Load handling robot with three single degree of freedom actuators

摘要

A robot for handling loads, comprising an end effector, three actuators, each with a single degree of freedom, three arms, each of them pivotably connected to an actuator and on the other side pivotably connected to the end effector, a frame carrying the actuators; and a control unit connected to the actuators. Also, an assembly of plural of these robots.

主权项

1. A robot for handling loads, comprising:
an end effector; three actuators, each actuator designed for initiating a movement with a single degree of freedom, and each actuator comprising a crank configured for rotational movement about one end thereof; three arms, each of the arms on one side pivotably connected to a respective actuator crank and on the other side pivotably connected to the end effector; a frame carrying the actuators; and a control unit connected to the actuators; wherein at least two of the actuators are rotary actuators, connected to the frame with their axes of movement substantially parallel to each other; and wherein the axis of movement of one of the actuators is nonparallel to the substantially parallel axes of movement of the other actuators; and further wherein the axis of movement of one of the actuators lies on a first plane different from a second plane of the substantially parallel axes of movement of the other actuators, wherein the second plane is parallel to the first plane.