Power transmission device in industrial robots

• US 4,643,036 A
• Filed: 05/15/1985
• Issued: 02/17/1987
• Est. Priority Date: 05/18/1984
• Status: Expired due to Fees

• Current Assignee: Asea Aktiebolag (ABB Limited)
• Original Assignee: Asea Aktiebolag (ABB Limited)
• Inventors: Forslund, Karl-Erik
• Primary Examiner(s): Spar, Robert J.
• Assistant Examiner(s): DAYOAN, DARRELL G
• Application Number:
  US06/734,196
• Time in Patent Office: 643 Days
• Field of Search: 414/4, 414/680, 414/729, 414/917, 74/89.15, 74/102, 74/105, 74/106, 901/18, 901/19, 901/23, 901/28, 901/29, 901/25
• US Class Current: 74/105
• CPC Class Codes: B25J 17/0258 Two-dimensional joints
• CPC Class Codes: B25J 9/048 Pendulum type
• CPC Class Codes: B25J 9/102 Gears specially adapted therefor, e.g. reduction gears gearings in general F16H
• CPC Class Codes: Y10S 414/13 Handlers utilizing parallel links
• CPC Class Codes: Y10T 74/18944 Link connections

Abstract

A power transmission device includes a rotatably mounted drive screw, a nut element which is movable along the drive screw, and a pair of links which connect the nut element to a driven member. The links are rigidly connected to each other by a torsionally stiff member to prevent relative angular movement therebetween.

Claims

1. In a power transmission device for use in industrial robots, said power transmission device including a rotatably mounted drive screw which is adapted to being rotated by a motor;

a nut means which is mounted on said drive screw to be movable therealong in a plane when said drive screw is rotated, said nut means having arms on opposite sides which mount respective journalling pins which are parallel to one another;

a driven member which is movable along a predetermined path in said plane;

a pair of parallel links, each of said links having first and second ends, the first end of each of said links including a ball bearing which is rotatably mounted to a respective journalling pin and the second end of each of said links being connected to said driven member,

the improvement wherein said power transmission device includes a torsionally stiff member rigidly connected between said parallel links so as to eliminate any relative angular displacement therebetween.

2. The power transmission device as defined in claim 1, including two spaced apart bearing blocks in which the opposite ends of said drive screw is rotatably mounted, and a bar rigidly connecting said bearing blocks to form a rigid unit which can be removably attached to the frame of a robot.

3. The power transmission device as defined in claim 2, wherein said driven member includes two spaced apart bracket arms and a cross tube connected between said bracket arms.