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1. 发明授权

EP3183098B1 A DEVICE FOR CONTROL OF A SPHERICAL MOTION OF A BODY 有权
公开(公告)号：EP3183098B1
公开(公告)日：2018-07-25
申请号：EP15749964.1
申请日：2015-07-21
申请人： CVUT V Praze, Fakulta Strojní
发明人： VALÁSEK, Michael , STORKÁN, Jaroslav
IPC分类号： B25J9/00
CPC分类号： B25J9/0072
摘要： A device for control of a spherical motion of a body (1) connected to a frame (5) through a spherical joint (2) arranged on a shank connecting the body (1) with the frame (5), where the shank is sectional and the spherical joint (2) with at least two rotational degrees of freedom is arranged between the first part (7) of the shank, which is firmly fixed to the frame (5), and the second part (8) of the shank, which is firmly fixed to the body (1), and by means of actuating arms (3) with linear actuators (4) arranged on the frame (5), whereas the number of parallel arms (3) with linear actuators (4) is three and at least one arm (3) is connected to the linear actuator (4) through a rotational joint (6), whereas other arm/s (3) is/are connected to the linear actuator/s (4) through a spherical joint (11).

2. 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.

3. 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.

4. 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。

5. 发明公开

EP3000565A3 ROBOTER UND DARAUS BESTEHENDE ROBOTERSTRASSE SOWIE VERFAHREN ZUM STEUERN DES ROBOTERS 审中-公开
标题翻译：机器人和物品现有道路机器人和方法用于控制机器人
公开(公告)号：EP3000565A3
公开(公告)日：2017-03-29
申请号：EP15186675.3
申请日：2015-09-24
申请人： Gerhard Schubert GmbH
发明人： Fohrer, Kurt
IPC分类号： B25J9/00 , B25J9/04 , B25J9/10
CPC分类号： B25J9/0018 , B25J9/0072 , B25J9/04 , B25J9/1065
摘要： Um Roboter (50) innerhalb einer Roboterstraße (100) zum Umsetzen von einzelnen Produkten (P) in Trays (T) möglichst nahe beieinander anordnen zu können und dadurch die Länge der Roboterstraße (100) zu reduzieren, wird erfindungsgemäß vorgeschlagen, bei einem Roboterarm (10), bei dem Oberarm (5), Unterarm (6) und Roboter-Hand (7) jeweils um zueinander parallele Haupt-Schwenkachsen (1, 2, 3) verschwenkbar sind, die Roboter (50) mit diesen Haupt-Schwenkachsen (1, 2, 3) in Durchlaufrichtung (X') der Produkte (P) anzuordnen und zusätzlich jeden der Roboterarme (10) um eine Quer-Schwenkachse (12) in oder entgegen der Durchlaufrichtung (X') begrenzt verschwenken zu können.

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

EP1809447B1 HUBROBOTER MIT PARALLELKINEMATISCHER VORRICHTUNG 有权
标题翻译：具有平行-DEVICE起重机器人
公开(公告)号：EP1809447B1
公开(公告)日：2010-05-12
申请号：EP05790667.9
申请日：2005-10-04
申请人： Ehrenleitner, Franz
发明人： Ehrenleitner, Franz
IPC分类号： B25J17/02 , B25J9/04 , B25J18/00
CPC分类号： B66C23/82 , B25J9/0072 , B25J17/0266 , B66C13/08 , B66F7/0633 , B66F7/08

8. 发明公开

EP2082145A2 A JOINT FOR INDUSTRIAL ROBOTS 审中-公开
标题翻译：联合工业机器人
公开(公告)号：EP2082145A2
公开(公告)日：2009-07-29
申请号：EP07822278.3
申请日：2007-11-07
申请人： ABB AB
发明人： BROGÅRDH, Torgny , KULLBORG, Ove , ODE, Ove
IPC分类号： F16C11/06
CPC分类号： F16C11/0647 , B25J9/0072 , B25J17/0266 , F16C11/086 , Y10T74/20317 , Y10T74/20329 , Y10T403/32762
摘要： The invention relates to a joint comprising a male unit (12) and a female unit (15, 16). The external surface of the male unit (12) is of complementary shape to the internal surface of the female unit (15, 16). The units cooperate and have shapes allowing rotational movement in at least one degree of freedom of the male unit within the female unit. The female unit (15, 16) comprises two socket parts (15, 16). According to the invention biasing means (21 ) is provided for biasing each of the socket parts (15, 16) towards the male unit (12).

9. 发明公开

EP2039481A1 Gelenkarm für Roboter, Hebezeuge, Kräne u.dgl. 审中-公开
标题翻译： GelenkarmfürRoboter，Hebezeuge，Kräneu.dgl。
公开(公告)号：EP2039481A1
公开(公告)日：2009-03-25
申请号：EP08021061.0
申请日：2005-10-04
申请人： Ehrenleitner, Franz
发明人： Ehrenleitner, Franz
IPC分类号： B25J17/02
CPC分类号： B66C23/82 , B25J9/0072 , B25J17/0266 , B66C13/08 , B66F7/0633 , B66F7/08
摘要： Die Erfindung betrifft einen Gelenkarm (101) bzw. Knickarm für Roboter, Hebezeuge, Kräne u.dgl., mit einer festen Plattform (102), einer Zwischenplattform (104) und einer beweglichen Plattform (103), mit einer ersten Kinematik (105), die die feste Plattform mit der Zwischenplattform verbindet und mit einer zweiten Kinematik (106), die die Zwischenplattform mit der beweglichen Plattform verbindet.
Die Erfindung ist dadurch gekennzeichnet, dass zumindest eine der beiden Kinematiken eine Parallelkinematik ist, und dass die Parallelkinematik als Verbindungselemente Aktuatoren, das heißt: Stäbe veränderlicher Länge oder Stäbe konstanter Länge mit veränderlicher Lage ihres Fußpunktes, gegebenenfalls teilweise passive Stäbe, das heißt: Stäbe konstanter Länge mit fest auf der festen Plattform angeordneten Fußpunkten, und gegebenenfalls Zugmittel, das heißt: Seile, Ketten, etc., aufweist, und dass drei Verbindungselemente in Form eines Pseudo-Tripelpunktes an einem gemeinsamen Punkt der beweglichen Plattform (103) oder der Zwischenplattform (104) angreifen, wobei der Pseudo-Tripelpunkt bestimmten Definitionen genügt.
摘要翻译：运动装置使用三个连接元件与一个形成三重点（P3）的平台（2,3）中的一个共同点相配合。三点可以配置为产生简单的机械配置。三个连接元件中的每一个本身靠近可移动平台上的另外两个连接元件的接合点。一个连接元件接合在可移动平台的一个点上，第二连接元件接合在该连接元件上靠近可移动平台上的接合点，并且第三连接元件接合在靠近第二接合点的第一元件上。

10. 发明授权

EP1492649B1 INDUSTRIAL ROBOT 有权
标题翻译：工业机器人
公开(公告)号：EP1492649B1
公开(公告)日：2009-03-04
申请号：EP02716504.2
申请日：2002-01-16
申请人： ABB AB
发明人： BROGARDH, Torgny , SKUTBERG, Hans , VALLIN, Asa , ANDREASSON, Mathilda , LUNDBERG, Ivan
IPC分类号： B25J9/10 , B25J17/02 , B25J18/06
CPC分类号： B25J17/0266 , B23Q1/5462 , B25J9/0072 , Y10T74/20329
摘要： An industrial robot for moving an object in space comprising a stationary platform, a movable platform arranged for supporting the object, and a first, a second and a third arm to which the platforms are joined. The first arm comprises a first actuator, a first supporting arm influenced by the first actuator and being rotatable around a first axis, and a first linkage. The second arm comprises a second actuator, a second supporting arm influenced by the second actuator and being rotatable around a second axis, and a second linkage. The third arm comprises a third actuator, a third supporting arm influenced by the third actuator and being rotatable around a third axis, and a third linkage. The first and third axes are arranged in parallel and the second supporting arm is freely journalled around a transverse axis that is substantially arranged at right angles to the second axis.
摘要翻译：一种用于在空间中移动物体的工业机器人，所述工业机器人包括固定平台，设置用于支撑所述物体的可移动平台以及所述平台接合到其上的第一臂，第二臂和第三臂。第一臂包括第一致动器，受第一致动器影响并可围绕第一轴旋转的第一支撑臂，以及第一连杆机构。第二臂包括第二致动器，受第二致动器影响并可围绕第二轴旋转的第二支撑臂，以及第二连杆机构。第三臂包括第三致动器，受第三致动器影响并可围绕第三轴旋转的第三支撑臂，以及第三联动件。第一轴线和第三轴线平行布置并且第二支撑臂围绕基本上与第二轴线成直角布置的横向轴线自由地轴颈安置。

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