| JP01092092 | FLEXIBLE ARM ROBOT |
| WO/2006/032523 | FLEXIBLE ROBOTIC ARM |
| JP3609435 | MANIPULATOR UNIT |
| Patent claims 1. A settable arm for carrying gripping means or the like, comprising a number of connected links in series, c h a r a c t e r i s e d i n t h a t the arm is built by a link attachment (1), intermediate links (12) and a link holder (26) and that these are connected to each other by screws (33) and where, from the upper side (4) of the link attachment (1) a screw is screwed to an expansion socket (9) provided with splines (11) such that the expansion socket (9) expands and locks the link attachment (1) to an intermediate link (12) when the expansion socket (9) is connected to the intermediate link (12) , which is provided with a lower plane (14) with a hole (21) going though it with inner splines (22) adapted to the splines (11) of the expansion socket (9), and where in the same way a number of intermediate links (12) are connected to each other, settable in desired angles to each other to achieve the adaptation needed and furthermore, whereas in the same way a link holder (26) is connected to the outer intermediate link (12), which link holder (26) is adapted to carrying a vacuum gripping means (34), connected to a vacuum tube (35) led through hooks (15) integrated in the intermediate links (12). 2. A settable arm according to claim 1, c h a r a c e r i s e d i n t h a t the bottom (2) of the link attachment (1) is integrated with an angle (3) turned upwards, and where there is in the angle (3) turned upwards a recess (8) for a screw and where furthermore through the bottom (2) of the link attachment (1) the expansion socket (9) is provided parted into four expander taps (10) provided with splines (11), expanding when a screw is screwed into the expansion socket (9) from the upper side (4) of the link attachment (1). 3. A settable arm according to claim 1, characterised in that the intermediate link (12) with an upper plane (13) is integrated with a lower plane and displaced in relationship to each other in the vertical direction by a bending down (16) such that there is difference of the thickness of the material between the upper plane (13) and the lower plane (14) and where at the lower edge of the bending down (16) there is a hook (15) integrated, and there is, at the upper plane (13) of the intermediate link (12) an expansion socket (23) parted into four expansion taps (24) provided with splines, which expansion taps (24) expand when a screw (33) is screwed into the expansion socket (23) from the upper side (17) of the upper plane (13) of the intermediate link (12), whereas furthermore the lower plane (14) of the intermediate link (12) is provided with a hole (21) through it, with inner splines (22), which hole (21) is adapted to an expansion socket (23). 4. A settable arm according to claim 1 , characterised by a link holder (26) integrated with a hook (28) turned downwards, whereas the link holder (26) has a hole (31) going through it, provided with inner splines (32), which hole (31) is adapted to an expansion socket (23). |
Technical field
The present invention relates to a settable arm for carrier of gripping means or the like, comprising a number of against each other arranged links in a series.
State of the technical art
More and more robots are used today within the industry for moving articles, orient details, etc. At the robot arm there is a gripping means, which catches or fastens the detail to be handled. A usable and mild way for handling is by the aid of vacuum and suction cups, which fastens the detail. Robot arms used today are built from specially designed aluminium profiles with a number of elements and joints for carrying of tubes and suction cups. These are attached Pwith precision along the profiles, such that all movements may be performed without unnecessary influence at tubes and cables. The mounting demands a high precision for cutting and adaptation of the profiles. The time required for putting together the gripping means and the adaptation of all tubes and suction cups make the costs high. Previously known devices of the art mentioned above show the drawback of being rather complicated, and thus are voluminous and heavy. A slim and light design of the arm and the carrier is desirable. The movement pattern of the robot arm is furthermore rather limited in spite of all degrees of freedom. It is also desirable, that the arm is designed such that it can be easily changed and be reset, also for limited numbers of manufactured articles.
The invention
The object of the present invention is to achieve a settable arm for carrier of gripping means or the like. Another object of the invention is to achieve a robot arm, that may be set in angles, such that it may reach one and the same point by a large number of angle combinations and thus get a very high degree of accessibility with a next to non limited reach, that is to say that it reaches all points within the work field of the robot. This is solved by a number of combined settable links in series. Specification
The settable arm for gripping means according to the invention comprises specially designed links by which can be achieved the embodiment with a number of links arranged in series. In dependence of the degree in which the arm shall have a pattern of angles the settable arm is built by a link attachment, intermediate links and a link holder, joined by screws. The bottom of the link attachment is integrated with an angle, turned upwards, where there is a recess for a screw for connection to a robot. Through the bottom of the link attachment there is an expansion socket, parted into four expansion taps provided with splines, expanding when a screw is set from the link attachment into the expansion socket. In the intermediate link there is an upper plane, integrated with a lower plane and displaced to each other by a bend downwards such that it differs the thickness of the material between the upper plane and the lower plane. At the lower edge of the bend downwards there is an integrated hoop. Through the upper plane of the intermediate link an expansion socket is arranged. This is designed in the same way as that in the link attachment. The lower plane of the intermediate link has a hole through it with inner splines, adapted to the expansion socket. The expansion socket of the link attachment is led downwards into the hole of the intermediate socket, and the link attachment is locked to the intermediate link by a screw when the expansion socket expands. In the same way a number of intermediate links are connected to each other. These may be set at desired angles to achieve the needed adaptation. To the outer intermediate link the link holder is connected in the same way. The link holder is designed to hold a vacuum gripping means. A vacuum tube, connected to the vacuum gripping means is led though the hoops, integrated to the intermediate link.
One embodiment of the invention is disclosed in the following and is shown in the enclosed drawings, in which there is shown:
Figure 1 shows views in perspective from above and below of a B¾icL attachment, part of the settable arm, Figure 2 shows views in perspective from above and below of an intermediate link, part of the settable arm,
Figure 3 shows views in perspective from above and below of a link holder, part of the settable arm,
Figure 4 shows a view of the upper side of a settable arm built from links, and
Figure 5 shows a view of the lower side of a settable arm built from links.
A settable arm as shown in figures 1,2,3,4 and 5 represents an example of an embodiment.
A settable arm for gripping means as shown in figure 1 with a view in perspective at the upper side 4 and the lower side 5 of the bottom in a link attachment 1 in the settable arm. In the link attachment 1 the bottom 2 is integrated with an angle 3 turned upwards with a front side 6 and a back side 7. In the angle 3 turned upwards there is a recess 8 for a screw. Through the bottom 2 of the link attachment 1 there is an expansion socket 9. This is parted into four expansion taps 10 provided with splines 11, which expand when a screw is screwed from the upper side 4 of the link attachment 1 in the expansion socket 9.
A settable arm for gripping means as shown in figure 2 with a view in perspective at the upper side 17, 19 and the lower side 18,20 of an intermediate link 12 which is part of the settable arm. in the intermediate link 12 there is an upper plane 13 integrated with a lower plane 14, displaced to each other by bending downwards 16 such that there is a difference of the thickness of the material between the upper plane 13 and the lower plane 14. In the lower edge of the bending downwards 16 there is a hook integrated. Through the upper plane 13 of the intermediate link 12 there is an expansion socket provided. This is parted into four expansion taps 24 provided with splines 25, which expand when a screw is screwed into the expansion socket 23 from the upper side 17 of the upper plane 13 of the intermediate link 12. The lower plane 14 of the intermediate link 12 has a hole 21 through it with inner splines 22, which hole is adapted to the expansion socket 23.
A settable arm for gripping means as shown in figure 3 with a view in perspective at the upper side 29 and a view in perspective at the lower side 30 of a link holder 26 which is part of the settable arm. The link holder 26 is integrated with a hook 28, turned downwards. The link holder 26 has a hole 31 through it with inner splines 32, which hole is adapted to an expansion socket 23.
A settable arm for gripping means as according to figures 4 and 5, which show views in perspective at the upper side and the lower side of a settable arm built from a link attachment 1, three intermediate links 12 and a link holder 26, and show how these are connected to each other by screws 33. Furthermore there is shown a link attachment 1 with a screw 33 in the angle 3 turned upwards, for connection to a robot. From the upper side 4 of the link attachment 1 a screw 33 is fastened in an expansion socket 9 provided with splines 11. The expansion socket 9 expands and locks the link attachment 1 to an intermediate link 12 when the expansion socket 9 is connected to the lower plane 14 of the intermediate link 12, which plane is provided with a hole 21 through it with inner splines, adapted to the splines 11 of the expansion socket 9. In the same way a number of intermediate links 12 are connected to each other. These may be set at desired angles in order to get the needed adaptation. To the outer intermediate link 12 a link holder 26 is connected in the same way. The link holder 26 is adapted to hold a vacuum gripping means 34. A vacuum tube 35 is connected to the vacuum gripping means 34 and is led through the hooks 15, that are integrated in the intermediate links.
The invention has been disclosed according to a preferred combination and design and it is understood, that some changes may be made without leaving the scope of the invention. In the figure only three intermediate links are shown, but more intermediate links may be used for the intended usage. Also the settable arm may be built and angled in the horizontal and vertical direction. The intermediate links are shown in the figures with a short joint, but may of course have other lengths. In the embodiment shown the settable arm carries a vacuum gripping means, but may of course carry alftumber of different gripping means or other equipment. Thus the invention sri^ill not be limited to what has been disclosed, but other embodiments are seen as being within the scope of the invention, as defined by the enclosed patent claims.