effector B 90 to the effector ring 70 of the effector assembly 7 of the delta type robot of the present invention. Said copier effector B 90 is a base where four bearings 96 are assembled, two of those Four bearings 96 stop the fasteners 97 which, in turn, function as an axle and position the piston base clamp 94 to attach the pneumatic piston to the copier effector B 90 and provide a degree of rotational freedom to the pneumatic piston 93 so that when The pneumatic piston 93 expands or contracts, can rotate without deforming or forcing its plunger. The other two bearings 96 stop two fasteners 97 which, in turn, function as axes and assemble the two thin fingers 92 allowing them a degree of rotational freedom that allows them to rotate with respect to the copy effect B 90 to generate a movement of opening or closing on the fingers. The copier effector 90 B also contains in its construction a wide finger 91 that functions as a counterpoint to hold parts when the thin fingers 92 close.

The two thin fingers 92 are coupled to the copy effector B 90 as discussed in the previous paragraph. Each thin finger 92 is elongated, at a point opposite the point where the thin fingers 92 join with the copy effect B, has a curved surface that is manufactured to the specific shape of the product to be handled. In addition, in the middle part of the body of each thin finger 92 there is a seat for bearings 96 where a bearing 96 must be assembled, said bearing 96 supports a fastener 98 that joins the two thin fingers 92, acts as a shaft and assembles the piston plunger clamp 95 between the two thin fingers 92 and the piston of the pneumatic piston 93, allowing it to rotate on the axis of the clamping element 98 without hurting or forcing the piston of the pneumatic piston 93.

The tool for manipulating soft cylindrical objects is actuated by means of the pneumatic piston 93, which on one side connects the wide finger 91 of the copy effector B 90 at its base, said wide finger 91 is a fixed point within the tool to manipulate soft cylindrical objects and the other side in its plunger connects to the two thin fingers 92.

When the robot controller of the present invention eliminates the pneumatic feed of the pneumatic piston 93, the thin fingers 92 tend to approach the wide finger 91 by the action of an internal spring to the piston body 93 which applies force so that the piston of the piston 93, by means of this action, the tool to manipulate soft cylindrical objects could take control over the product or soft cylindrical object of the client so that the robot can manipulate it according to the needs of the process.

When the robot controller of the present invention drives the pneumatic feed of the pneumatic piston 93, the thin fingers 92 tend to move away from the wide finger 91 by the action of the pneumatic feed that applies force for the piston piston 93 to expand away from the Piston body 93, by this action, the tool for handling soft cylindrical objects releases the product or soft cylindrical object from the customer so that the robot can move without load to take a new object from the process in question.

It should be noted that the copy effector A 90 comprises at its top at least one flange 99, preferably two tabs 99, with a plurality of perforations distributed along this (s) so that said perforations align with the perforations of the tabs 74 of the effector ring 70. The tabs 99 protrude from the top of the effector copy A 90 and may be located opposite each other. The tabs 99 are properly sized so that they enter into the inner part 72 of the effector ring 70. In an alternative embodiment, the tool for manipulating soft cylindrical objects can contain two pneumatic pistons 93 for each of the thin fingers 92, thus allowing the tool to be more versatile when gripping irregular parts.

The above tools are not limiting, since a person skilled in the art will understand that different tools can be adapted as long as the tool comprises a copy effector with two tabs containing perforations distributed along them, with the objective that the tool be join the effector assembly 7 by means of the tabs 74 of the effector ring 70.

The aforementioned reconfigurable elements, as already indicated above, allow any ¿Liménte to vary the workspace, speed, flexibility, torque and precision; variables that every customer wants to have in their delta robots.

It is noted that in relation to this date, the best method known by the applicant to implement said invention is that which is clear from the present description of the invention.

Claims

CLAIMS Having described the invention as above, the contents of the following claims are claimed as property:

1. A reconfigurable delta modular industrial robot, characterized in that it comprises:

a structural profile;

three trapezoidal junction assemblies;

three engine assemblies;

three articulated arm assemblies, an articulated arm assembly coupled by each motor assembly;

six forearm assemblies, two forearm assemblies coupled by each articulated arm; Y

an effector assembly, assembled to the six forearm assemblies, and

wherein the three trapezoidal joint assemblies together with the motor base assemblies form the robot base and define a reconfigurable robot base diameter and fit the structural profile.

2. The industrial robot according to claim 1, characterized in that a length of the arm assembly, a length of the forearm assembly and a diameter of the effector assembly can be customized to create robot work spaces specific to the needs of the client .

3. The industrial robot according to claim 1, characterized in that each of the three trapezoidal junction assemblies comprises a base trapezoid, wherein the base trapezoid comprises an upper wall, a front outer face, a rear face and a lower wall .

4. The industrial robot according to any of the preceding claims, characterized in that the upper, outer front, back and bottom walls of the base trapezoid are longitudinally customizable walls, where the walls can be expanded or reduced, thus reconfiguring the robot's base diameter to create robot work spaces specific to the needs the client's.

5. The industrial robot according to claim 1, characterized in that each of the three articulated arm assemblies has an upper bar and a lower bar coupled at one end to a cavity formed between a shoulder rotor and a shoulder oppressor and at another end coupled to an elbow, and where the upper and lower bar can be manufactured in different lengths and diameters to create robot work spaces specific to customer needs.

6. The industrial robot according to claim 5, characterized in that the shoulder rotor, shoulder oppressor and elbow are reconfigurable elements.

7. The industrial robot according to claim 1, characterized in that the six forearm assemblies have a forearm bar connected to two copies, wherein the forearm bar can be manufactured in different lengths and diameters to create robot work spaces specific to customer needs.

8. The industrial robot according to claim 6, characterized in that the two copies are reconfigurable elements.

9. The industrial robot according to claim 1, characterized in that the effector assembly contains a reconfigurable or customizable effector ring that can be manufactured in three different sizes to create robot work spaces specific to customer needs.

10. The industrial robot according to claim 9, characterized in that the effector ring further comprises an internal perforation, wherein the internal perforation comprises at least one flange.

11. The industrial robot according to claim 10, characterized in that the internal perforation preferably comprises two tabs.

12. The industrial robot according to claim 1, characterized in that the three motor assemblies are simple motor assemblies.

13. The industrial robot according to claim 1, characterized in that the three motor assemblies are double motor assemblies.

14. The industrial robot according to claim 13, characterized in that the double motor assemblies are formed by a motor base, two reducers, two motors, fasteners and a flexible copy.

15. The industrial robot according to claim 14, characterized in that a first reducer is coupled to a first side of a shoulder rotor directly without using intermediate elements.

16. The industrial robot according to claim 14, characterized in that a second reducer is coupled to a second side of a shoulder rotor indirectly using the flexible copy.

17. The industrial robot according to claim 16, characterized in that the flexible copy is assembled between an exit arrow of the second reducer and the second side of the shoulder rotor.

18. The industrial robot according to any of claims 16 or 17, characterized in that the flexible copy can be elastically deformed temporary to compensate for an angular deepening that could exist between the output of each arrow of the reducers on the shoulder rotor.

19. The industrial robot according to claim 12, characterized in that the three simple motor assemblies comprise a total of three motors.

20. The industrial robot according to claim 12, characterized in that the three double motor assemblies comprise a total of six motors.

21. The industrial robot according to claim 19 or 20, characterized in that the motors can be selected from servomotors, stepper motors, alternating current motors, direct current motors or a combination thereof.

22. The industrial robot according to any of claims 12 to 20, characterized in that a torque applied by each motor base assembly to each articulated arm assembly can be customized to comprise single or double torque to meet the specific needs of the client.

23. A tool for handling containers, characterized in that it comprises:

a copy effector;

two tie bars; Y

at least one caliper for handling containers, wherein the caliper comprises a pneumatic piston and the caliper is coupled to a lower portion of the copier effector by means of the two clamping bars.

24. The tool according to claim 23, characterized in that the at least one clamp for handling packages comprises at least two clamp fingers.

25. The tool according to claim 24, characterized in that the at least two Clamp fingers comprise an opening sphere located between the fingers.

26. The tool according to any of claims 23 to 25, characterized in that the opening sphere is configured to temporarily open the at least two caliper fingers and when the piston retracts the at least two fingers return to their original position.

27. The tool according to claim 24, characterized in that the at least two fingers are of a flexible material.

28. The tool according to claim 23, characterized in that the copying effector further comprises at least one assembly flange in an upper portion of the copying effector.

29. The tool according to claim 28, characterized in that the at least one assembly flange comprises a plurality of alignment holes with an effector ring.

30. A tool for manipulating soft cylindrical objects, characterized in that it comprises:

a copy effector;

a wide finger;

a pneumatic piston;

a piston base clamp;

a piston piston clamp; Y

two thin fingers;

the wide finger integrated directly to the copy effect, where the two thin fingers are located frontally to the wide finger.

31. The tool according to claim 30, characterized in that the wide finger is a counterpoint element.

32. The tool in accordance with the claim 30, characterized in that each of the two thin fingers comprises a seat for bearings.

33. The tool according to claim 30, characterized in that the copying effector further comprises at least one assembly flange in an upper portion of the copying effector.

34. The tool according to claim 33, characterized in that the at least one assembly flange comprises a plurality of alignment holes with an effector ring.

35. The tool according to claim 30, characterized in that the two thin fingers are operated by the same pneumatic piston.

36. The tool according to claim 30, characterized in that the tool optionally contains two pneumatic pistons, each acting on each thin finger independently.