Patent ID: 6896473
Filing Date: 2005-05-24
Classification: B25J,F16D,Y10T

Abstract:
1. A delta robot for moving an object in three dimensions, comprising a basic element; a moveable carrier element; first motors; control arms, moveable by said first motors and each control arm comprising a first end connected to said basic element and a second end connected to said carrier element; a gripper element being arranged on said carrier element; a second motor with a shaft; a changeable-length axle, said axle forming a device for transmitting torque from said second motor to said gripper element, said device comprising a first bar; a second bar; a slide bearing slidably coupling said first and said second bars together such that the first bar extends in a first direction and that the second bar extends in a second direction, wherein said first direction is parallel to and offset from said second direction; a first articulation head attached to an end of said first bar and arranged in said first direction, said first articulation head being attached to a shaft of said second motor and a second articulation head attached to an end of said second bar and arranged in said second direction, said second articulation head being attached to said gripper element, whereby said second articulation head is offset from the first articulation head with reference to said first and second directions, and wherein the first and second articulation heads are universal joint components.