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公开(公告)号：US20170050312A1
公开(公告)日：2017-02-23
申请号：US15308050
申请日：2014-06-09
申请人： ABB SCHWEIZ AG
发明人： Torgny Brogårdh
IPC分类号： B25J9/00
CPC分类号： B25J9/0072
摘要： A parallel kinematics robot includes a base and an end effector movable in relation to the base. A first actuator is attached to the base and connected to the end effector via a first kinematic chain including a first drive arm, a first rod, a first joint between the first drive arm and the first rod, and a second joint between the first rod and the end effector. A second actuator is attached to the base and connected to the end effector via a second kinematic chain including a second drive arm, a second rod, a third joint between the second drive arm and the second rod, and a fourth joint between the second rod and the end effector. A third actuator is attached to the base or to the first drive arm, and connected to the end effector via a third kinematic chain including a first gear wheel and a second gear wheel, the first and second gear wheels being journalled in bearings to the end effector and intermeshing with each other. One element of the third kinematic chain constitutes a kinematic pair with at least one element of the first kinematic chain. A kinematic chain responsible for a translational movement of the end effector is utilized as a support structure for a kinematic chain responsible for a rotational movement of the end effector.
摘要翻译： 平行运动学机器人包括相对于底座可移动的底座和末端执行器。 第一致动器附接到基座并且经由第一运动链连接到端部执行器，第一运动链包括第一驱动臂，第一杆，第一驱动臂和第一杆之间的第一接头以及第一杆之间的第二接头 和末端执行器。 第二致动器附接到基座并且经由第二运动链连接到端部执行器，第二运动链包括第二驱动臂，第二杆，第二驱动臂和第二杆之间的第三接头，以及第二杆之间的第四接头 和末端执行器。 第三致动器附接到基座或第一驱动臂，并且经由包括第一齿轮和第二齿轮的第三运动链连接到端部执行器，第一和第二齿轮轴承轴承到端部 效应器和相互啮合。 第三运动链的一个元件构成与第一运动链的至少一个元素的运动学对。 负责端部执行器的平移运动的运动链被用作负责末端执行器的旋转运动的运动链的支撑结构。
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公开(公告)号：US09868205B2
公开(公告)日：2018-01-16
申请号：US15122226
申请日：2014-03-18
申请人： ABB SCHWEIZ AG
发明人： Torgny Brogårdh , Johan Ernlund
IPC分类号： B25J9/00
CPC分类号： B25J9/0045 , B25J9/0051
摘要： A parallel kinematics robot has a first drive arm and a second drive arm, the two drive arms being crossed when the robot operates within its normal work area. The drive arms thereby occupy less space in a horizontal direction compared with a situation where the two drive arms point away from each other.
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公开(公告)号：US10828768B2
公开(公告)日：2020-11-10
申请号：US15109042
申请日：2014-02-27
申请人： ABB Schweiz AG
发明人： Torgny Brogårdh , Johan Ernlund
摘要： A robot installation includes a first robot and a second robot. The first robot is attached to a fixed position in relation to the second robot such that the second robot lies within a reach of at least one drive arm of the first robot.
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公开(公告)号：US10272562B2
公开(公告)日：2019-04-30
申请号：US15308050
申请日：2014-06-09
申请人： ABB Schweiz AG
发明人： Torgny Brogårdh
摘要： A parallel kinematics robot includes a base and an end effector movable in relation to the base. A first actuator is attached to the base and connected to the end effector via a first kinematic chain including a first drive arm, a first rod, a first joint between the first drive arm and the first rod, and a second joint between the first rod and the end effector. A second actuator is attached to the base and connected to the end effector via a second kinematic chain including a second drive arm, a second rod, a third joint between the second drive arm and the second rod, and a fourth joint between the second rod and the end effector. A third actuator is attached to the base or to the first drive arm, and connected to the end effector via a third kinematic chain including a first gear wheel and a second gear wheel, the first and second gear wheels being journalled in bearings to the end effector and intermeshing with each other. One element of the third kinematic chain constitutes a kinematic pair with at least one element of the first kinematic chain. A kinematic chain responsible for a translational movement of the end effector is utilized as a support structure for a kinematic chain responsible for a rotational movement of the end effector.
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公开(公告)号：US10272571B2
公开(公告)日：2019-04-30
申请号：US15524992
申请日：2014-11-12
申请人： ABB Schweiz AG
发明人： Torgny Brogårdh , Peter Fixell , Görgen Johansson , Hans Andersson , Sven Hanssen , Stig Moberg , Siim Viilup , Mats Olsson
摘要： An arrangement for determining the calibration position of a robot joint where the joint has a moveable joint element and a stationary joint element, where one of the joint elements has a holding structure and the other a force providing protrusion, a robot controller, a motor connected between the robot controller and the moveable joint element and a force receiving element adapted to form a kinematic coupling with the holding structure and the force providing protrusion, where the kinematic coupling has at least two areas of contact between the structure and the force receiving element and one area of contact between the force providing protrusion and the force receiving element, the force receiving element being fastenable to the holding structure for stretching out across a gap between the two robot joint elements for receiving a force from the force providing protrusion.
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