Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1998-11-30
2000-08-01
Herrmann, Allan D.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
2482781, 2482841, 414917, 901 23, B25J 1800
Patent
active
060950110
DESCRIPTION:
BRIEF SUMMARY
FIELD OF THE INVENTION
This invention is related to a device for relative movement of two elements, the device comprising articulated links interconnecting the elements and at least two power-exerting members for exerting power for the relative movement of the elements.
The relative movement of the two elements has the purpose to position them mutually in an aimed manner by means of the power-exerting members. More specifically, the device according to the invention is intended to form a manipulator or robot. The second of the elements is intended to carry, directly or indirectly via a carrying arrangement, a working member to carry out the function intended, e.g. picking/placing, packing and palletizing. However, it should be noted that the working member may be designed to execute also other working operations than those just mentioned.
Conventional robots are based upon an arm-like system of pivotable links, which at their extreme ends comprise power-exerting members for pivoting/rotating links/working members located further out on the arm. The provision of power-exerting members at the extreme end of pivot arms involves high loads and inertia, which impose restrictions with respect to possible accelerations and speeds and accuracy with respect to path. Other robot types are known but have turned out to be less successful, either by deficient performance with regard to accuracy and speed or a high cost. In the U.S. Pat. No. 4,976,582 there is described, for example, a robot, where three power-exerting members are arranged on a first element in triangular distribution. These members are connected to a movable element via three link devices coupled in parallel, likewise in triangular distribution, the link devices being hingedly connected to the associated pivot arm and to the movable element respectively by means of articulation joints providing two and not more than two degrees of freedom. In reality, each of the link devices comprises two parallel links coupled to a respective pivot arm and the movable element in a hinged manner while forming parallelograms. A disadvantage of this known type of robot is that it is difficult, as a consequence of the three-dimensional arm system, to place them closely adjacent together. Even if the known robot may be made very fast and accurate for common purposes, it is less suitable for special adaptation for specific work tasks. For instance, it is sometimes required to achieve very rapid movements in two dimensions perpendicular to each other, whereas the requirements with regard to performance as far as other degrees of freedom are concerned may be modest. The known robot may not be adjusted to such circumstances. By its symmetrical structure, the known robot also becomes relatively restricted as far as work area adaptation is concerned.
SUMMARY OF THE INVENTION
This invention aims at devising routes to provide motion devices which may be realized by means of relatively simple structural solutions but which nevertheless make it possible to achieve very rapid and precise movements in at least two directions perpendicular to each other.
A secondary purpose of the invention is to provide a modularized structure in the sense that the device should be easily adaptable to work tasks with different degree of complication.
A tertiary object of the invention is to enable use of comparatively simple and well tried hinge constructions in the device.
The primary object of the invention is achieved in that the device according to the invention comprises at least two first links connected relative to a first of the elements via hinges, the links being pivotable in substantially parallel planes relative to the first element under influence of at least one first of the power-exerting members. At least two second links are connected relative to a second of the elements via hinges and are pivotable in substantially parallel planes relative to the second element under influence of at least a second of the power-exerting members. The at least two first links form a first four-hing
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ABB AB
Herrmann Allan D.
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