Industrial robot
First Claim
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, anda control unit controlling the movements of the platform, whereinthe 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, andsaid 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.
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Accused Products
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.
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Citations
17 Claims
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1. An industrial robot for movement of an object in space, comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. An industrial robot for movement of an object in space, comprising:
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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.
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Specification