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Machine translation
1. (WO2015115887) ROBOT COMPRISING SERIES-ARRANGED DELTA ASSEMBLIES
Note: Text based on automatic Optical Character Recognition processes. Please use the PDF version for legal matters

CLAIMS

1. A robot comprising a delta assembly provided with:

- controllable actuators,

- arms which are hinged to the controllable

actuators, which arms are each at least partially built up of hinged elements forming a parallelogram, and

- an effector which is in hinged contact with said elements ,

characterized in that the robot comprises at least one additional delta assembly which is provided with:

- arms which are in a hinging manner coupled at least to said effector, and which are each at least partially built up of hinged elements forming a parallelogram, and - an end effector which is in hinged contact with said last-mentioned elements.

2. The robot according to claim 1, characterized in that the abovementioned delta assemblies form a series of two, three or more series-arranged delta assemblies.

3. The robot according to claim 1 or 2, characterized in that, with the exception of the assembly contacting the end effector, the other successive assemblies each comprise at least one coupling element which is disposed in a hinging manner at least between the successive effectors.

4. The robot according to claim 3, characterized in that a coupling element is provided parallel to all hinged elements, of the other delta assemblies, which form a parallelogram .

5. The robot according to claim 3 or 4, characterized in that the coupling element is a coupling rod and in that the at least one coupling rod can hinge, at each end portion thereof, around a shaft whose centreline touches a circle which extends around the longitudinal axis of the robot.

6. The robot according to claim 5, characterized in that the end portions of successive coupling rods are capable of hinging at positions of radial arm portions, which

positions are chosen such that the height range of the end effector can be influenced.

7. The robot according to claim 1, characterized in that the hinged elements of the at least one additional delta assembly form a scissor mechanism which is built up of one more series-arranged sections.

8. The robot according to claim 7, characterized in that the effector of one delta assembly forms a ring-shaped body through which the scissor mechanism projects.

9. The robot according to claim 7 or 8, characterized in that the scissor mechanism is also hinged to the robot.

10. The robot according to any one of claims 1 to 9, characterized in that the hinged elements are cables and/or hinged rods .

11. A device provided with legs to enable movement of the device, each leg being provided with a robot according to any one of claims 1 to 10.