Industrial robot

• US 7,300,240 B2
• Filed: 12/16/2004
• Issued: 11/27/2007
• Est. Priority Date: 12/16/2003
• Status: Active Grant

• Current Assignee: ABB Schweiz AG (ABB Limited)
• Original Assignee: ABB AB (ABB Limited)
• Inventors: Brogardh, Torgny
• Primary Examiner(s): UNDERWOOD, DONALD W
• Application Number:
  US11/012,614
• Publication Number:
  US 20050129495A1
• Time in Patent Office: 1,076 Days
• Field of Search: 414/680, 414/735, 901/15, 901/23, 901/2.E, 901/29, 744/900.1, 744/900.3, 744/900.6
• US Class Current: 414/680
• CPC Class Codes: B25J 17/0266 comprising more than two actuating or connecting rods
• CPC Class Codes: B25J 9/0072 of the hybrid type, i.e. having different kinematics chains
• CPC Class Codes: Y10T 74/20305 Robotic arm
• CPC Class Codes: Y10T 74/20335 Wrist

Abstract

An industrial robot including a platform arranged for carrying an object. A first arm is arranged for influencing the platform in a first movement and includes a first actuator having a first path and a first carriage linearly movable along the first path. A second arm is arranged for influencing the platform in a second movement, and includes a second actuator having a second path and a second carriage linearly movable along the first path. A third arm is arranged for influencing the platform in a third movement. A control unit controls the movements of the platform. The first and second arms are arranged rotatable in such way that the platform is movable between opposite sides of a second plane passing through and continuously following the first and second carriage. The control unit includes a control adapted to upon command perform a reconfiguration of the platform and the arms of the robot. The reconfiguration includes moving the platform between opposite sides of the second plane.

Claims

1. An industrial robot for movement of an object in space, comprising:

a platform arranged for carrying the object,

a first arm arranged for influencing the platform in a first movement and comprising a first actuator having a first path and a first carriage linearly movable along the first path, and a first and a second link, each link comprising an outer joint connected to the platform and an inner joint connected to the first carriage, wherein the first link of the first arm is arranged with its longitudinal axis non-parallel to the longitudinal axis of the second link of the first arm,

a second arm arranged for influencing the platform in a second movement, comprising a second actuator having a second path and a second carriage linearly movable along the second path, and two links, each link comprising an outer joint connected to the platform and an inner joint connected to the second carriage,

a third arm arranged for influencing the platform in a third movement, comprising a third actuator and at least one link comprising an outer joint connected to the platform and an inner joint connected to the third actuator, and

a control unit controlling the movements of the platform, wherein

the first arm is arranged rotatable about at least one axis perpendicular to a first plane comprising the first and second paths, wherein the inner joints of the first and second links of the first arm are arranged along the at least one axis perpendicular to the first plane,

the second arm is arranged rotatable about at least one axis perpendicular to said first plane,

the first and second arm are arranged rotatable in such way that the platform is movable between opposite sides of a second plane perpendicular to said first plane and passing through and continuously following the first and second carriage, and

said control unit comprises control means adapted to upon command perform a reconfiguration of the platform and the arms of the robot, wherein the reconfiguration comprises moving the platform between opposite sides of said second plane.

2. The industrial robot according to claim 1, wherein the inner joints of the first and second link of the first arm are arranged at a distance from each other in a direction perpendicular to said first plane.

3. The industrial robot according to claim 1, wherein said first arm comprises a third link comprising an outer joint connected to the platform and an inner joint connected to the first carriage.

4. The industrial robot according to claim 1, wherein the inner joint of the third link is also arranged along said axis.

5. The industrial robot according to claim 1, wherein the inner joints of the second arm are arranged along a line which is parallel to said common line along which said joints of the first arm are arranged.

6. The industrial robot according to claim 1, wherein the inner joint of the first link and the inner joint of the second link is a common joint.

7. The industrial robot according claim 1, wherein one of the links are provided with a locking mechanism, which upon activation prevents the link from rotating about its longitudinal axis.

8. The industrial robot according to claim 7, wherein said locking mechanism is arranged to prevent the link from rotating about its longitudinal axis when the robot passes through a singularity during a reconfiguration.

9. The industrial robot according to claim 1, wherein both the inner and outer joint of one of the links are arranged movable in only two degrees of freedom, and said one link is provided with a play arranged to take care of minor rotary movements about the longitudinal axis of the link.

10. The industrial robot according to claim 1, wherein said link of the third arm is provided with a locking unit having a locked state, in which the link is fixed relative to its inner joint, and an unlocked state, in which the link is allowed to move in relation to its inner joint in a direction along the longitudinal axis of the link.

11. The industrial robot according to claim 1, wherein the link of the third arm is arranged with an adjustable length, and the third arm includes an actuator adapted to control the length of the link.

12. The industrial robot according to claim 1, wherein one of the links of the first or second arm is provided with a locking member, which upon activation prevents the link from moving in a direction perpendicular to the first plane.

13. The industrial robot according to claim 12, wherein said locking member is arranged to lock one of the joints of said link provided with the locking member, from rotating about an axes parallel to the first plane.

14. The industrial robot according to claim 1, wherein the two links of the second arm have essentially the same length and are arranged with their longitudinal axes in parallel.

15. The industrial robot according to claim 1, wherein at least two of the links of the first arm are arranged so that they, from at least one point of view, are in parallel.

16. The industrial robot according to claim 1, wherein at least two of the links of the first arm have essentially the same length.

17. An industrial robot for movement of an object in space, comprising:

a platform arranged for carrying the object,

a first arm arranged for influencing the platform in a first movement and comprising a first actuator having a first path and a first carriage linearly movable along the first path, and a first and a second link, each link comprising an outer joint connected to the platform and an inner joint connected to the first carriage, wherein the distance between the inner joint of the first link, and the inner joint of the second link is shorter than the distance between the outer joint of the first link and the outer joint of the second link,

a second arm arranged for influencing the platform in a second movement, comprising a second actuator having a second path and a second carriage linearly movable along the second path, and two links, each link comprising an outer joint connected to the platform and an inner joint connected to the second carriage,

a third arm arranged for influencing the platform in a third movement, comprising a third actuator and at least one link comprising an outer joint connected to the platform and an inner joint connected to the third actuator, and

a control unit controlling the movements of the platform, wherein

the first arm is arranged rotatable about at least one axis perpendicular to a first plane comprising the first and second paths, wherein the inner joints of the first and second links of the first arm are arranged along the at least one axis perpendicular to the first plane,

the second arm is arranged rotatable about at least one axis perpendicular to said first plane,

the first and second arm are arranged rotatable in such way that the platform is movable between opposite sides of a second plane perpendicular to said first plane and passing through and continuously following the first and second carriage, and

said control unit comprises control means adapted to upon command perform a reconfiguration of the platform and the arms of the robot, wherein the reconfiguration comprises moving the platform between opposite sides of said second plane.