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Base for parallel kinematic robots

A technology of robots and bases, applied in the direction of manipulators, transmission boxes, components with teeth, etc., can solve problems such as reducing accuracy

Active Publication Date: 2020-09-01
ABB (SCHWEIZ) AG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The interface between the housing and the driver reduces the accuracy of the relative position of the axes

Method used

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  • Base for parallel kinematic robots
  • Base for parallel kinematic robots
  • Base for parallel kinematic robots

Examples

Experimental program
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Embodiment Construction

[0021] refer to figure 1 , the parallel kinematic robot 10 according to one embodiment of the present invention includes a base 20 having three gear chambers 30 . The base 20 is made of cast iron by casting, and the base 20 thus consists of a single piece of homogeneous material, of which the three gear cavities 30 are an integral part. The robot 10 also includes three output shafts 40 , each of which is attached to a respective gear cavity 30 . Each output shaft is connected to the end effector 50 by means of a corresponding kinematic chain comprising an upper arm 60 , two lower arms 70 and four joints 80 . Robot 10 also includes a plurality of actuators in the form of motors 90 , each of which is configured to actuate end effector 50 via a corresponding kinematic chain.

[0022] refer to figure 2 , each gear cavity 30 is provided with a cover 100, and each gear cavity 30 defines an interior 220 together with a corresponding cover 100 (see image 3 ) and the outer 210 of...

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Abstract

A base (20) for a parallel kinematic robot (10) includes a plurality of gear chambers (30). Each gear cavity (30) includes a first bearing housing (120) configured to receive an output shaft bearing (130). The base (20) consists of a single piece of homogeneous material and thus omits interfaces that negatively affect the precision of the robot (10).

Description

technical field [0001] The invention relates to a parallel kinematic robot with an integrated transmission. Background technique [0002] It is generally known to provide a delta robot with a plurality of gearboxes which are separate components and which are attached by bolts to a common fixture. The gearboxes are machined prior to attachment to the fixture, and tolerances at the interface between each gearbox and fixture add to errors in the relative position of machined surfaces between multiple gearboxes. In addition, bolted joints at the interface facilitate the reduction of robot stiffness. These errors and reduced stiffness are in turn reflected in the precision of the robot. [0003] US20110277581A1 discloses a delta robot, in which a plurality of housings are integrated into an integral base. The electric motor is configured to accommodate the drive as a separate component, and thus the bearing housing defining the position of the respective axis is integrated not...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J19/00
CPCB25J9/0009B25J9/003B25J9/0051B25J19/007B25J9/0045B25J9/102F16H57/02
Inventor D·伦德巴克
Owner ABB (SCHWEIZ) AG