Title:
産業用ロボットアーム
Document Type and Number:
Japanese Patent JP6914568
Kind Code:
B2
Abstract:
A robot arm (500) for end-effector motion. The robot arm comprises a first actuator (4) and a first kinematic chain from the first actuator to an end-effector platform, which gives a first degree of freedom for positioning the end-effector platform. The robot arm also comprises a second actuator (5; 5b) and a second kinematic chain from the second actuator to the end-effector platform, which gives a second degree of freedom for positioning the end-effector platform. The robot arm further comprises a third actuator (6; 6b, 512) and a third kinematic chain from the third actuator (6; 6b) to the end-effector platform, which gives a third degree of freedom for positioning the end-effector platform. The robot arm also comprises a fourth actuator (50; 150) and a fourth kinematic chain configured to transmit a movement of the fourth actuator to a corresponding orientation axis (65) for an end-effector (28). The fourth kinematic chain comprises an orientation linkage (52, 57, 59; 202, 204, 207, 209; 284, 286; 251, 256, 258) mounted to the inner arm-assemblage via at least one bearing (53, 55; 206), and an orientation transmission (64B, 64A, 216; 64C, 64D, 64E; 100, 64A; 281, 279, 275; 260, 262, 264, 266, 271, 270) mounted to the end-effector platform, wherein the orientation linkage comprises an end-effector rotation link (59; 209; 258; 281) and joints (58, 60; 208, 210; 257, 259; 257, 259; 282, 280) that provide at least two degrees of freedom for each end joint of the end-effector rotation link.
Inventors:
Brogard, Torney
Nilsson Adam
Nilsson class
Nilsson Adam
Nilsson class
Application Number:
JP2020536540A
Publication Date:
August 04, 2021
Filing Date:
January 11, 2019
Export Citation:
Assignee:
Cognibotics AB
International Classes:
B25J9/06
Domestic Patent References:
| JP6262556A | ||||
| JP64040294A | ||||
| JP7148680A | ||||
| JP3043940U | ||||
| JP2004512187A |
Foreign References:
| WO2014187486A1 |
Attorney, Agent or Firm:
Patent business corporation Kita Aoyama International