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US 12,496,709 B2Granted
Industrial robot
OwnerHartmut Herbert Ilchinventor
Life of this patent
Estimating the term…
Abstract
An industrial robot with parallel kinematics includes a robot base, an effector carrier receiving an effector, a first actuating arm, a second actuating arm, and a third actuating arm, wherein each actuating arm is driven at one end and is received on the robot base and is movably connected with its other end to the effector carrier. The actuating arms are adapted to move the effector carrier translationally in three dimensions in space relative to the robot base. The first actuating arm and the second actuating arm are connected to the effector carrier via lower arm joints. All lower arm joints of the first and second actuator arms lie in an effector carrier plane. The effector carrier is secured against rotation about a z-axis perpendicular to the effector carrier plane by the third actuating arm.
Claims22
An industrial robot with parallel kinematics, the industrial robot comprising:
- a robot base;
- an effector carrier receiving an effector;
- a first actuating arm;
- a second actuating arm;
- and
- a third actuating arm,
- wherein each of the first actuating arm, the second actuating arm and the third actuating arm is driven and received at the robot base with one end respectively and movably connected at the effector carrier with another end respectively,
- wherein the first actuating arm, the second actuating arm and the third actuating arm are configured to displace the effector carrier in a linear manner in three dimensions in space relative to the robot base,
- wherein the first actuating arm includes a first arm drive arranged at the robot base, a first upper arm coupled to the first arm drive, and a first lower arm,
- wherein the first lower arm is movably connected to the first upper arm by at least one first movable elbow joint and to the effector carrier by at least one first movable lower arm joint so that the first lower arm is movable about multiple geometric axes,
- wherein the second actuating arm includes a second arm drive arranged at the robot base, a second upper arm coupled to the second arm drive and a second lower arm,
- wherein the second lower arm is movably connected to the second upper arm by at least one second movable elbow joint and to the effector carrier by at least one second movable lower arm joint so that the second lower arm is movable about multiple geometric axes,
- wherein the third actuating arm includes an elongated arm section which is directly or indirectly coupled at one end to a third arm drive of the third actuating arm and which is connected at its other end to the effector carrier by at least one third movable lower arm joint which is movable about two lower arm joint axes, and
- wherein a sum of a number of the at least one first movable lower arm joint arranged at the effector carrier, the at least one second movable lower arm joint arranged at the effector carrier, and the at least one third movable lower arm joint arranged at the effector carrier is at least three and at most five,
- wherein centers of at least three of the first, second and third movable lower arm joints define an effector carrier plane and the effector carrier is secured against rotation about a z-axis oriented perpendicular to the effector carrier plane by the third actuating arm.
12 more elements
An industrial robot with parallel kinematics, the industrial robot comprising:
- a robot base;
- an effector carrier receiving an effector;
- a first actuating arm;
- a second actuating arm;
- and
- a third actuating arm,
- wherein each of the first actuating arm, the second actuating arm and the third actuating arm is driven and received at the robot base with one end respectively and movably connected at the effector carrier with another end respectively,
- wherein the first actuating arm, the second actuating arm and the third actuating arm are configured to displace the effector carrier in a linear manner in three dimensions in space relative to the robot base,
- wherein the first actuating arm includes a first arm drive arranged at the robot base, a first upper arm coupled to the first arm drive, and a first lower arm,
- wherein the first lower arm is movably connected to the first upper arm by at least one first movable elbow joint and to the effector carrier by at least one first movable lower arm joint so that the first lower arm is movable about multiple geometric axes,
- wherein the second actuating arm includes a second arm drive arranged at the robot base, a second upper arm coupled to the second arm drive and a second lower arm,
- wherein the second lower arm is movably connected to the second upper arm by at least one second movable elbow joint and to the effector carrier by at least one second movable lower arm joint so that the second lower arm is movable about multiple geometric axes,
- wherein the third actuating arm includes an elongated arm section which is directly or indirectly coupled at one end to a third arm drive of the third actuating arm and which is connected at its other end to the effector carrier by at least one third movable lower arm joint which is movable about two lower arm joint axes, and
- wherein a sum of a number of the at least one first movable lower arm joint arranged at the effector carrier, the at least one second movable lower arm joint arranged at the effector carrier, and the at least one third movable lower arm joint arranged at the effector carrier is at least three and at most five,
- wherein centers of at least three of the first, second and third movable lower arm joints define an effector carrier plane and the effector carrier is secured against rotation about a z-axis oriented perpendicular to the effector carrier plane by the third actuating arm,
- wherein the at least one third movable lower arm joint is movable about exactly two lower arm joint axes.
13 more elements
Dependencies are inferred from the claim text.