Back to results
US 2004/0103739 A1Published application
Industrial robot
AssigneeABB AB
InventorsTorgny Brogardh, Daniel Wappling, Feng Xialong, Bo Holmgren
Life of this patent
Estimating the term…
Loading patent…
Loading patent…
AssigneeABB AB
InventorsTorgny Brogardh, Daniel Wappling, Feng Xialong, Bo Holmgren
Estimating the term…
An industrial robot for movement of an object in space comprising a stationary platform, a movable platform adapted for supporting the object, and a first, a second and a third arm to which the platforms are joined. The first arm comprises a first actuator, a first supporting arm influenced by the first actuator and rotatable around a first axis, and a first linkage. The second arm comprises a second actuator, a second supporting arm influenced by the second actuator and rotatable around a second axis, and a second linkage. The third arm comprises a third actuator, a third supporting arm influenced by the third actuator and rotatable around a third axis, and a third linkage. The second supporting arm is freely mounted around a cross-beam that is arranged at right angles to the second axis.
An industrial robot for movement of an object in space comprising a stationary platform (1), a movable platform (17) adapted for supporting the object, and a first, a second and a third arm to which the platforms are joined, the first arm comprising a first actuator (2), a first supporting arm (5) influenced by the first actuator and rotatable around a first axis, and a first linkage (8), the second arm comprising a second actuator (4), a second supporting arm (7) influenced by the second actuator and rotatable around a second axis, and a second linkage (10), and the third arm comprising a third actuator (3), a third supporting arm (6) influenced by the third actuator and rotatable around a third axis, and a third linkage (9), characterized in that the platform (1) comprises a bearing (18) allowing the second supporting arm (7) to freely rotate around a fourth axis that is arranged in a plane normal to the third axis.
An industrial robot according any of the preceding claims, characterized in that the first linkage (8) comprises a triple link (8A, 8B, 8C) and that the third linkage (9) comprises a double link (9A, 9B).
An industrial robot according any of the previous claims, characterized in that the first and second axes are parallel.
An industrial robot according any of the previous claims, characterized in that the outer joints of all the links are arranged on a straight line.
A method for manufacturing an industrial robot, with which an object is moved in space, comprising providing the industrial robot with a stationary platform, a movable platform adapted for supporting the object, and a first, a second and a third arm to which the platforms are joined, wherein the first arm is brought to comprise a first actuator, a first supporting arm influenced by the first actuator and rotatable around a first axis, and a first linkage, the second arm is brought to comprise a second actuator, a second supporting arm influenced by the second actuator and rotatable around a second axis, and a second linkage, and the third arm is brought to comprise a third actuator, a third supporting arm influenced by the third actuator and rotatable around a third axis, and a third linkage, characterized in that the second supporting arm is arranged freely journalled around a cross-beam that is substantially arranged at right angles to the second axis.
Dependencies are inferred from the claim text.