WO2022128739A1 - Tool robot comprising at least one rotating arm - Google Patents

Abstract

Tool robot (1), such as a robot (1) for handling objects, comprising a base (2) and a platform (3), the platform (3) being intended to support a tool (160) such as a tool for handling objects, the robot (1) comprising at least three arms (4, 5) connecting the base (2) to the platform (3) so as to give the platform (3) three degrees of freedom in translation relative to the base (2), the tool robot (1) being characterised in that at least one of the three arms (4, 5) is a rotating arm (5) for producing a rotating movement of the tool (160) about a working axis of the platform (3).

Description

DESCRIPTION

Title: Robot tool comprising at least one rotator arm

FIELD OF THE INVENTION

[01] The present invention relates to the field of tool robots or industrial robots, and more particularly to the field of robots intended to manipulate an object in a three-dimensional space.

[02] More specifically, the invention relates to a robot comprising a rotator arm having a new architecture to provide one or more additional degrees of freedom to a tool carried by the arm.

TECHNOLOGICAL BACKGROUND

[03] In the field of industrial robots, several types of architecture have been developed, meeting requirements, for example in terms of size, workspace, amplitude of movement, rate and of course depending on the operations to be performed.

[04] Concerning the more specific field of robots intended to manipulate objects, a known architecture is the Delta robot, which is itself a category of so-called parallel architecture. A Delta robot typically comprises a base and a platform, the latter being intended to support the manipulation tool. The base is connected to the platform by means of three arms, each arm comprising an actuator connected to a motor fixed to the base and a deformable parallelogram with ball joints connecting the actuator to the platform.

[05] Object manipulation robots are characterized in particular by the number of degrees of freedom offered to the tool.

[06] The Delta architecture allows the platform to be moved according to three translational degrees of freedom. It was developed in particular in the field of packaging light and small-sized objects because it makes it possible to meet industrial speed requirements while offering satisfactory precision in the placement of objects.

[07] Document US4,976,582 describes such a Delta robot. According to this document, in order to obtain a degree of freedom in rotation of the platform, an additional motor can be implemented on the platform in order to rotate the tool with respect to the platform. This document proposes as a variant to control a telescopic arm connected on the one hand to an additional motor at the base and on the other hand to the platform. Thus, the platform can pivot around the axis of the telescopic arm. [08] Indeed, it may be advantageous to be able to orient the objects to be packaged in order to present them in a good position vis-à-vis the packaging or the packaging machine.

[09] However, the solutions of US 4,976,582 are not entirely satisfactory.

[10] These two solutions offer a single degree of rotational freedom, which may be insufficient when the movement required to place the object to be wrapped in the desired orientation exceeds simple rotation around a single axis.

[11] Furthermore, adding an additional motor on the platform increases the mass to be moved by the robot, which leads to an undesirable decrease in cadence. The additional motor control also complicates the control of the robot.

[12] Finally, the presence of the telescopic rod also weighs down the robot, involves the aforementioned drawbacks of an additional motor. In addition, the telescopic rod weakens the architecture of the robot, increasing the risk of breakage and immobilization of the robot. In addition, the use of a cane limits the working space of the robot in height.

[13] The invention aims in particular to provide a solution to the aforementioned drawbacks by proposing a new arm architecture for a robot, in particular for a robot for manipulating objects, making it possible to increase the number of degrees of freedom of a tool carried by the robot without weighing down the robot, reducing its speed of movement, or limiting the workspace.

SUMMARY OF THE INVENTION

[14] Thus, the invention relates to a robot tool, such as an object manipulation robot, comprising a base and a platform. The platform is intended to carry a tool, such as an object manipulation tool. The robot includes at least three arms connecting the base to the platform. Each arm comprises on the one hand a proximal portion actuated individually in rotation around a primary axis of the base, and on the other hand comprising a distal portion articulated with respect to the proximal portion and connecting the proximal portion to the platform, so as to allow three degrees of freedom in translation of the platform relative to the base. At least one of the three arms of the robot is a rotator arm, which further comprises:

- at least one distal secondary branch, connected to the proximal portion;

- at least one connecting rod articulated on the one hand on the distal secondary branch and on the other hand on the platform so that the connecting rod operates a tilting movement relative to the platform by actuation of the distal secondary branch of the rotator arm, - at least one system for converting the tilting movement of the link relative to the platform into a rotational movement of the tool around a working axis of the platform.

[15] Thanks to these provisions, a degree of freedom of rotation of the tool can be obtained in a simple way, without involving a telescopic arm, and without involving the need for a motor. The robot's operating speed remains compatible with industrial rates. The manufacturing costs of the robot are not or only slightly increased. A rotator arm can easily be set up without reviewing the architecture of the robot as a whole. Thus, several rotator arms can be set up according to the needs in degrees of freedom in rotation of the tool.

[16] Thus, according to one embodiment, the robot may comprise at least two rotator arms, each rotator arm defining a working axis of the tool. The work axis defined by a first rotator arm can be parallel or not parallel to the work axis defined by the second rotator arm. Optionally, the robot may comprise three rotator arms, each rotator arm defining a work axis of the tool, this axis possibly being parallel or not to the work axis defined by each of the other two rotator arms. The robot can thus operate any type of tool, such as a vacuum gripping system, such as a suction cup, or a gripper or even a deployable mechanism.

[17] Depending on various aspects, it is possible to provide one and/or the other of the characteristics below, taken alone or in combination.

[18] According to one embodiment, the proximal portion of the rotator arm comprises a proximal main branch and a connecting branch. The proximal main branch is actuated in rotation relative to the base around the primary axis of the base and is connected on the other hand to the connecting branch by a pivot connection with an axis parallel to the primary axis. The connecting branch is connected on the other hand by a ball joint to at least one of the distal portion and the distal secondary branch.

[19] Thus, by actuating the connecting branch relative to the proximal main branch, the movement of the rod relative to the platform is obtained. Several variants can be considered to obtain the movement of the connecting branch relative to the main branch

[20] According to one embodiment, the proximal portion further comprises a proximal secondary branch actuated in rotation around the primary axis of the base, and a non-actuated proximal tertiary branch connected in a pivot connection around axes parallel to the axis primary to both the proximal secondary branch and the connecting branch, so that the proximal main branch, the secondary branch proximal, the connecting branch and the proximal tertiary branch form a deformable quadrilateral.

[21] According to this embodiment, the rotator arm can be associated with a first motor and a second motor, the first motor being connected to the proximal main branch so as to be capable of actuating the translation of the platform and the second motor being connected to the connecting branch so as to be able to actuate the tilting movement of the rod.

[22] The first motor and the second motor are preferably fixed to the base, so as not to weigh down the arm. They can be collinear, but not necessarily. The second motor can be connected directly or indirectly to the connecting part 9. Thus, the translational movement of the platform is controlled in a way that is decoupled from the rotational movement of the tool, facilitating the management and control of movements.

[23] According to one embodiment, for a rotator arm, on the one hand the connection between the connecting branch and the distal secondary branch and on the other hand the connection between the connecting rod and the distal secondary branch are located on the same side with respect to a plane passing through the connections of the distal portion of the rotator arm on the one hand on the proximal portion and on the other hand on the platform. According to a first variant, it is the interior side, in order to limit the size of the robot. According to a second variant, it is the outer side in order to further limit the risk of collisions between the parts of the rotator arm during operation of the robot.

[24] According to another embodiment, for a rotator arm, on the one hand the connection between the connecting branch and the distal secondary branch and on the other hand the connection between the connecting rod and the distal secondary branch are located on either side. the other of a plane passing through the connections of the distal portion of the rotator arm on the one hand on the proximal portion and on the other hand on the platform. The volume of work of the robot is thus increased by limiting the risks of collisions between the parts of the rotator arm.

[25] According to one embodiment, the proximal portion of the rotator arm may be provided with a secondary motor between the proximal main branch and the connecting branch. The connecting branch 9 is then actuated with respect to the proximal main branch by the secondary motor, which does not weigh down the distal portion or the platform or the distal secondary branch of the rotator arm, and makes it possible to simplify the architecture of the proximal portion. [26] According to one embodiment, the distal portion of at least one arm comprises a deformable quadrilateral system with ball joints, adding robustness to the rotator arm.

BRIEF DESCRIPTION OF DRAWINGS

[28] Embodiments of the invention will be described below with reference to the drawings, briefly described below:

[29] [Fig. 1] shows an example of a prior art Delta-type robot.

[30] [Fig. 2] shows a perspective view of a robot according to one embodiment of the invention comprising a rotator arm according to a first variant.

[31] [Fig. 3] represents a perspective view of the rotator arm of the robot of figure 2.

[32] [Fig. 4] shows a side view of the rotator arm of figure 3.

[33] [Fig. 5] shows a detail view of a link according to one embodiment at the distal end of the rotator arm of figure 4.

[34] [Fig. 6] represents a perspective view of a second variant of the rotator arm.

[35] [Fig. 7] shows a side view of the arm of figure 6.

[36] [Fig. 8] represents a perspective view of a third variant of the rotator arm.

[37] [Fig. 9] shows a side view of the arm of figure 8.

[38] [Fig. 10] represents a perspective view of a robot according to another embodiment.

[39] [Fig. 11] shows a detail view of one embodiment of a rotator arm conversion system.

[40] [Fig. 12] shows a detail view of one embodiment of a two-arm rotator conversion system.

[41] In the drawings, identical references designate identical or similar objects.

DETAILED DESCRIPTION

[42] The invention relates to a robot, in particular a robot for handling tools, which is light and fast. It is for example a Delta-type robot, a diagram of which is reproduced in figure 1 .

[43] The prior art A Delta robot typically includes a B base, a C platform, and three D arms connecting the B base to the C platform. The three D arms allow the C platform to have three degrees of freedom in translation with respect to the base B. For this, each arm D is typically articulated in rotation on the base B by a motor E. Each arm D comprises a portion D1 and a portion D2 articulated relative to each other by Cardan joints, or other equivalent connection, the portion D2 also being connected to the platform C by a Cardan joint, or other equivalent connection. [44] As a result, a tool fixed to the platform C can move in translation in the three directions with respect to the base B.

[45] As presented in the introduction, the problem is to provide the tool with additional degrees of freedom, in this case in rotation.

[46] In Figure 2, there is shown a robot 1 according to a first embodiment of the invention.

[47] As for the Delta robot of the prior art presented, the robot 1 of the invention comprises a base 2 and a platform 3. The platform 3 is intended to carry a tool. The tool is of any type, and can for example be a vacuum gripping system, such as a suction cup, pliers or even a deployable mechanism. Three arms connect the base 2 to the platform 3. According to the embodiment of FIG. 2, the robot 1 comprises two arms 4 called translators, because providing degrees of freedom in translation, and an arm 5 called a rotator because, in addition translation, it provides at least one degree of freedom in rotation of the tool.

[48] Each arm 4, 5 is connected to the base 2 in a pivot connection around an axis P called the primary axis of the base 2. Preferably, but not necessarily, the axes P of each arm 4, 5 are coplanar. Each arm 4, 5 is associated with at least one motor 6, 6a, 6b, each motor 6, 6a, 6b being dedicated to a single arm 4, 5, and being fixed on the base 2. Thus, each arm 4, 5 is operated individually.

[49] According to the example of the figures, the arms are arranged at 120° around the base 2. However, other arrangements, for example at 90°, are possible.

[50] Each arm, respectively 4, 5 comprises two portions, respectively 4a, 4b and 5a, 5b, namely a so-called proximal portion 4a, 5a and a so-called distal portion 4b, 5b.

[51] The adjectives distal and proximal are taken here in reference to base 2, the proximal portion being directly connected to base 2.

[52] Concerning the arms 4 translators, the proximal portion 4a comprises for example a single branch, on the one hand in pivot connection around a primary axis P on the base 2, and on the other hand articulated in ball joint connection on the distal portion 4b.

[53] In what follows, with reference to the figures, we will speak of a ball joint to designate any connection with three degrees of freedom in rotation, it being understood that any other type of connection with three degrees of freedom in rotation is also suitable.

[54] More specifically, the distal portion 4b is formed for example as a deformable quadrilateral, and even more specifically as a deformable parallelogram, in a plane substantially perpendicular to the primary axis P of the arm 4 in question. Thus, as shown in Figure 1, the distal portion 4b may comprise two parallel branches 7, each connected in a ball joint by a first end on the branch of the proximal portion 4a, and connected in a ball joint via a second end on the platform 3. This deformable parallelogram, or more generally quadrilateral, architecture makes it possible to provide robustness to the translator arm 4.

[55] Regarding the rotator arm 5, a first embodiment is illustrated in particular in Figures 3 and 4. The proximal portion 5a comprises for example a proximal main branch 8 connected in pivot connection around the primary axis P, and actuated by a first motor 6a. The proximal portion 5a further comprises a branch 9 called connecting branch connected in a pivot connection, around an axis parallel to the corresponding primary axis P, to the main proximal branch 8.

[56] The proximal portion 5a includes the means for rotating the connecting branch 9 with respect to the proximal main branch 8. According to one embodiment which is that of the figures, these means comprise a proximal secondary branch 10 and a proximal tertiary branch 11. The proximal secondary branch 10 is connected to the base 2 and articulated in rotation with respect to the base 2 around the primary axis P, for example by a second motor 6b, aligned with the first motor 6a actuating the proximal main branch 8. Thus, the proximal portion 5a forms a deformable quadrilateral, and more precisely according to the example presented in the figures a deformable parallelogram in the plane perpendicular to the primary axis P.

[57] Thus, when the second motor 6b is started, the proximal secondary branch 10 is actuated in rotation around the primary axis P and causes the connecting branch 9 to pivot relative to the main proximal branch 8.

[58] Other embodiments, not shown in the figures, means for rotating the connecting branch 9 with respect to the proximal main branch 8 may be provided. For example, in the first variant, the proximal secondary branch 10 can be actuated around an axis of the base 2 other than the primary axis P, the second motor 6b then not being aligned with the first motor 6a. As a second variant, the proximal secondary branch 10 and the proximal tertiary branch 11 can be eliminated and replaced, for example, by a third motor on board the proximal main branch 8 in order to set the connecting branch 9 directly in motion with respect to the branch 8 main proximal. They can also be replaced by a belt transmitting the movement from the second motor 6b to the connecting branch 9 via a toothed wheel. [59] Thus, more generally, the rotator arm 5 can be associated with two motors: the first motor 6a, connected to the proximal main branch 8 in order to transmit a translation movement of the platform 3, and the second motor 6b, connected , directly or indirectly, to the connecting branch 9 in order to obtain the tilting movement of the rod 14, and thus the rotational movement of the tool.

[60] The distal portion 5b may comprise, similarly to the distal portion 4b of the arms 4 translators, at least one, and according to the example of the figures two parallel branches 12, called distal main branches, each connected in ball joint connection by a first end on the proximal portion 5a, for example either directly on the proximal main branch 8 or on the connecting part 9, and connected in ball joint connection by a second end on the platform 3. A deformable quadrilateral system, and more precisely with a deformable parallelogram according to the example of the figures presented here, can be defined by the two main distal branches 12, the axis of the ball joints on the platform 3 and the axis of the ball joints on the proximal portion 5a. This is called a spatial parallelogram. This architecture allows for good robustness of the distal portion 5b of the rotator arm.

[61] The rotator arm 5 further comprises a distal secondary branch 13 and a connecting rod 14. The distal secondary branch 13 notably makes it possible to actuate the connecting rod 14 in rotation about an axis Q with respect to the platform 3. Indeed , when the distal secondary branch 13 is actuated to be set in motion relative to the distal portion 5b, it causes the rocking link 14 around the axis Q relative to the platform 3.

[62] More specifically, the distal secondary branch 13 is connected by a ball joint to the proximal portion 5a of the rotator arm 5, for example either the proximal main branch 8 or the connecting branch 9, but always at a distance from the connection of the distal main 12 branches on the proximal portion 5a. The distal secondary branch 13 is also connected by a ball joint to the link 14.

[63] The rod 14 is pivotally mounted around the Q axis of the platform 3, so as to be able to tilt relative to the platform 3 around this Q axis. According to the embodiment of the figures, the Q axis of rotation of the rod 14 on the platform 3 passes through the center of the ball joints of the branches 12 of the distal portion 5b of the rotator arm 5 on the platform 3.

[64] As will be explained later, the rotator arm 5 further comprises a system 15 for converting the tilting movement of the rod 14 relative to the platform 3 into a rotational movement of the tool about an axis of work of the platform 3. Thus, when the connecting piece 9 is actuated in rotation relative to the main branch 8 of the proximal portion 5a, the distal secondary branch 13 is set in motion and moves the connecting rod 14 relative to the platform 3. The connecting rod 14 then cooperates with the conversion system 15 in order to obtain a rotation of the tool around a determined working axis of the platform 3.

[65] The connecting branch 9 carries at least two joints: the joint 16 on the main branch 8, which will be referred to for simplification purposes in what follows as the main joint; the joint 17 on the distal secondary branch 13 or the parallel distal main branches 12, which will be referred to for simplification purposes in the following as distal joint.

[66] Preferably, but not necessarily, the axis of rotation of the main joint 16 can pass through the center of the ball joints of the branches 12 of the distal portion 5b on the main branch 1, as is the case on the embodiments of Figures 2, 3, 4, 6 and 7. In this case, the distal joint 17 of the connecting branch 9 corresponds to the joint of the distal secondary branch 13. In Figures 8 and 9, the axis of rotation of the main joint 16 passes through the center of the ball joint connection of the distal secondary branch 13 on the main branch 8. In this case, the distal joint 17 of the connecting branch 9 corresponds to the joint of the main distal branches 12.

[67] The link 14 also carries at least two joints: the joint 18 on the platform, which will be called for simplification purposes in what follows platform joint, with axis Q of rotation; the joint 19 on the distal secondary arm 13, which will be referred to for the purposes of simplification in what follows link rod joint,

[68] Preferably, but not necessarily, the axis of rotation of the joint

18 platform passes through the center of the ball joints of the branches 12 of the distal portion 5b on the platform 3.

[69] According to the embodiment of the figures, in which the proximal portion 5a of the rotator arm 5 comprises a deformable parallelogram, the connecting branch 9 carries a third joint, in this case the joint with the tertiary branch 11 of the parallelogram , and then has a bent shape.

[70] In a first variant illustrated in particular in Figures 3 and 4, on the one hand the distal joint 17 of the connecting branch 9 is connected with the distal secondary branch 13, and on the other hand the distal joint 17 and the joint

19 connecting rods are located on the same side with respect to a plane passing through the connections of the distal main branches 12, in this case a plane passing through the axis of the main joint 16 and the axis of the joint 18 platform. This side is said to be inside because it is oriented towards the inside of the robot 1, that is to say in particular towards the other arms 4, 5 of the robot 1. In other words, the connection of the distal secondary branch 13 on the proximal portion 5a and the connection of the distal secondary branch 13 to the connecting rod 14 are located on the inside of the robot.

[71] Thus, in a plane parallel to the plane of the deformable parallelogram formed by the proximal portion 5a (which is the plane of FIG. 4), the distal secondary branch 13, the connecting branch 9, the connecting rod 14 and one of the branches 12 main distal portions of the distal portion 5b also form a deformable quadrilateral, and in this case according to the embodiment shown in the figures a deformable parallelogram.

[72] In this first variant, the elbow-shaped link branch 9 is oriented towards the inside of the robot. When the robot 1 is in operation, the distal secondary branch 13 moves in space on the inside of the robot 1, so that the size of the robot 1 is limited. Indeed, the distal secondary branch 12 remains on the same interior side during the operation of the robot 1.

[73] According to a second variant, illustrated in Figures 6 and 7, on the one hand the distal joint 17 of the connecting branch 9 is connected with the distal secondary branch 13, and on the other hand the distal joint 17 and the link 19 are located on either side of a plane passing through the connections of the main proximal branches 12 on the proximal portion 5a and on the platform 3, that is to say in this case a plane passing through the axis of the main articulation 16 and the axis of the articulation 18 platform. More precisely, the connecting rod joint 19 is located on the interior side of the robot, and the distal joint 17 is located on the exterior side of the robot, opposite the interior side. In other words, the connection of the distal secondary branch 13 on the proximal portion 5a is located on the exterior side of the robot, and the connection of the distal secondary branch 13 on the connecting rod 14 is located on the interior side of the robot.

[74] Thus, in a plane parallel to the plane of the deformable parallelogram formed by the proximal portion 5a (which is the plane of FIG. 7), the distal secondary branch 13 crosses the distal main branches 12.

[75] This second variant makes it possible in particular to limit the risks of collision between the distal secondary branch 13 and the proximal main branch 8 in order to widen the workspace, that is to say the volume in which the arm 5 rotator can move relative to base 2. [76] According to a third variant, illustrated in Figures 8 and 9, on the one hand the distal joint 17 of the connecting branch 9 is connected with the distal main branches 12, so that the distal secondary branch 13 is connected to the proximal main branch 8, for example at the level of the main joint 16. On the other hand, the main joint 16 and the connecting rod joint 19 are located on the same interior side with respect to a plane passing through the connections of the main proximal branches 12, in this case a plane passing through the axis of the distal joint 17 and the axis of the platform joint 18. In other words, the connection of the distal secondary branch 13 to the proximal portion 5a and the connection of the distal secondary branch 13 to the connecting rod 14 are located on the inside of the robot.

[77] Thus, in a plane parallel to the parallelogram of the proximal portion 5a (which is the plane of FIG. 9), a spatial quadrilateral or deformable spatial parallelogram can again be defined by the distal secondary branch 13, the billet 14, one of the main distal branches 12 and the connecting branch 9.

[78] In this third variant, the risks of collision between the distal secondary branch 13 and the proximal main branch 8 are reduced, while the bulk is also limited, the distal secondary branch 13 remaining localized during operation of the robot on the side interior.

[79] The rotator arm 5 allows, thanks to the tilting of the rod 14 relative to the platform 3 by the actuation of the distal secondary branch 13 according to any one of the variants presented above, to be able to obtain a degree of rotational freedom of a tool around a determined working axis. To this end, the movement conversion system 15 cooperates with the link 14 in order to transform the tilting movement of the link 14 with respect to the platform 3 into a rotational movement around a determined working axis.

[80] In order to obtain two degrees of freedom in rotation of the tool, the robot 1 can comprise two rotator arms 5, as illustrated in FIG. 10. Although in FIG. 10, the two rotator arms 5 have the same configuration, it can be otherwise, and rotator arms 5 according to the different variants shown can be combined. Finally, three degrees of freedom in rotation can be obtained by setting up three rotator arms 5.

[81] Two embodiments of the conversion system 15 will now be described, such as they could be found combined on the robot 1 of FIG. 10. They will be numbered hereinafter 150 and 1500. The tool whose what is in question here is a support 160 for a vacuum gripping device, such as a suction cup, or the like, in order to grasp an object to be moved and release it at a position and in a direction determined. The tool 160 can however be of any type, for example a clamp or even a deployable mechanism.

[82] In Figure 11, an example of a first conversion system 150 is shown in order to obtain a rotation of the tool 160 around a first work axis T1. In this figure, the second conversion system 1500 is partly masked for the sake of clarity.

[83] According to this example, the link 14 of a first rotator arm 5 further comprises an oblong opening 20. The conversion system 151 then comprises a first shaft 151, one end of which is pivotally mounted in the opening 20 of the connecting rod 14, in rotation about an axis perpendicular to the axis of extension of the first shaft 151, for example at using a first roller 152. The conversion system 150 comprises a turret 153, partly transparent in FIG. 11, rigidly fixed to the base 3, and in which the first shaft 151 is guided in translation along its axis d 'extension. The turret 153 and the base 3 can be one-piece, that is to say formed from one and the same piece. The second end of the first shaft 151 comprises a second roller 154, with an axis substantially parallel to that of the first roller 152. The second roller 154 engages in an oblong opening 21 of the tool 160. The tool 160 is moreover pivotally mounted around the first working axis T1, on the turret 153.

[84] Thus, when the rod 14 is tilted around the axis Q of the platform 3 by the actuation of the distal secondary branch 13, the first shaft 151 slides relative to the platform 3, and tilts the tool 160 around the first working axis T1. A first degree of freedom in rotation is thus obtained for the tool 160.

[85] In Figure 12, there is shown an example of a second conversion system 1500 combined with the first conversion system 150, in order to obtain two degrees of freedom in rotation of the tool 160. Only a few elements of the second rotator arm associated with the second conversion system 1500 are represented.

[86] Thus, in Figure 12, the link 14 also includes an oblong opening 20. The second conversion system 1500 then comprises a second shaft 1501 whose first end is pivotally mounted in the opening 20' of the rod 14', in rotation about an axis perpendicular to the axis of extension of the second shaft 1501 for example using a first roller 1502. The second shaft 1501 is guided in translation, along its axis of extension, in an oblong opening 1503 of the turret 153. For example, a second roller 1504, of axis parallel to the first roller 1502, on the second end of the second shaft 1501 makes it possible to guide the translation of the second shaft 1501. Thus, when the connecting rod 14 rocking relative to platform 3, also transparent in figure 12, the second shaft 1501 slides along its axis of extension relative to platform 3.

[87] Turret 153 is common to both conversion systems 150, 1500. More specifically, it consists of two parts. A first part 1531 is rigidly fixed to the base 3 (transparent in FIG. 12), and a second part 1532 is pivotally mounted with respect to the first part 1531, for example around the axis of extension of the first shaft 151 of the first conversion system 150. In this case, the tool 160 is fixed on the second part 1532 of the turret 153, that is to say that the first working axis T1 is carried by the second part 1532 of the turret 153.

[88] The second conversion system 1500 comprises a system of two toothed wheels 1505, 1506. The first toothed wheel 1505 is pivotally mounted on the first part 1531 of the turret and is associated with the second shaft 1501, which is threaded. The second wheel 1506 is mounted on the second part 1532 of the turret 153, and engages the first toothed wheel 1505. The second wheel 1506 is rigidly fixed to the second part 1532 of the turret 153. Thus, the sliding movement of the second shaft 1501 causes the setting in motion of the first wheel 1505 relative to the first part 1531 of the turret 1, and causes the rotation of the second wheel 1506, and therefore of the second part 1532 of the turret 153 with respect to the first part 1531. According to the example of the figures, the axis of rotation of the second wheel 1506 coincides with the axis of extension of the first shaft 151. Thus, the rotation of the second part 1532 causes the rotation of the tool 160 around a second working axis T2 corresponding to the axis of extension of the first shaft 151.

[89] The 1-tool robot thus described provides a new and original solution to set up rotational degrees of freedom for tool 160.

[90] Indeed, the robot 1 makes it easy to obtain up to three additional degrees of freedom in rotation of the tool 160, as needed, without weighing down the arm by a motor attached to the arm, nor the setting work of a telescopic arm. The design is simplified and the manufacturing costs remain low.

[91] The axes of work are freely determined according to the needs, and can be parallel or not between them.

[92] The placement of the rod 14 tilted on the platform 3 by the distal secondary arm 13 does not weigh down the robot, or only slightly, so that the operating speed of the robot 1 remains compatible with industrial rates.

Claims

[Claim 1] Robot (1) tool, such as a robot (1) for manipulating objects, comprising a base (2) and a platform (3), the platform (3) being intended to carry a tool (160 ), such as an object manipulation tool, the robot (1) comprising at least three arms (4, 5) connecting the base (2) to the platform (3), each arm (4, 5) comprising on the one hand a proximal portion (4a, 5a) actuated individually in rotation around a primary axis (P) of the base (2), and on the other hand comprising a distal portion (4b, 5b) articulated relative to the proximal portion (4a, 5a) and connecting the proximal portion (4a, 5a) to the platform (3), so as to allow three degrees of translational freedom of the platform (3) relative to the base (2), the robot (1) tool being characterized in that at least one of the three arms (4, 5) is a rotator arm (5), the rotator arm (5) further comprising: at least one distal secondary branch (13), connected to the proximal portion (5a); at least one link (14) articulated on the one hand on the distal secondary branch (13) and on the other hand on the platform (3) so that the link (14) performs a tilting movement relative to the platform ( 3) by actuating the distal secondary branch (13) of the rotator arm (5), at least one system (15) for converting the tilting movement of the rod (14) relative to the platform (3) into a movement of rotation of the tool (160) around a working axis (T 1 , T2) of the platform (3).

[Claim 2] Robot (1) according to claim 1, comprising at least two rotator arms (5), each rotator arm (5) defining an axis (T 1 , T2) of work of the tool (160).

[Claim 3] Robot (1) according to claim 1, comprising three rotator arms (5), each rotator arm defining a working axis of the tool (160).

[Claim 4] Robot (1) according to any one of the preceding claims, in which the proximal portion (5a) of the rotator arm (5) comprises a main proximal branch (8) and a connecting branch (9), the branch (8) main proximal being actuated in rotation with respect to the base (2) around the primary axis (P) of the base (2) and being connected on the other hand to the connecting branch (9) by a pivot connection with an axis parallel to the primary axis (P), the branch (9) link being connected on the other hand by a ball joint to at least one of the distal portion (5a) and the distal secondary branch (13).

[Claim 5] Robot (1) according to claim 4, in which the proximal portion (5a) further comprises a proximal secondary branch (10) actuated in rotation about the primary axis (P) of the base (2), and a non-actuated proximal tertiary branch (11) pivotally connected about axes parallel to the primary axis (P) to both the proximal secondary branch (10) and to the connecting branch (9), so that the proximal main branch (8), the proximal secondary branch (10), the connecting branch (9) and the proximal tertiary branch (11) form a deformable quadrilateral.

[Claim 6] Robot (1) according to Claim 4 or Claim 5, in which the rotator arm (5) is associated with a first motor (6a) and with a second motor (6b), the first motor (6a) being connected to the main proximal branch (8) so as to be able to actuate the translation of the platform (3) and the second motor (6b) being connected to the connecting branch (9) so as to be able to actuate the movement of tilting of the link (14).

[Claim 7] Robot (1) according to any one of Claims 4 to 6, in which, for a rotator arm (5), on the one hand the connection between the connecting branch (9) and the branch (13) distal secondary and on the other hand the connection between the connecting rod (14) and the distal secondary branch (13) are located on the same side with respect to a plane passing through the connections of the distal portion (5b) of the arm (5) rotator on the one hand on the proximal portion (5a) and on the other hand on the platform (3).

[Claim 8] Robot (1) according to any one of Claims 4 to 7, in which, for a rotator arm (5), on the one hand the connection between the connecting branch (9) and the branch (13) distal secondary and on the other hand the connection between the connecting rod (14) and the distal secondary branch (13) are located on either side of a plane passing through the connections of the distal portion (5b) of the arm (5 ) Rotator on the one hand on the proximal portion (5a) and on the other hand on the platform (3).

[Claim 9] Robot (1) according to any one of Claims 1 to 5, in which the proximal portion (5a) of the rotator arm (5) is provided with a secondary motor between the proximal main branch (8) and the connecting branch (9). 17

[Claim 10] Robot (1) according to any one of the preceding claims, in which the distal portion (4a, 5a) of at least one arm (4, 5) comprises a deformable quadrilateral system with ball joints.

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