Parallel manipulator having backlash-free gearnings
OwnerHans Schuler, Martino Filippi +1inventors
InventorsHans Schuler, Martino Filippi, Samuel Schuler
Life of this patent
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Abstract
A delta robot has motor/gearing units, which are respectively assigned to an arm and which are disposed on one side each of a triangle. Each motor/gearing unit has a gearing, by virtue of material-locking and/or positive-locking connection of gearing components, is free from backlash over the whole of the motional range of the gearing, allowing virtually all aspects fundamental to the delta robot to be optimized, especially the rigidity, the control characteristics, the spatial requirement, the speed and the positioning accuracy.
Claims21
1-10. (canceled)
A device for moving and positioning an object in space, the device comprising
- a base element (1),
- at least three motor/gearing units (5) disposed on the base element (1),
- a common supporting element (3) on which at least one gripping means for gripping of an object is disposed,
- at least three arms (2) each having a first end connected to a motor/gearing unit (5) and a second end hinge-connected to the common supporting element (3),
- the motor/gearing units (5) being disposed in such a manner in a plane defined by the base element (1) or in a plane running parallel thereto that they form the sides of an imaginary polygon,
- the motor/gearing unit (5) having a gearing (52), at least one gear step of which is tensioned, and
- the gearing (52), by virtue of material-locking and/or positive-locking connection of gearing components, being free or virtually free from backlash over the whole of the motional range of the gearing (52).
Dependencies are inferred from the claim text.