Delta robot for increased requirements on dynamics, hygiene and protection against the consequences of collision

• US 8,904,899 B2
• Filed: 01/27/2010
• Issued: 12/09/2014
• Est. Priority Date: 01/30/2009
• Status: Active Grant

• Current Assignee: Schneider Electric Automation GmbH (Schneider Electric SE)
• Original Assignee: Schneider Electric Automation GmbH (Schneider Electric SE)
• Inventors: Bunsendal, Jens, Hombach, Christian
• Primary Examiner(s): Krause, Justin
• Application Number:
  US13/145,594
• Publication Number:
  US 20110277581A1
• Time in Patent Office: 1,777 Days
• Field of Search: 744/900.1, 744/900.5, 901/14, 901/15, 901/28, 403/76, 403/114, 403/122, 403/128
• US Class Current: 74/490.01
• CPC Class Codes: B25J 17/0266 comprising more than two actuating or connecting rods
• CPC Class Codes: B25J 18/00 Arms
• CPC Class Codes: B25J 19/06 Safety devices
• CPC Class Codes: B25J 9/0009 Constructional details, e.g. manipulator supports, bases
• 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: Y10S 901/14 Arm movement, spatial
• CPC Class Codes: Y10T 74/20305 Robotic arm
• CPC Class Codes: Y10T 74/20329 Joint between elements

Abstract

A delta robot includes a stationary housing, in which at least three drives are installed, at least three upper arms, at least three pairs of elongate and mutually parallel lower arms, and a movable parallel plate. Each of the upper arms is connected to one of the drives. Each lower arm comprises a corrosion-resistant metal tube having a first end connected to a free end of one of the upper arms through a ball joint and a second end connected to the movable parallel plate through a ball joint. Each ball joint includes a ball head and a ball socket, one of which is attached to the first or second end of one of the tubes.

Claims

1. A delta robot for increased requirements on dynamics, hygiene and protection against the consequences of collision, comprising:

a stationary housing, in which at least three drives are installed;

at least three elongate upper arms, each of which is connected to one of the at least three drives;

at least three pairs of elongate and mutually parallel lower arms, each lower arm comprising a stainless steel tube having a first end connected to a free end of one of the upper arms through a ball joint; and

a movable parallel plate connected to a second end of each of the stainless steel tubes through a ball joint;

wherein each ball joint comprises a ball head and a ball socket, at least one of which is attached to the first or second end of one of the stainless steel tubes.

2. The delta robot according to claim 1, wherein the ball head or the ball socket of each ball joint is connected to an end face of one of the stainless steel tubes via a weld seam.

3. The delta robot according to claim 2, wherein the weld seam extends over the entire end face of the stainless steel tube.

4. The delta robot according to claim 3, wherein each ball head or ball socket includes a centering spigot or three guide lugs that project into the corresponding stainless steel tube.

5. The delta robot according to claim 4, wherein a ball centre point of the ball head or of the ball socket of at least one of the ball joints is displaced in a radial direction with respect to a centre axis of the stainless steel tube, to which the ball head or the ball socket is attached.

6. The delta robot according to claim 1, wherein a connection between the ball head or ball socket of at least one of the ball joints to one of the stainless steel tubes comprises at least one of a soldered joint, an adhesive bond, and a shrink fit.

7. The delta robot according to claim 6, wherein a part of a component defining the ball socket of at least one of the ball joints is telescopically inserted into one of the stainless steel tubes.

8. The delta robot according to claim 1, wherein at least one of the ball joints includes a ball head that is internally hollow.

9. The delta robot according to claim 1, wherein at least one of the ball sockets comprises two openings and encloses the corresponding ball head approximately annularly.

10. The delta robot according to claim 1, wherein at least one of the ball sockets encloses the corresponding ball head over an angle of about 180°

relative to a ball centre point of the ball socket.

11. The delta robot according to claim 1, wherein at least one of the ball joints includes a plastic layer between an interior surface of the ball socket and the ball head.

12. The delta robot according to claim 11, wherein the plastic layer is a plastic insert mounted in the ball socket.

13. The delta robot according to claim 1, wherein at least one of the stainless steel tubes has a profile shape selected from the group consisting of a circle, an oval, an ellipse, and a rectangle.

14. The delta robot according to claim 1, wherein each of the at least three drives is selected from the group consisting of a rotating servo motor, a linear motor, a stepping motor, a hydraulic cylinder, a pneumatic cylinder, and a piezo crystal.

15. The delta robot according to claim 1, wherein each stainless steel tube includes an inner space that is sealed in a watertight manner by the ball head or ball socket attached to the first and second ends of the stainless steel tube.