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1. 发明授权

EP2999572B1 COMPACT PARALLEL KINEMATICS ROBOT 失效转让
标题翻译：紧凑型并联运动机器人
公开(公告)号：EP2999572B1
公开(公告)日：2018-04-18
申请号：EP13725140.1
申请日：2013-05-23
申请人： ABB Schweiz AG
发明人： BROGÅRDH, Torgny
IPC分类号： B25J9/00 , B25J17/02
CPC分类号： B25J9/009 , B25J9/0072 , B25J11/005 , B25J17/0266 , Y10S901/14
摘要： An industrial robot includes first and second kinematic chains configured to transmit the movements of corresponding first and second actuators to respective movements of an end effector. The first kinematic chain includes a first rod which is stiff. The second kinematic chain includes elements between the second actuator and the first rod such that the actuation of the second actuator causes bending forces on the first rod. The first and second kinematic chains thereby have the first rod as a common element, which improves compactness and accessibility of the robot. This improvement assumes that the robot is provided with one or more stiff rods that can bear the bending forces resulting from the actuation of the corresponding actuators.

2. 发明公开

EP3195988A4 FIVE-DEGREE-OF-FREEDOM PARALLEL ROBOT WITH MULTI-SHAFT ROTARY BRACKETS 有权
公开(公告)号：EP3195988A4
公开(公告)日：2018-04-04
申请号：EP16820669
申请日：2016-03-28
申请人： UNIV TIANJIN
发明人： HUANG TIAN , DONG CHENGLIN , LIU HAITAO , QIN XUDA , MEI JIANGPING , LIU QI , WANG MANXIN
IPC分类号： B25J9/08 , B25J9/00 , B25J9/02
CPC分类号： B25J17/0266 , B25J9/0063 , B25J9/0066 , B25J9/0069 , B25J9/0072 , B25J9/026 , G05B2219/39423
摘要： The present invention discloses a five-degree-of-freedom hybrid robot with rotational supports, wherein, a first fixed shaft seat is rotatably connected to each of two ends of a first rotational support through a revolute hinge respectively; a second fixed shaft seat is rotatably connected to each of two ends of a second rotational support through a revolute hinge respectively; one end of a first length adjustment device runs through the first rotational support, and the other end is fixedly connected to a moving platform; one end of each of the second length adjustment device and the third length adjustment device runs through the first rotational support and is then connected to the moving platform respectively; middle portions of all the first length adjustment device, the second length adjustment device and the third length adjustment device are hinged onto the first rotational support respectively; and, one end of a fourth length adjustment device runs through the second rotational support and is then connected to the moving platform, and the middle portion of the fourth length adjustment device is hinged onto the second rotational support. The present invention effectively reduces the number of hinges, save the manufacture cost, and exhibits good manufacturability.

3. 发明授权

EP2740563B1 Bearbeitungseinrichtung, Bearbeitungsmaschine und Verfahren zum Bewegen eines Bearbeitungskopfs 失效
标题翻译：加工装置，加工机器和移动加工头的方法
公开(公告)号：EP2740563B1
公开(公告)日：2018-04-04
申请号：EP12195582.7
申请日：2012-12-05
申请人： TRUMPF Werkzeugmaschinen GmbH & Co. KG
发明人： Renz, Bernd
IPC分类号： B23K37/02 , B23K26/08 , B23Q1/54
CPC分类号： B23K26/0884 , B23K37/0276 , B23Q1/5462 , B25J9/0039 , B25J9/106 , B25J17/0266

4. 发明公开

EP3221093A1 VORRICHTUNG UND VERFAHREN ZUR HANDHABUNG UND/ODER ZUM MANIPULIEREN VON ARTIKELN WIE GEBINDEN ODER STUECKGUETERN 有权
标题翻译： VORRICHTUNG UND VERFAHREN ZUR HANDHABUNG UND / ODER ZUM MANIPULIEREN VON ARTIKELN WIE GEBINDEN ODER STUECKGUETERN
公开(公告)号：EP3221093A1
公开(公告)日：2017-09-27
申请号：EP15794855.5
申请日：2015-11-03
申请人： Krones Aktiengesellschaft
发明人： HARTL, Michael , WESTERMEIER, Christian , HAAS, Johann , UNTERSEHER, Josef , KOLLMUSS, Manuel , ZEINER, Peter
IPC分类号： B25J9/00 , B25J17/02
CPC分类号： B25J9/0051 , B25J17/0266
摘要： The invention relates to a device and a method for handling and/or manipulating articles, groupings, containers, piece goods or the like, comprising an upper suspension (18) on which at least three separately driven positioning arms (20) are secured in an articulated manner. Each of the at least three positioning arms (20) is made of at least two arm sections (22, 24) which can be pivoted relative to each other, and the at least three positioning arms (20) can be actuated independently of one another. The device also comprises a manipulator (16) which comprises one or more means for gripping the articles, groupings, containers, or piece goods and is mechanically coupled to the at least three positioning arms (20) such that a position of the manipulator (16) can be specified by the movement of one or more of the at least three positioning arms (20). The upper suspension (18) can be adjusted vertically together with the attachments of the at least three positioning arms (20) and/or can be brought into an angular position relative to a vertical.
摘要翻译：本发明涉及一种用于处理和/或操纵物品，组件，容器，零件货物等的装置和方法，该装置和方法包括上悬架（18），至少三个单独驱动的定位臂（20）固定在上悬架明确的方式。所述至少三个定位臂（20）中的每一个都由至少两个可相对于彼此枢转的臂部（22,24）制成，并且所述至少三个定位臂（20）能够彼此独立地致动。该装置还包括操纵器（16），该操纵器包括一个或多个用于夹持物品，组件，容器或零件的装置，并且机械地联接到至少三个定位臂（20），使得操纵器（16 ）可以通过至少三个定位臂（20）中的一个或多个的运动来指定。上悬架（18）可以与至少三个定位臂（20）的附件一起竖直地调节和/或可以相对于竖直进入角位置。

5. 发明公开

EP3195988A1 FIVE-DEGREE-OF-FREEDOM PARALLEL ROBOT WITH MULTI-SHAFT ROTARY BRACKETS 有权
标题翻译：具有多轴旋转支架的五自由度并联机器人
公开(公告)号：EP3195988A1
公开(公告)日：2017-07-26
申请号：EP16820669.6
申请日：2016-03-28
申请人： Tianjin University
发明人： HUANG, Tian , DONG, Chenglin , LIU, Haitao , QIN, Xuda , MEI, Jiangping , LIU, Qi , WANG, Manxin
IPC分类号： B25J9/08
CPC分类号： B25J17/0266 , B25J9/0063 , B25J9/0066 , B25J9/0069 , B25J9/0072 , B25J9/026 , G05B2219/39423
摘要： The present invention discloses a five-degree-of-freedom hybrid robot with rotational supports, wherein, a first fixed shaft seat is rotatably connected to each of two ends of a first rotational support through a revolute hinge respectively; a second fixed shaft seat is rotatably connected to each of two ends of a second rotational support through a revolute hinge respectively; one end of a first length adjustment device runs through the first rotational support, and the other end is fixedly connected to a moving platform; one end of each of the second length adjustment device and the third length adjustment device runs through the first rotational support and is then connected to the moving platform respectively; middle portions of all the first length adjustment device, the second length adjustment device and the third length adjustment device are hinged onto the first rotational support respectively; and, one end of a fourth length adjustment device runs through the second rotational support and is then connected to the moving platform, and the middle portion of the fourth length adjustment device is hinged onto the second rotational support. The present invention effectively reduces the number of hinges, save the manufacture cost, and exhibits good manufacturability.
摘要翻译：本发明公开了一种具有旋转支架的五自由度混合机器人，其中，第一固定轴座分别通过旋转铰链分别与第一旋转支架的两端分别旋转连接; 第二固定轴座分别通过旋转铰链分别与第二旋转支架的两端分别旋转连接; 第一长度调节装置的一端穿过第一旋转支架，另一端与移动平台固定连接; 所述第二长度调节装置和所述第三长度调节装置各自的一端贯穿所述第一旋转支架，然后分别与所述移动平台连接; 所有第一长度调节装置，第二长度调节装置和第三长度调节装置的中间部分分别铰接在第一旋转支架上; 第四长度调节装置的一端穿过第二旋转支架并与移动平台连接，第四长度调节装置的中部铰接在第二旋转支架上。本发明有效地减少了铰链的数量，节省了制造成本，并且具有良好的可制造性。

6. 发明公开

EP2999572A1 COMPACT PARALLEL KINEMATICS ROBOT 失效转让
标题翻译：紧凑型并联结构机器人
公开(公告)号：EP2999572A1
公开(公告)日：2016-03-30
申请号：EP13725140.1
申请日：2013-05-23
申请人： ABB Technology Ltd.
发明人： BROGÅRDH, Torgny
IPC分类号： B25J9/00 , B25J17/02
CPC分类号： B25J9/009 , B25J9/0072 , B25J11/005 , B25J17/0266 , Y10S901/14
摘要： An industrial robot includes first and second kinematic chains configured to transmit the movements of corresponding first and second actuators to respective movements of an end effector. The first kinematic chain includes a first rod which is stiff. The second kinematic chain includes elements between the second actuator and the first rod such that the actuation of the second actuator causes bending forces on the first rod. The first and second kinematic chains thereby have the first rod as a common element, which improves compactness and accessibility of the robot. This improvement assumes that the robot is provided with one or more stiff rods that can bear the bending forces resulting from the actuation of the corresponding actuators.

7. 发明授权

EP2525947B1 HEXAPOD 有权转让
标题翻译：昆虫
公开(公告)号：EP2525947B1
公开(公告)日：2016-03-30
申请号：EP11701081.9
申请日：2011-01-20
申请人： Schwab, Martin
发明人： Schwab, Martin
IPC分类号： B25J17/02 , B23Q1/54
CPC分类号： B25J17/0266 , B23Q1/5462 , B23Q2210/006

8. 发明公开

EP2888084A1 VORRICHTUNG ZUM GREIFEN, BEWEGEN UND POSITIONIEREN EINES GEGENSTANDS IM RAUM 有权
标题翻译：设备用于接入时，移动与定位中的对象空间
公开(公告)号：EP2888084A1
公开(公告)日：2015-07-01
申请号：EP13762401.1
申请日：2013-08-20
申请人： Güdel GmbH
发明人： MATTER, Manferd
IPC分类号： B25J17/02
CPC分类号： B25J17/0208 , B25J17/0266 , B25J17/0275
摘要： A device for gripping, moving and positioning an object in space has a platform (10) which is driven so as to be displaceable in three dimensions overhead, and a gripper tool which is mounted on the platform (10) so as to be capable of floating movement. When gripping the object, the gripper tool executes an adjusting movement which it can be aligned to compensate for. The gripper tool is articulated to the platform (10) by means of at least three, preferably an even number of, generally four, Cardan joint arms arranged in a square.

9. 发明授权

EP2613915B1 AN INDUSTRIAL ROBOT INCLUDING A PARALLEL KINEMATIC MANIPULATOR 失效转让
标题翻译：与并联运动机械手工业机器人
公开(公告)号：EP2613915B1
公开(公告)日：2014-12-03
申请号：EP11752190.6
申请日：2011-08-31
申请人： ABB Research Ltd.
发明人： BROGÅRDH, Torgny , ISAKSSON, Mats
IPC分类号： B25J17/02
CPC分类号： B25J17/0266

10. 发明公开

EP2766151A1 MACHINE WITH A TOOL MANIPULATOR 审中-公开
标题翻译： MASCHINE MIT EINEM WERKZEUGMANIPULATOR
公开(公告)号：EP2766151A1
公开(公告)日：2014-08-20
申请号：EP12787927.8
申请日：2012-10-08
申请人： Ejma, Janusz Marcin
发明人： EJMA, Janusz Marcin , PIASKOWY, Piotr
IPC分类号： B25J9/10 , B25J17/02
CPC分类号： B23Q1/44 , B25J9/106 , B25J11/005 , B25J17/0266 , Y10T74/20354
摘要： The machine contains the machine's body (1) with guide (L) and the manipulator that consists of the first arm (A) and the second arm (B). Inside guide (L), situated at one of the sides of the machine's body (1) the following elements, which constitute successive elements of the manipulator, are mounted: element (CI) that guides the end of the first arm (A) together with the first drive (A1 ) and element (C2) that guides the end of the second arm (B) together with the second drive (B1), whereas the opposite ends of the first arm (A) and the second arm (B) are joined together with each other in the self-aligning manner. The movement range of the tool's socket (2), as delineated by area (P), which constitutes a rectangle with sides (X) and (Y), where side (X) is parallel to guide (L) of guiding elements (C1) and (C2), the length of arms (A) and (B) is equal to the length of side (Y) - which is determined by relation L1 =Y and L2=Y, where L1 is the length of the first arm (A), and L2 is the length of the second arm (B). The tool's socket (2) is mounted in the axis of the self-aligning connection of the first arm (A) with the second arm (B). The material fixing area (3) is connected with the machine's body (1) in the immobile manner.
摘要翻译：机器包含具有引导件（L）的机器主体（1）和由第一臂（A）和第二臂（B）组成的操纵器。位于机器主体（1）的一侧的内导向件（L）中，安装有构成机械手的连续元件的以下元件：引导第一臂（A）的端部的元件（C1）以及与第二驱动器（B1）一起引导第二臂（B）和第二臂（B）的第一驱动器（A1）和元件（C2），而第一臂（A）和第二臂（B）的相对端）以自对准的方式彼此连接在一起。由区域（P）划定的工具插座（2）的移动范围，其构成具有侧面（X）和（Y）的矩形，其中侧面（X）平行于引导件（L）。

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