Compact Manipulation Robot

• US 20100031767A1
• Filed: 02/26/2008
• Published: 02/11/2010
• Est. Priority Date: 02/28/2007
• Status: Active Grant

• Current Assignee: Marel Food System HF.
• Original Assignee: Marel Food System HF.
• Inventors: Chenu, Jean Marie
• Granted Patent: US 8,413,539 B2
• Time in Patent Office: Days
• US Class Current: 74/490.50
• 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: Y10T 74/20329 Joint between elements

Abstract

A parallel-type displacement device having at least three arms each pivoting about a pivot axis, the pivot axes defining a polygon as seen from a point above the device, wherein each of the arms is actuated by an actuator and each of the arms is further connected to a head defining a small base through linking members respectively articulated on the head and the arm, each said arm and its respective head forming a hinge having two degrees of freedom such that the head always maintains its position and orientation, and in which in a neutral position, each arm is arranged so that, if drawing from the geometrical centre of the polygon a straight line that is parallel to the pivot axis of any one of the arms, the straight line intersects that arm.

Claims

1. A parallel-type displacement device, comprising:

at least three arms each pivoting about a pivot axis, the pivot axes defining a polygon as seen from a point above said device,

wherein each of the arms is actuated by an actuator and each said arm is further connected to a head defining a small base through linking members respectively articulated on the head and on the arms,

each said arm and its respective head forming a hinge having two degrees of freedom such that the head always maintains its position and orientation,

wherein in a neutral position, each arm is arranged so that, if drawing from the geometrical centre of the polygon a straight line which is parallel to the pivot axis of any one of the arms, said straight line intersects the arm considered.

2. The parallel-type displacement device according to claim 1, wherein the pivot axes are in the same plane.

3. The parallel-type displacement device according to claim 1, wherein the pivot axes are inclined with respect to a horizontal plane parallel to a head working plane.

4. The parallel-type displacement device according to claim 1, wherein the actuators are positioned outside the polygon formed by the pivot axes.

5. The parallel-type displacement device according to claim 1, wherein the actuators are at least partially inside the polygon formed by the pivot axes.

6. The parallel-type displacement device according to claim 1, wherein the transversal parts which join two lower hinge points of the linking members to the head are positioned radially with respect to the head.

7. The parallel-type displacement device according to claim 1, wherein the linking members are not rectilinear.

8. The parallel-type displacement device according to claim 1, wherein the arms are not rectilinear.

9. The parallel-type displacement device according to claim 1, further comprising bearings which are outside the polygon.

10. The parallel-type displacement device according to claim 1, further comprising a gripping device including a long member fixed at one end to the head by a hinge, with another end being free.

11. The parallel-type displacement device according to claim 10, wherein the long member is further guided in translation by guiding means which said long member passes through.