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A compact parallel kinematics robot

A robot and motion technology, applied in the direction of manipulators, program control manipulators, manufacturing tools, etc., can solve a lot of space problems

Active Publication Date: 2016-10-05
ABB (SCHWEIZ) AG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Also, the drive arm of the robot according to WO200366289 needs to be relatively long and well spread out, and as a result requires a lot of space

Method used

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  • A compact parallel kinematics robot
  • A compact parallel kinematics robot
  • A compact parallel kinematics robot

Examples

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Embodiment Construction

[0017] see figure 1 , the parallel kinematic robot 10 according to one embodiment of the invention comprises a first shaft 20 rotatable around a first axis 50 , a second shaft 30 rotatable around a second axis 60 and a third shaft rotatable around a third axis 70 40. The first drive arm 80 is attached to the first shaft 20 , the second drive arm 90 is attached to the second shaft 30 and the third drive arm 100 is attached to the third shaft 40 , each drive arm 80 , 90 , 100 Together with the respective shaft 20 , 30 , 40 it rotates about the respective axis 50 , 60 , 70 . The first drive arm 80 is connected to the end effector 102 by means of three rods 103 , the second drive arm 90 is connected to the end effector 102 by means of two rods 103 and the third drive arm 100 is connected by means of one rod 103 to the end effector 102 . Each rod 103 is connected to the respective drive arm 80, 90, 100 and end effector 102 by means of a joint 105 having three DOF. Parallel to t...

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Abstract

A parallel kinematics robot (10) has a first drive arm (80) and a second drive arm (90), the two drive arms (80, 90) being crossed when the robot (10) operates within its normal work area. The drive arms (80, 90) thereby occupy less space in a horizontal direction compared with a situation where the two drive arms (80, 90) point away from each other.

Description

technical field [0001] The present invention relates to parallel kinematic robots that are compact because their drive arms do not extend across a large width. Background technique [0002] A conventional parallel kinematic robot includes a plurality of drive arms, each connected at one end to a corresponding shaft of a servo motor either directly or via a gearbox. At the opposite end the drive arm is attached to the proximal end of the rod via a ball joint with three degrees of freedom (DOF). The rod converts the rotational motion of the drive arm into corresponding motion of an end effector attached to the distal end of the rod via a ball joint. The servomotor and the corresponding drive arm thus work in parallel in such a way that actuation of one drive arm does not affect the position of the remaining drive arms. [0003] A delta robot is a well known type of parallel kinematic robot that can include three driven arms. Each drive arm is connected to an end effector us...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0045B25J9/0051
Inventor T·布罗加德J·厄恩鲁德
Owner ABB (SCHWEIZ) AG
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