A parallel kinematic robot

A robot and motion technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of adding weight to movable platforms, and achieve the effects of torque reduction, high performance, and large total transmission ratio.

Active Publication Date: 2020-11-24
ABB (SCHWEIZ) AG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The downside of this robot is that the motors add extra weight to the movable platform

Method used

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  • A parallel kinematic robot
  • A parallel kinematic robot
  • A parallel kinematic robot

Examples

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Embodiment Construction

[0049] figure 1 An example of a parallel kinematic robot having four axes according to the first embodiment of the present invention is shown. The robot 1 comprises a base unit 2, a platform 3 movable relative to the base unit about a plurality of principal axes. Apart from the fourth axis and the drive of the fourth axis, the robot is a parallel kinematic robot 1 according to the prior art. Therefore, only the robot-related components of axis 1 to axis 3 are briefly described below.

[0050] The base unit 2 is designed to be fixed, eg to be suspended or attached to a roof or a wall. The platform 3 is movable relative to the base unit by means of at least two independently movable drive arms connected between the base unit and the movable platform. For parallel kinematic robots, three arms are required for the movement of the three-degree-of-freedom platform. In this example, the robot has three arms 5a to 5c arranged to move the platform about three axes. Each arm includ...

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Abstract

The present invention relates to a parallel kinematic robot (1) comprising a base unit (2), a platform (3) movable in relation to the base unit about a plurality of main axes, at least two independently movable actuating arms (5a-c) connected between the base unit and the movable platform for moving the platform in relation the base unit, a tool holder (7) rotatably connected to the platform to allow rotation of the tool holder in relation to the platform about a first auxiliary axis (A1), a motor (9) for driving the first auxiliary axis, located in the base unit, and a gear unit. The gear unit comprises a first gearbox (12) located in the base unit (2) and a second gearbox (14) located in the platform (3).

Description

technical field [0001] The invention relates to a parallel kinematic robot with at least four axes. Background technique [0002] Parallel kinematic robots (also called delta robots) or parallel manipulators operate by the so-called delta principle. Parallel kinematic robots have three arms connected between a base unit (also called a suspension) and a movable platform (also called an end effector) for carrying tools. The key design feature is the use of a parallelogram in the arm, which maintains the orientation of the end effector. The platform is provided with a tool holder for attaching tools to the platform. Motors and gearboxes for driving the three shafts are arranged in the base unit. [0003] Parallel kinematic robots have three, four or five axes. The delta robot concept is a very efficient design for three spindles 1-3. However, for practical use, most parallel kinematic robots also require at least one additional axis to rotate the tool attached to the tool ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/10
CPCB25J9/0051B25J9/102B25J19/0029B25J9/0042B25J9/0087
Inventor M·奥尔森T·索尔斯D·伦德巴克J·德克斯J·厄恩伦德
Owner ABB (SCHWEIZ) AG
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