Robotic manipulator

Abstract

A robotic manipulator (M), in particular a delta robot, comprising a mounting frame and a plurality of articulated arms (200) mounted on the mounting frame. The manipulator (M) further comprises a movable support (300) having at least one operating member (400) and comprising a first and a second portion (300a, 300b) coupled together by means of a sliding coupling defining a sliding axis (S). The first and the second portions (300a, 300b) being each connected to at least one of the articulated arms (200). At least one operating member (400) is operated by relative sliding between the portions (300a, 300b) of the movable support (300).

Description

[0001] DESCRIPTION

[0002] ROBOTIC MANIPULATOR

[0003] Technical field

[0004] The present invention relates to a robotic manipulator, in particular a delta robot.

[0005] Background art

[0006] To date, robotic manipulators are known, which are usually arranged along processing lines to handle objects.

[0007] Generally, known manipulators are provided with a support structure with which two or more articulated arms, identical to each other, are operatively associated and connected to a terminal gripping member, also known as an "end-effector," which may be conformed or shaped in various ways in relation to the type of use and / or the type of object to be handled.

[0008] To achieve greater handling flexibility, it is known to construct manipulators with four arms, also known as “delta robots”. These manipulators have four degrees of freedom and are capable of moving the terminal member in translation along the three spatial directions and in rotation about an axis.

[0009] To date, there is an increasing need to achieve a fourth degree of freedom in a manipulator without, however, the need to introduce motorization on the terminal member, as such motorization creates issues related to masses and movable wiring.

[0010] Furthermore, there is a need to achieve the aforesaid fourth degree of freedom without introducing, on the terminal member, central cardan transmissions, which are heavy and affected by backlash, and also unsuitable for directly achieving translational motion.

[0011] In practical applications, it is often necessary for the terminal member to perform movements, referred to as relative translation, which allow it to carry out, for example, a displacement of products in two rows, gripping and releasing with calipers, and the like.

[0012] Therefore, the technical task of the present invention is to provide a robotic manipulator capable of overcoming the drawbacks that have emerged from the prior art.

[0013] Disclosure of the invention

[0014] Therefore, the object of the present invention is to provide a robotic manipulator that is flexible in handling.

[0015] A further object of the present invention is thus to provide a robotic manipulator that is structurally simple but reliable.

[0016] The specified technical task and the specified objects are substantially achieved by a robotic manipulator comprising the technical features disclosed in one or more of the appended claims. The dependent claims correspond to possible embodiments of the invention.

[0017] In particular, the specified technical task and the specified objects are achieved by a robotic manipulator, in particular a delta robot, according to the present invention.

[0018] The manipulator comprises a mounting frame and a plurality of articulated arms mounted on the mounting frame.

[0019] Preferably, each articulated arm comprises a first segment comprising a first end connected to the mounting frame and a second end. Each of the first segments is rotatable about a respective main axis of rotation.

[0020] Preferably, each articulated arm further comprises a second segment comprising a first end connected, preferably hinged, to the second end of the first segment and a second end.

[0021] In the present discussion, the term “hinged” may be understood as connected by means of a hinge with preferably two degrees of freedom or by means of a double hinge, i.e., a universal joint.

[0022] Preferably, the first end of the second segment is hinged to the second end of the first segment so as to have two degrees of freedom.

[0023] In a preferred embodiment, two of the main axes of rotation are perpendicular to the other two main axes of rotation.

[0024] Preferably, the aforesaid main axes of rotation are parallel to each other in pairs.

[0025] The manipulator further comprises a movable support having at least one operating member and comprising a first and a second portion coupled together by means of a sliding coupling defining a sliding axis.

[0026] In accordance with a possible embodiment, the sliding coupling is a grooved coupling, preferably a grooved prismatic coupling, more preferably equipped with ball recirculation.

[0027] The first and the second portions of the movable support are each connected to at least one of the articulated arms.

[0028] Preferably, two of the articulated arms are connected to the first portion, and the other two articulated arms are connected to the second portion of the movable support.

[0029] Preferably, the first and the second portions are connected to the second ends of the second segments of the articulated arms.

[0030] Even more preferably, the second ends of the second segments are hinged to the respective portions of the movable support so as to be rotatable about respective axes of rotation mutually parallel to one another.

[0031] Preferably, the second end of the first segments and the first end of the respective second segments are connected to each other in the same manner as the second end of the second segments is connected to the movable support. For example, if between the second end of the first segments and the first end of the respective second segments there is a universal joint, there is also a universal joint of the same type between the second end of the second segments and the movable support.

[0032] In the preferred embodiment, between the second end of each first segment and the respective first end of the second segment, there is a universal joint specular to the one between the second end of each second segment and the movable support. The term “specular” means that, observing the universal joints at the ends of a second segment, the two innermost axes of rotation are parallel to each other, and the two outermost axes of rotation are parallel to each other.

[0033] In the preferred embodiment, the axes of rotation are parallel to the main axes of rotation of the articulated arms. In accordance with such an embodiment, the sliding axis is inclined with respect to the axes of rotation by a predetermined angle, preferably by an angle of 45°.

[0034] In greater detail, in the illustrated embodiment, the second ends of the second segments are connected to respective portions of the movable support by means of universal joints, in particular universal joints with skewed axes. Each of such universal joints defines a pair of axes of rotation. In such a situation, one axis of rotation of the pair is parallel to a respective main axis of rotation.

[0035] Still with reference to the illustrated embodiment, two universal joints are connected to the first portion of the movable support, and two universal joints are connected to the second portion of the movable support. In such a situation, the universal joints connected to the same portion are rotated with respect to one another by 90° so that the two axes of one joint are perpendicular to the respective two axes of the other joint.

[0036] Preferably, the first and the second portions of the movable support are each made in the form of a rigid body.

[0037] The at least one operating member is operated by relative sliding between the first and the second portions of the movable support.

[0038] Preferably, the movable support has a planar positioning and the sliding axis is parallel to the positioning plane of the movable support.

[0039] In use, by moving the articulated arms, it is possible to move the first and the second portions of the movable support in relative sliding so as to operate the operating member.

[0040] Preferably, the operating member is a member which is rotatable about a working axis. Preferably, the working axis is perpendicular to the positioning plane of the movable support.

[0041] Preferably, the movable support features a transmission mechanism configured to convert the translation movement between the two portions of the movable support into a rotation of the operating member about the working axis.

[0042] In such a situation, the transmission mechanism comprises one of: a pinion / rack connection; a flexible member connection, in particular a belt or chain or articulated mechanism connection.

[0043] According to a further embodiment, the operating member is made of respective gripping portions made on the two portions of the movable support and cooperating to define at least one receiving seat for at least one article or object.

[0044] The receiving seat has a variable shape and / or extension as a function of the relative position between the two portions of the movable support and at least between a first position, suitable for holding the article or object, and a second position, suitable for releasing the article or object.

[0045] In such a situation, the gripping portions are defined by respective recesses made on each portion of the movable support and facing each other to define respective parts of said receiving seat.

[0046] Alternatively, the gripping portions are defined by respective gripping members mounted on each portion of the movable support and facing each other to define respective parts of one or more receiving seats.

[0047] In accordance with a further possible embodiment, the manipulator comprises at least two reciprocally independent operating members, each mounted on a respective portion of the movable support and each defining at least one receiving seat for at least one respective article or object. The relative sliding between the two portions of the movable support defines a relative sliding between at least one article or object supported by a portion of the movable support and at least one article or object supported by the other portion of the movable support. Brief description of drawings

[0048] Further features and advantages of the present invention will become more apparent from the indicative, and thus non-limiting, description of an embodiment of a robotic manipulator.

[0049] This description will be presented below with reference to the accompanying drawings, provided for indicative purposes only and therefore non-limiting in which:

[0050] - Figure 1 is a perspective view of a manipulator according to the present invention;

[0051] - Figure 2 is a side view of the manipulator in Figure 1 ;

[0052] - Figure 3 is a perspective view of a further embodiment of the manipulator according to the present invention;

[0053] - Figure 3A shows an enlargement of the manipulator in Figure 3, in which the portions of the movable support are axially offset from each other;

[0054] - Figures 4A-4B show plan views of an embodiment of the movable support of the manipulator according to the present invention in different operating positions;

[0055] - Figures 5A-5B show plan views of an embodiment of the movable support of the manipulator according to the present invention in different operating positions;

[0056] - Figures 6A-6B show plan views of a further embodiment of the movable support of the manipulator according to the present invention in different operating positions;

[0057] - Figures 7A-7B show plan views of a further embodiment of the movable support of the manipulator according to the present invention in different operating positions;

[0058] - Figures 8A-8B show plan views of a further embodiment of the movable support of the manipulator according to the present invention in different operating positions. Detailed description of preferred embodiments of the invention

[0059] With reference to the appended Figures, “M” indicates a robotic manipulator, in particular a delta robot, according to the present invention.

[0060] The manipulator “M” comprises a mounting frame and a plurality of articulated arms 200 mounted on the mounting frame.

[0061] In the preferred embodiment, the manipulator “M” comprises four articulated arms 200.

[0062] Again with reference to the preferred embodiment, each articulated arm 200 comprises a first segment 200a comprising a first end 200a’ connected to the mounting frame and a second end 200a”.

[0063] Preferably, each of the first segments 200a is rotatable about a respective main axis of rotation “X1 ”,” X2”, “X3”, “X4”.

[0064] Preferably, the first segments 200a are made so as to be structurally rigid to bending and torsion.

[0065] In the preferred embodiment, each articulated arm 200 further comprises a second segment 200b comprising a first end 200b’ connected, preferably hinged, and even more preferably hinged with two degrees of freedom, to the second end 200” of the first segment 200a, and a second end 200b”.

[0066] Preferably, the second end 200b” of the second segments 200b is connected to a movable support 300, as will be explained below.

[0067] Preferably, the second end 200a” of each first segment 200a is connected by means of a joint to the corresponding first end 200b’ of the second segment 200b.

[0068] Preferably, the second end 200b” of the second segments 200b is connected to the movable support 300 by means of a respective joint and, more preferably, by means of a joint identical and specular to the one placed between each first and second segment 200a, 200b.

[0069] Preferably, the second segments 200b are made so as to be structurally rigid to torsion.

[0070] In accordance with a possible embodiment, two of the main axes of rotation “X1”, “X3” are perpendicular to the other two main axes of rotation “X2”, “X4”.

[0071] Preferably, the main axes of rotation “X1”, “X2”, “X3”, “X4” are parallel to each other in pairs.

[0072] With reference to the embodiment in Figure 1 or the embodiment in Figure 3, two of the main axes of rotation “X1”, “X3” are perpendicular to the other two main axes of rotation “X2”, “X4” and lie on positioning axes that are different and parallel to each other.

[0073] In accordance with variants falling within the same inventive concept, the axes of rotation “X1”, “X2”, “X3”, “X4” could have orientations different from those shown in the Figures, for example, not being angularly equidistant from one other.

[0074] The manipulator “M” further comprises a movable support 300 having at least one operating member 400 and comprising a first and a second portion 300a, 300b coupled together by means of a sliding coupling defining a sliding axis “S” (Figure 3A).

[0075] Preferably, the sliding coupling is a grooved coupling.

[0076] Preferably, the coupling is a grooved prismatic coupling and more preferably equipped with ball recirculation.

[0077] As shown in the accompanying Figures, and in particular in Figure 1 and Figure 3A, the first and the second portions 300a, 300b are each connected to at least one of the articulated arms 200.

[0078] Preferably, two of the articulated arms 200 are connected to the first portion 300a, while the other two articulated arms 200 are connected to the second portion 300b.

[0079] Even more preferably, the articulated arms 200 are connected on the same side (same face) of the respective portion 300a, 300b.

[0080] Preferably, the first and the second portions 300a, 300b are each made in the form of a rigid body, for example a plate or a disc.

[0081] In the embodiment shown in Figures 1 and 2, the first and the second portions 300a, 300b have, in a sectional view, a rectangular shape.

[0082] In the embodiment shown in Figures 3 and 3A, the first and the second portions 300a, 300b have, in a sectional view, a semicircular shape.

[0083] Alternatively, the first and the second portions 300a, 300b have, in a sectional view, any shape.

[0084] Preferably, the movable support 300 has a planar arrangement, and the sliding axis “S” is parallel to the positioning plane of the movable support 300.

[0085] In the embodiment of Figures 1 and 2, the sliding axis “S” is parallel to two of the main axes of rotation “X1”, “X3”.

[0086] In the preferred embodiment, for each articulated arm 200, the manipulator “M” comprises a motor “E” configured to operate the same respective articulated arm 200.

[0087] With reference to the operating member 400, it is a generic member intended to process an article or object (or semi-finished product) “A” and, in accordance with a non-exhaustive list, it may comprise one of: suction cup; gripper; tool; magnet; pusher / bender.

[0088] In accordance with the present invention, the at least one operating member 400 is operated by relative sliding between the first and the second portions 300a, 300b of the movable support 300.

[0089] In other words, the at least one operating member 400 is activated and moved as a direct consequence of the relative sliding between the first and the second portions 300a, 300b of the movable support 300.

[0090] In use, by means of the operation of one or more articulated arms 200, the first and the second portions 300a, 300b of the movable support 300 are made to slide along the sliding axis “S” so as to operate the operating member 400, enabling the latter to pick up, hold, move in space, and release an article or object “A”.

[0091] In accordance with a possible embodiment, the operating member 400 is a member rotatable about a working axis “L”.

[0092] Preferably, such working axis “L” is perpendicular to the positioning plane of the movable support 300, and the movable support 300 has a transmission mechanism “T” configured to convert the translation movement between the two portions 300a, 300b of the movable support 300 into a rotation of the operating member 400 about the working axis

[0093] Preferably, as shown in Figures 4A-4B, the transmission mechanism “T” comprises a flexible member connection 500a, in particular a belt or chain or articulated mechanism connection. In particular, the flexible member 500a is fastened at its own ends to one of the two portions 300a, 300b of the movable support 300 and engages, by friction or meshing, with a rotatable element 500b connected to the operating member 400. Thereby, the relative translation between the two portions 300a, 300b of the movable support 300 causes the rolling of the rotatable element 500b on the flexible member 500a, causing the rotation of the operating member 400.

[0094] Figures 5A-5B show an embodiment variant where the transmission mechanism “T” comprises, for each rotatable element 500b, a crankconnecting rod mechanism with the connecting rod coaxial to the operating member 400.

[0095] In accordance with an embodiment variant, the transmission mechanism “T” could be implemented by means of a rack / pinion connection.

[0096] In use, therefore, the transmission mechanism “T” allows the relative sliding motion between the two portions 300a, 300b along the sliding axis “S” to be transformed into a rotating motion of the operating member 400 coupled thereto. Such an aspect is particularly advantageous in all those applications wherein there is a need to pick up an object and release said object oriented differently from how it was picked up. In fact, in such a situation, the object is rotated about the working axis “L” so as to change its orientation.

[0097] According to a further embodiment, shown in Figures 7A-7B and 8A-8B, the operating member 400 is made of respective gripping portions 400a made on the two portions 300a, 300b of the movable support 300 and cooperating to define at least one receiving seat “R” for at least one article or object “A”. Such a receiving seat “R” has a variable shape and / or extension as a function of the relative position between the two portions 300a, 300b of the movable support 300. The shape and / or extension of the receiving seat “R” is variable at least between a first position, suitable for holding the article or object “A” (Figures 7A and 8A), and a second position, suitable for releasing said article or object “A” (Figures 7B, 8B).

[0098] In other words, since the first and the second portions 300a, 300b are mutually slidable, it is possible to exploit such sliding so as to vary the shape and / or the extension of the receiving seat “R”. By doing so, it is possible to pick up, hold, and release objects or articles “A” of various shapes and / or sizes simply by mutually moving the two portions 300a, 300b of the movable support 300.

[0099] In an embodiment visible in Figures 7A-7B, the gripping portions 400a are defined by respective recesses made on each portion 300a, 300b of the movable support 300 and facing each other to define respective parts of said receiving seat “R”.

[0100] Alternatively, in a different embodiment visible in Figures 8A-8B, the gripping portions 400a are defined by respective gripping members mounted on each portion 300a, 300b of the movable support 300 and facing each other to define respective parts of one or more receiving seats “R”, for example in the form of gripping combs or gripping hooks.

[0101] In accordance with a further possible embodiment, visible in Figures 6A- 6B, the manipulator “M” comprises at least two reciprocally independent operating members 400, each mounted on a respective portion 300a, 300b of the movable support 300 and each defining at least one receiving seat “R” for at least one respective article or object “A”. In such a situation, the relative sliding between the two portions 300a, 300b of the movable support 300 defines a relative sliding between at least one article or object “A” supported by a portion 300a, 300b of the movable support 300 and at least one article or object “A” supported by the other portion 300b of the movable support 300. Such an embodiment is, for example, particularly advantageous when there is a need to move articles or objects in two rows, performing their alignment or misalignment.

[0102] The present invention achieves the intended objects by overcoming the drawbacks arising from the prior art. In particular, the possibility of sliding the first and the second portions of the movable support relative to each other allows for more flexible and adaptable movement of the articles or objects.

[0103] Furthermore, the possibility of sliding the first and the second portions of the movable support relative to each other allows a manipulator to be made with four degrees of freedom, which is lighter and structurally less complex with respect to known manipulators.

Claims

CLAIMS1 . A robotic manipulator (M), in particular a delta robot, comprising:- a mounting frame;- a plurality of articulated arms (200) mounted on the mounting frame;- a movable support (300) having at least one operating member (400) and comprising a first and a second portion (300a, 300b) coupled together by means of a sliding coupling defining a sliding axis (S), said first and second portions (300a, 300b) each being connected to at least one of said articulated arms (200), wherein said at least one operating member (400) is operated by relative sliding between said portions (300a, 300b) of the movable support (300).

2. A manipulator (M) according to claim 1 , wherein said sliding coupling is a grooved coupling, preferably a grooved prismatic coupling, more preferably equipped with ball recirculation.

3. A manipulator (M) according to claim 1 or 2, wherein two of said articulated arms (200) are connected to the first portion (300a) of the movable support (300) and wherein the other two articulated arms (200) are connected to the second portion (300b) of the movable support (300).

4. A manipulator (M) according to any one of the preceding claims, wherein said first and said second portions (300a, 300b) are each made in the form of a rigid body.

5. A manipulator (M) according to any one of the preceding claims, wherein said movable support (300) has a planar positioning and wherein said sliding axis (S) is parallel to the positioning plane of the movable support (300).

6. A manipulator (M) according to any one of the preceding claims, wherein said operating member (400) is a member rotatable about a working axis (L), preferably perpendicular to the positioning plane of the movable support (300), and wherein the movable support (300) has a transmission mechanism (T) configured to convert the translation movement between the two portions (300a, 300b) of the movable support (300) into a rotation of the operating member (400) about the working axis (L).

7. A manipulator (M) according to claim 6, wherein said transmission mechanism (T) comprises one of: a pinion / rack connection; a flexible member connection, in particular a belt or chain or articulated mechanism connection.

8. A manipulator (M) according to any one of the preceding claims, wherein said operating member (400) is made by respective gripping portions (400a) made on the two portions (300a, 300b) of the movable support (300) and cooperating to define at least one receiving seat (R) for at least one article or object (A), wherein said receiving seat (R) has variable shape and / or extension as a function of the relative position between the two portions (300a, 300b) of the movable support (300) and at least between a first position, suitable for holding said article or object (A), and a second position, suitable for releasing said article or object (A).

9. A manipulator (M) according to claim 8, wherein said gripping portions (400a) are defined by respective recesses made on each portion (300a, 300b) of the movable support (300) and facing each other to define respective parts of said receiving seat (R).

10. A manipulator (M) according to claim 8, wherein said gripping portions (400a) are defined by respective gripping members mounted on eachportion (300a, 300b) of the movable support (300) and facing each other to define respective parts of one or more receiving seats (R).11 . A manipulator (M) according to any one of the preceding claims 1 to 7, comprising at least two operating members (400) reciprocally independent, each mounted on a respective one of said portions (300a, 300b) of the movable support (300) and each defining at least one receiving seat (R) for at least one respective article or object (A), the relative sliding between the two portions (300a, 300b) of the movable support (300) defining a relative sliding between at least one article or object (A) supported by a portion (300a, 300b) of the movable support (300) and at least one article or object (A) supported by the other portion (300b) of the movable support (300).

12. A manipulator (M) according to any one of the preceding claims, wherein each articulated arm (200) comprises:- a first segment (200a) comprising a first end (200a’) connected to the mounting frame and a second end (200a”), each of said first segments (200a) being rotatable about a respective main axis of rotation (X1 , X2, X3, X4);- a second segment (200b) comprising a first end (200b’) connected, preferably hinged, to the second end (200a”) of the first segment (200a) and a second end (200b”) connected to said movable support (300).

13. A manipulator (M) according to claim 12, wherein two of said main axes of rotation (X1 , X3) are perpendicular to the other two main axes of rotation (X2, X4), preferably said main axes of rotation (X1 , X2, X3, X4) being parallel to one other in pairs.

Images