Device for Moving and Positioning an Object in Space

• US 20080141813A1
• Filed: 03/15/2006
• Published: 06/19/2008
• Est. Priority Date: 03/18/2005
• Status: Abandoned Application

• Current Assignee: Matthias Ehrat
• Original Assignee: Matthias Ehrat
• Inventors: Ehrat, Matthias
• Application Number:
  US11/908,990
• Publication Number:
  US 20080141813A1
• Time in Patent Office: Days
• US Class Current: 74/490.01
• CPC Class Codes: B25J 17/0266 comprising more than two actuating or connecting rods
• CPC Class Codes: B25J 9/0051 with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
• CPC Class Codes: B25J 9/103 with backlash-preventing means
• CPC Class Codes: Y10T 74/20305 Robotic arm

Abstract

The invention relates to a device for displacing and positioning an object in space. Said device comprises a base element (1), three motor/transmission units (3) stationarily mounted on the base element (1), three arms (4, 5) which, at a first end, are firmly connected to the driving axle (2) of a motor/transmission unit (3) via a connecting flange (15) each with a single degree of freedom and which, at a second end, are articulated to a common support element (8) on which at least one gripper (8) for gripping the object is provided. A control and/or regulation unit (17) is provided on the base (1) and handles planning of movement of the support element (8) and regulation of the motor/transmission units (3).

Claims

1-14. -14. (canceled)

15. A device for moving and positioning an object in space, the device comprising

a base element,

three motor/gear units arranged on the base element, and

three arms, each of which is attached at its first end to a motor/gear unit and is hinge-connected at its second end each to a common carrying element, at which at least one gripping element for gripping articles or parts is arranged, the motor/gear units being arranged in a plane defined by the base element or in a plane parallel thereto so that they form the outer edges of a triangle, and further comprising

a control and/or drive unit arranged on the base element

16. A device as claimed in claim 15 wherein the control and/or drive unit are formed by the drive controls and/or servo amplifiers of the motor/gear units.

17. A device as claimed in claim 16 wherein the control and/or drive unit comprises control and/or drive components mounted directly to the motor/gear units and the control and/or drive components are the drive controls and/or servo amplifiers of the motor/gear units.

18. A device as claimed in claim 16 wherein the power amplification of the motors is generated with semiconductor elements, preferably power transistors.

19. A device as claimed in claim 15 wherein the control and/or drive unit comprises a computer unit for the trajectory generation of the movements of the carrying element.

20. A device as claimed in claim 19 wherein the computer unit of the control and/or drive unit also computes and controls the motions of product infeeds and product outfeeds.

21. A device as claimed in claim 15 wherein the control and/or drive unit are connected in heat-conducting manner to the base element.

22. A device as claimed in claim 15, wherein each motor/gear unit is equipped with a non-tensioned gearbox, whose drive end of at least one reduction stage, preferably all reduction stages, runs coaxially to its output end.

23. A device as claimed in claim 22 wherein the at least one transmission step of the gearbox is a planetary gear, and the gearbox by positive locking assembly of closely tolerated gear components operates with reduced play all along its motion.

24. A device as claimed in claim 23 wherein the planet pinion cage of the gearbox is executed as a cage with recesses for the planet wheels, whereby the cage is pivoted circularly in the annulus of the gearbox.

25. A device as claimed in claim 15 further comprising a rotatable and length-adjustable fourth axle, which is connected by gimbal-mounting both with the actuator for the fourth axle and with the carrying element.

26. A device as claimed in claim 15 wherein each motor/gear unit has a gearbox, at least one gear step of which is tensioned, and wherein the gearbox, by virtue of material-locking and/or positive locking connection of gearing components, is free or virtually free from backlash over the whole of the motional range of the gearing.

27. A device as claimed in claim 15 wherein each motor/gear unit is implemented without transmissions, and that the motor shaft is the drive shaft and is directly connected to the connecting flange of the upper arms.