WO2001051259B1 - Modular robot manipulator apparatus - Google Patents
Modular robot manipulator apparatusInfo
- Publication number
- WO2001051259B1 WO2001051259B1 PCT/SG2000/000002 SG0000002W WO0151259B1 WO 2001051259 B1 WO2001051259 B1 WO 2001051259B1 SG 0000002 W SG0000002 W SG 0000002W WO 0151259 B1 WO0151259 B1 WO 0151259B1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- motion
- shaft
- housing frame
- gear
- transmission unit
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides an apparatus (1) for carrying various types of tools (12) for the purpose of undertaking welding, painting, manipulation, assembly, material handling, inspection and any desired motions. The apparatus includes a base system (2) having a standardized mechanical and electric interface and providing the output of motion with sufficient power (3), a series of serially connected flexible housing frames (4) enabling the apparatus to execute various configurations (ie, motions), a series of independent motion transmission units (5) enabling the transmission of the single motor"s motion along all the motion transmission units, and a series of serially connected motion distribution units (6) enabling the output of motion from a motion transmission unit to its corresponding link. Each flexible housing frame (4) has two degrees of freedom (DOF): one for twisting rotation (7) and the other for pivoting rotation (8). Each motion transmission unit includes two shafts (20 and 25) and a special bevel-gear mechanism (10). The triple (flexible housing frame, motion transmission unit, motion distribution unit) forms a modular entity (11) of the apparatus enabling the apparatus to be easily scaleable (ie, to add or remove modular entities according to the requirement of tasks).
Claims
1. An apparatus for carrying any of a variety of tools for a purpose such as welding, painting, manipulation, assembly, material handling or inspection, the apparatus including: a base system having a standardised mechanical and electric interface for providing output of motion for the apparatus; and a plurality of serially connected modular entities operatively associated with the base system via the mechanical and electric interface, each of said serially connected modular entities including: a flexible housing frame; a motion transmission unit supported by said housing frame for transmitting the motion provided by the base system to an adjacent modular entity; and a motion distribution unit for output of motion from the motion transmission unit to the flexible frame; wherein each said flexible frame has two degrees of freedom, being twisting rotation about a central or longitudinal axis and pivoting rotation about a pivot axis transverse to the central axis; whereby said modular entities enable the apparatus to execute various configurations and to be readily scaleable according to task requirements.
2. An apparatus as claimed in claim 1 , wherein the flexible housing frame includes a hinge mechanism supporting the degree of freedom for pivoting rotation.
3. An apparatus as claimed in claim 1 or claim 2, wherein the flexible housing frame includes a standardized mechanical and electric interface at each of its two opposite ends to facilitate connection with the housing frame of each of the adjacent serially connected modular entities, and/or with the base system.
4. An apparatus as claimed in claim 3, wherein the standardised mechanical and electric interface at each of the two opposite ends of the flexible
7
housing frame has a cylindrical portion and a cylinder-to-cylinder connection mechanism supporting the 'twisting rotation' degree of freedom.
5. An apparatus as claimed in any one of claims 1 to 4, wherein the motion transmission unit includes: a rotatable first shaft extending to one end of the housing frame for drive- transmitting connection with a shaft of an adjacent modular entity or the base system; a rotatable second shaft extending to an opposite end of the housing frame for drive-transmitting connection with a shaft of an adjacent modular entity; and an intermediate gear mechanism for transmission of rotary drive between the first shaft and the second shaft of each motion transmission unit.
6. An apparatus as claimed in claim 5, wherein both the first shaft and the second shaft of each motion transmission unit include a standardised coupling mechanism for effecting the drive-transmitting connection with the respective shaft of an adjacent modular entity.
7. An apparatus as claimed in claim 5 or claim 6, wherein the intermediate gear mechanism includes a small bevel gear mounted at an end of both the first shaft and the second shaft of the motion transmission unit, and a large bevel gear located therebetween in meshing engagement with each of the small bevel gears.
8. An apparatus as claimed in any one of claims 5 to 7, wherein the first shaft and the second shaft of the motion transmission unit are substantially coaxial with the central or longitudinal axis of the flexible housing frame.
9. An apparatus as claimed in any one of claims 1 to 8, wherein the flexible housing frame includes a first fork part and a second fork part, the first fork part and the second fork part being pivotally hinged to one another by the hinge mechanism to define said 'pivoting rotation' degree of freedom.
8
the mechanical and electric interface of the base system is operatively connected to a first one of said serially connected modular entities.
9
10. An apparatus as claimed in any one of claims 5 to 9, wherein the motion distribution unit is adapted to transfer motion from the first shaft and/or the second shaft of the motion transmission unit to move the flexible housing frame in each of its two degrees of freedom.
11. An apparatus as claimed in claim 10 when appended to claim 9, wherein the motion distribution unit includes a first gear rotatably mounted to the first fork part, a second gear mounted to the second fork part in train with the first gear, and clutch means for transferring rotary motion from the first shaft to the first gear, whereby rotation of the first gear causes the first fork part to pivot relative to the second fork part about the pivot axis.
12. An apparatus as claimed in claim 11 wherein the first gear is a bevel gear mounted substantially coaxial with the first shaft and the second gear is a bevel gear in mesh with the first gear and mounted substantially coaxial with the pivot axis.
13. An apparatus as claimed in any one of claims 5 to 12, wherein the motion distribution unit includes clutch means for transferring rotary motion from the second shaft to the flexible housing frame of the modular entity for rotation of the housing frame about its central or longitudinal axis according to the 'twisting rotation' degree of freedom.
14. An apparatus as claimed in any one of claims 10 to 13, wherein the motion distribution unit includes two speed reducers for regulating the speed of motion of the flexible housing frame in each of the two degrees of freedom.
15. An apparatus as claimed in claim 14 wherein each of the speed reducers has an associated brake connected to the flexible housing frame to brake the motion of the housing frame in each of the two degrees of freedom.
16. An apparatus as claimed in any one of the preceding claims, wherein the base system includes an electric motor and a reduction gear box, and wherein
10
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/SG2000/000002 WO2001051259A2 (en) | 2000-01-11 | 2000-01-11 | Modular robot manipulator apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/SG2000/000002 WO2001051259A2 (en) | 2000-01-11 | 2000-01-11 | Modular robot manipulator apparatus |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| WO2001051259A2 WO2001051259A2 (en) | 2001-07-19 |
| WO2001051259A3 WO2001051259A3 (en) | 2001-11-08 |
| WO2001051259B1 true WO2001051259B1 (en) | 2002-05-30 |
Family
ID=20428782
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/SG2000/000002 WO2001051259A2 (en) | 2000-01-11 | 2000-01-11 | Modular robot manipulator apparatus |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2001051259A2 (en) |
Families Citing this family (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3952955B2 (en) | 2003-01-17 | 2007-08-01 | トヨタ自動車株式会社 | Articulated robot |
| US7747352B2 (en) * | 2004-04-20 | 2010-06-29 | Massachusetts Institute Of Technology | Physical modeling system for constructing and controlling articulated forms with motorized joints |
| CN100348380C (en) * | 2005-06-30 | 2007-11-14 | 上海交通大学 | Self-reconstructed self-repair robot basic analogue space transmission |
| JP5004020B2 (en) * | 2005-09-27 | 2012-08-22 | 株式会社安川電機 | Articulated manipulator and robot system |
| WO2011003451A1 (en) * | 2009-07-09 | 2011-01-13 | Abb Research Ltd | A robot arm system and a robot arm |
| IT1400536B1 (en) * | 2010-05-26 | 2013-06-11 | Oto Melara Spa | ROBOT ARM FOR A VEHICLE. |
| CN102528806A (en) * | 2010-12-20 | 2012-07-04 | 财团法人精密机械研究发展中心 | Server capable of being serially connected with other servers and switching structure of server |
| CN102166750B (en) * | 2011-05-16 | 2014-01-29 | 机械科学研究总院先进制造技术研究中心 | Positioning beam and robot linear motion unit with same |
| ITMI20111920A1 (en) * | 2011-10-24 | 2013-04-25 | Milano Politecnico | ROBOT ARCHITECTURE ARTICULATED FOR MEDICAL USE. |
| CN102431038A (en) * | 2011-10-28 | 2012-05-02 | 武汉需要智能技术有限公司 | Modular joint combination of mechanical arm with multiple degrees of freedom |
| DE102013013114A1 (en) * | 2012-08-17 | 2014-02-20 | Liebherr-Verzahntechnik Gmbh | Device for the automated removal of workpieces arranged in a container |
| CN103884484B (en) * | 2012-12-21 | 2016-08-10 | 中国直升机设计研究所 | A kind of automatic release device |
| CN103144102A (en) * | 2013-03-28 | 2013-06-12 | 南京妙手机电科技有限公司 | Mechanical arm with connecting module with two degrees of freedom |
| CN103286775A (en) * | 2013-05-21 | 2013-09-11 | 华南理工大学 | Nondestructive testing robot for excavator |
| GB201504843D0 (en) | 2015-03-23 | 2015-05-06 | Rolls Royce Plc | Flexible tools and apparatus for machining objects |
| CN105171722B (en) * | 2015-10-26 | 2017-08-25 | 冯亿坤 | Imitative eel multi-freedom robot under water |
| CN106926227A (en) * | 2015-12-31 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of open-ended modularity mechanical arm |
| WO2018021171A1 (en) * | 2016-07-26 | 2018-02-01 | Ｇｒｏｏｖｅ Ｘ株式会社 | Articulated robot |
| CN106272387B (en) * | 2016-09-27 | 2017-07-25 | 安徽大学 | Modularized reconfigurable robot |
| CN106737627A (en) * | 2017-01-12 | 2017-05-31 | 河海大学常州校区 | A kind of imitative trunk mechanical arm |
| CN108312140A (en) * | 2018-03-28 | 2018-07-24 | 陕西蓝智机器人有限公司 | A kind of single machine axis connection formula multi-freedom joint mechanical arm |
| CN113968482B (en) * | 2021-09-29 | 2022-05-17 | 四川大学华西医院 | Gear and belt wheel coupled passive clamping mechanism |
| DE102022102347A1 (en) * | 2022-02-01 | 2023-08-03 | Neura Robotics GmbH | Arm section for a robotic arm and robotic arm |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4531884A (en) * | 1982-11-15 | 1985-07-30 | Russell Richard H | Automated machine |
| FR2562459B1 (en) * | 1984-02-07 | 1986-05-23 | Gabillet Maurice | MODULAR HANDLING ARM |
| IT1204693B (en) * | 1987-06-09 | 1989-03-10 | Guido Salvagnini | MACHINE TOOL FOR TURNING, MILLING, BORING, DRILLING AND WASHING WITH AUTONOMOUS GRIP OF THE PIECE IN PRODUCTION |
| US5355743A (en) * | 1991-12-19 | 1994-10-18 | The University Of Texas At Austin | Robot and robot actuator module therefor |
-
2000
- 2000-01-11 WO PCT/SG2000/000002 patent/WO2001051259A2/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2001051259A2 (en) | 2001-07-19 |
| WO2001051259A3 (en) | 2001-11-08 |
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