Parallel manipulator having backlash-free gearings

Details Parallel manipulator having backlash-free gearings Parallel manipulator having backlash-free gearings

B - Operations, Transporting

25

J

B25J 9/10 (2006.01) B23Q 1/50 (2006.01) B25J 17/02 (2006.01) F16H 1/28 (2006.01) F16H 55/18 (2006.01)

Patent

CA 2489455

A delta robot comprises motor/gearing units (5), to each an arm (2) is assigned and which are each mounted on one side of a triangle. Each motor/gearing unit (5) comprises a gearing (52) whose at least one gearing step is tensioned in a rotationally symmetrical manner. The gearing (52) is backlash-free over the entire range of motion of the gearing (52) due to a connection of gearing components with material fit or with form fit. This delta robot makes it possible to optimize practically all aspects essential to the delta robot, particularly the rigidity, control behavior, space requirements, speed and positioning accuracy.

L'invention concerne un robot delta comportant des unités moteur/engrenage (5) respectivement affectées à un bras (2) et disposées sur un côté respectif d'un triangle. Chaque unité moteur/engrenage (5) comporte un engrenage (52) dont au moins un étage est monté de façon symétrique en rotation. L'engrenage (52) est libéré de tout jeu par connexion mécanique et/ou par adhérence de constituants de l'engrenage sur l'ensemble de la zone de mouvement de l'engrenage (52). Le robot delta selon l'invention présente des caractéristiques optimisées quasiment dans l'intégralité, notamment du point de vue de la rigidité, du comportement de régulation, de l'encombrement, de la vitesse et de la précision de positionnement.

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