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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.

Inventors: Hans Skutberg, Asa Vallin, Torgny Brogardh, Mathilda Andreasson, Ivan Lundberg
Current U.S. Classification: 414/744.6

View patent at USPTO
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Referenced by

Citing PatentFiling dateIssue dateOriginal AssigneeTitle
US8099188Jun 3, 2005Jan 17, 2012ABB ABParallel kinematic robot and method for controlling this robot
US8191504Nov 27, 2006Jun 5, 2012United Technologies CorporationCoating apparatus and methods

Claims

1. An industrial robot for moving an object in space comprising a stationary platform, a movable platform adapted for supporting the object, and a first, a second and a third arm to which the platforms are joined, wherein the first arm comprises a first actuator, a first supporting arm influenced by the first actuator and 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 rotatable around a second axis, and a second linkage, and the third arm comprises a third actuator, a third supporting arm influenced by the third actuator and rotatable around a third axis, and a third linkage, wherein the first and third axes are arranged parallel and that the second supporting arm is freely journalled around a transverse axis that is substantially arranged in a plane normal to the second axis.

2. The industrial robot according to claim 1, wherein the second supporting arm comprises a bearing and is adapted to rotate in a plane intersecting the movable platform.

3. The industrial robot according to claim claim 1, wherein the first and third linkages comprise a triangle with the base journalled in the respective supporting arm.

4. The industrial robot according to claim 1, wherein the third linkage comprises a triangle where the base is journalled in the movable platform.

5. The industrial robot according to claim 1, wherein the third linkage comprises a locked double link.

6. An industrial robot for moving an object in space comprising a stationary platform, a movable platform adapted for supporting the object, and a first, a second and a third arm to which the platforms are joined, wherein the first arm comprises a first actuator, a first supporting arm influenced by the first actuator and displaceable along a first path, and a first linkage, the second arm comprises a second actuator, a second supporting arm influenced by the second actuator and displaceable along a second path, and a second linkage, and the third arm comprises a third actuator, a third supporting arm influenced by the third actuator and displaceable along a third path, and a third linkage, wherein the first and third paths are arranged parallel and that the second supporting arm is freely journalled around a transverse axis that is substantially arranged at right angles to the second path.

7. A method for manufacturing an industrial robot, with which an object is moved in space, comprising providing the industrial robot with a-stationary platform, a movable platform adapted for supporting the object, and a first, a second and a third arm to which the platforms are joined, wherein the first arm is brought to comprise a first actuator, a first supporting arm influenced by the first actuator and rotatable around a first axis, and a first link-age, the second arm is brought to comprise a second actuator, a second supporting arm influenced by the second actuator and rotatable around a second axis, and a second linkage, and the third arm is brought to comprise a third actuator, a third supporting arm influenced by the third actuator and rotatable around a third axis, and a third linkage, wherein the first and third axes are arranged parallel and that the second supporting arm is arranged freely journalled around a transverse axis that is substantially arranged at right angles to the second axis.

8. Use of an industrial robot according to claim 1 during laser cutting.

9. Use of a method according to claim 7 during laser cutting.

Drawings