| 摘要 |
<p>#CMT# #/CMT# The robot (1) has three main arms (7a-7c) mounted to be movable manually relative to a support structure (8). The main arms comprise outer ends facing away from the support structure and movable in different positions relative to the support structure and relative to each other. Connecting elements have same length by which the outer end of each main arm is connectable with the outer ends of two adjacent main arms at a defined distance. The outer ends of the main arms comprise joints (12) that are interconnectable by the connecting elements. #CMT# : #/CMT# An independent claim is also included for a method for calibrating a robot. #CMT#USE : #/CMT# Robot i.e. three-axis delta robot (claimed) that is utilized for placing products from a feed belt into a container located on a discharge belt. #CMT#ADVANTAGE : #/CMT# The outer ends of the main arms form an equilateral triangle whose dimensions and coordinates are known to the controlling units, thus calibrating the servomotors without the aid of additional mechanical calibration devices. The robot has forearms that are attached to the main arms of the robot, which is adapted to pick up one or multiple products and position the products along a desired trajectory. The forearms are used as connecting elements separated from the main arms and the positioning plate such that the forearm bars can be used even in the case of service works without the need for providing additional connecting elements. The robot can assume own tasks such as transferring products without any mechanical loads or collisions in the mechanical structure of the robot. #CMT#DESCRIPTION OF DRAWINGS : #/CMT# The drawing shows a perspective view of a robot without a support frame for operation. 1 : Robot 7a-7c : Main arms 8 : Support structure 12 : Joints 14 : Positioning plate.</p> |
