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US 9,868,205 B2Granted
Compact parallel kinematics robot
AssigneeABB Schweiz AG
InventorsTorgny Brogårdh, Johan Ernlund
Life of this patent
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Abstract
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.
Claims10
A parallel kinematics robot, comprising:
- a first shaft rotatable about a first axis, a second shaft rotatable about a second axis, a third shaft rotatable about a third axis;
- a first drive arm attached to the first shaft, a second drive arm attached to the second shaft, a third drive arm attached to the third shaft, each drive arm being connected to an end effector by at least one rod;
- the first, second, and third axes being parallel, and a distance between the first axis and the second axis being at least 30% of the length of the first drive arm;
- the first and second axes defining a reference plane, the end effector having an extreme position furthest away from the reference plane;
- a reference axis being perpendicular to the reference plane and extending between the reference plane and the extreme position;
- wherein when the end effector is positioned at a middle point of the reference axis, the first and second drive arms are crossed when observed along a first direction, the first direction being a direction in which the first and second shafts extend from respective actuators.
3 more elements
A parallel kinematics robot, comprising:
- a first shaft rotatable about a first axis, a second shaft rotatable about a second axis, a third shaft rotatable about a third axis;
- a first drive arm attached to the first shaft, a second drive arm attached to the second shaft, a third drive arm attached to the third shaft, each drive arm being connected to an end effector by at least one rod;
- the first, second, and third axes being parallel, and a distance between the first axis and the second axis being at least 30% of the length of the first drive arm;
- the first and second axes defining a reference plane, the end effector having an extreme position furthest away from the reference plane;
- a reference axis being perpendicular to the reference plane and extending between the reference plane and the extreme position;
- wherein when the end effector is positioned at a middle point of the reference axis, the first and second drive arms are crossed when observed along a direction parallel to the first, second, and third axes.
3 more elements
Dependencies are inferred from the claim text.