Base for a parallel kinematics robot

• US 10,960,535 B2
• Filed: 07/07/2016
• Issued: 03/30/2021
• Est. Priority Date: 07/07/2016
• Status: Active Grant

• Current Assignee: ABB Schweiz AG (ABB Limited)
• Original Assignee: ABB Schweiz AG (ABB Limited)
• Inventors: Lundback, Daniel
• Primary Examiner(s): MacArthur, Victor L
• Application Number:
  US16/315,884
• Publication Number:
  US 20190308313A1
• Time in Patent Office: 1,727 Days
• Field of Search: 7449001-49006
• CPC Class Codes: B25J 19/007 Means or methods for designing or fabricating manipulators
• CPC Class Codes: B25J 9/0009 Constructional details, e.g. manipulator supports, bases
• CPC Class Codes: B25J 9/003 having parallel kinematics
• CPC Class Codes: B25J 9/0045 with kinematics chains having a rotary joint at the base
• CPC Class Codes: B25J 9/0051 with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
• CPC Class Codes: B25J 9/102 Gears specially adapted therefor, e.g. reduction gears gearings in general F16H
• CPC Class Codes: F16H 57/02 Gearboxes; Mounting gearing therein

Abstract

A base for a parallel kinematics robot including a plurality of gear cavities. Each gear cavity having a first bearing seat configured to receive an output shaft bearing. The base consists of one piece in homogeneous material, and thereby interfaces negatively affecting the accuracy of the robot are omitted.

Claims

1. A base for a parallel kinematics robot, the base comprising:

a plurality of gear cavities, each gear cavity comprising a first bearing seat configured to receive an output shaft bearing and align said output shaft bearing along a first axis, each gear cavity further comprising a second bearing seat configured to receive an intermediate shaft bearing and align said intermediate shaft bearing along a second axis which is different from said first axis, wherein the base consists of one piece in homogeneous material.

2. The base according to claim 1, the base is manufactured by casting or moulding.

3. The base according to claim 1, wherein each gear cavity further comprises a first through hole configured to receive an output shaft.

4. The base according to claim 1, wherein each gear cavity further comprises a second through hole configured to receive an intermediate shaft.

5. The base according to claim 1, wherein each gear cavity further comprises a third through hole configured to receive an input shaft.

6. The base according to claim 1, wherein the number of gear cavities is at least three.

7. The base according to claim 2, wherein each gear cavity further comprises a first through hole configured to receive an output shaft.

8. The base according to claim 2, wherein each gear cavity further comprises a third through hole configured to receive an input shaft.

9. The base according to claim 2, wherein the number of gear cavities is at least three.

10. A parallel kinematics robot comprising:

a base including a plurality of gear cavities, each gear cavity comprising a first bearing seat configured to receive an output shaft bearing and align said output shaft bearing along a first axis, each gear cavity further comprising a second bearing seat configured to receive an intermediate shaft bearing and align said intermediate shaft bearing along a second axis which is different from said first axis, wherein the base consists of one piece in homogeneous material; and

a plurality of covers, each gear cavity together with the respective cover defining a gear housing with an interior and an exterior.

11. The parallel kinematics robot according to claim 10, further comprising a plurality of actuators, each actuator abutting upon the exterior of the respective gear housing and being configured to actuate at least one gear within the interior of the same.

12. The base according to claim 10, the base is manufactured by casting or moulding.

13. The base according to claim 10, wherein each gear cavity further comprises a first through hole configured to receive an output shaft.