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1. WO2013104417 - AN INDUSTRIAL ROBOT FOR HIGH PAYLOAD

Publication Number WO/2013/104417
Publication Date 18.07.2013
International Application No. PCT/EP2012/050361
International Filing Date 11.01.2012
IPC
B25J 9/04 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
02characterised by movement of the arms, e.g. cartesian co-ordinate type
04by rotating at least one arm, excluding the head movement itself, e.g. cylindrical co-ordinate type or polar co-ordinate type
CPC
B25J 9/046
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
02characterised by movement of the arms, e.g. cartesian coordinate type
04by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
046Revolute coordinate type
Applicants
  • ABB RESEARCH LTD [CH]/[CH] (AllExceptUS)
  • TRANGÄRD, Arne [SE]/[SE] (UsOnly)
  • SIRKETT, Daniel [GB]/[SE] (UsOnly)
  • WÄPPLING, Daniel [SE]/[SE] (UsOnly)
  • SPUTLAK, David [AT]/[AT] (UsOnly)
  • ZELAYA DE LA PARRA, Hector [GB]/[SE] (UsOnly)
  • WESTRÖM, Jakob [SE]/[SE] (UsOnly)
  • THULIN, Mats [SE]/[SE] (UsOnly)
  • THORS, Tommy [SE]/[SE] (UsOnly)
  • FENG, Xiaolong [SE]/[SE] (UsOnly)
  • OLSSON, Mats [SE]/[SE] (UsOnly)
Inventors
  • TRANGÄRD, Arne
  • SIRKETT, Daniel
  • WÄPPLING, Daniel
  • SPUTLAK, David
  • ZELAYA DE LA PARRA, Hector
  • WESTRÖM, Jakob
  • THULIN, Mats
  • THORS, Tommy
  • FENG, Xiaolong
  • OLSSON, Mats
Agents
  • SAVELA, Reino
Priority Data
Publication Language English (en)
Filing Language English (EN)
Designated States
Title
(EN) AN INDUSTRIAL ROBOT FOR HIGH PAYLOAD
(FR) ROBOT INDUSTRIEL POUR CHARGE UTILE ÉLEVÉE
Abstract
(EN) The invention relates to an industrial robot having a plurality of frame parts (1-7) that are movable in relation to each other and a plurality of joints (8-13). The joints include pivot joints (8-13) providing a pivotal movement around joint axes (A1-A6) that are connected by the respective pivot joint (8-13). At least one of said pivot joints (8-13) is unitarily driven by first and second drive means. Each drive means includes a motor (21a, 21b, 31a, 31b) and a gearbox (22a, 22b, 32a, 32b). The drive means are arranged to solely actuate movement around a single joint axis (A2, A3). According to the invention the first and the second drive means are arranged symmetrically in relation to a plane perpendicular to the joint axis (A2, A3) in order to mitigate the problem of uneven heat distribution at the respective joint.
(FR) L'invention concerne un robot industriel comprenant une pluralité de parties de châssis (1-7) qui sont mobiles les unes vers les autres et une pluralité de joints (8-13). Les joints comprennent des joints pivotants (8-13) permettant un mouvement pivotant autour d'axes de joint (A1-A6) qui sont raccordés par le joint pivotant respectif (8-13). Au moins l'un desdits joints pivotants (8-13) est entraîné de manière unitaire par des premier et second moyens d'entraînement. Chaque moyen d'entraînement comprend un moteur (21a, 21b, 31a, 31b) et une boîte de vitesses (22a, 22b, 32a, 32b). Les moyens d'entraînement sont conçus pour actionner un mouvement uniquement autour d'un axe de joint (A2, A3). Selon l'invention, les premier et second moyens d'entraînement sont agencés symétriquement par rapport à un plan perpendiculaire à l'axe de joint (A2, A3) afin d'atténuer le problème d'inégalité de la distribution de chaleur au niveau du joint respectif.
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