US 11,865,711 B2
Industrial robot arm
Torgny Brogardh, Molndal (SE); Adam Nilsson, Brooklyn, NY (US); and Klas Nilsson, Lund (SE)
Assigned to Cognibiotics AB, Lund (SE)
Filed by COGNIBOTICS AB, Lund (SE)
Filed on Aug. 18, 2022, as Appl. No. 17/820,847.
Application 17/820,847 is a continuation of application No. 16/957,216, granted, now 11,453,118, previously published as PCT/EP2019/050611, filed on Jan. 11, 2019.
Claims priority of application No. 18151630 (EP), filed on Jan. 15, 2018.
Prior Publication US 2022/0388155 A1, Dec. 8, 2022
Int. Cl. B25J 9/00 (2006.01); B25J 9/04 (2006.01); B25J 9/10 (2006.01); F16H 37/12 (2006.01)
CPC B25J 9/0072 (2013.01) [B25J 9/042 (2013.01); B25J 9/102 (2013.01); B25J 9/1065 (2013.01); F16H 37/12 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A robot arm for end-effector motion, comprising:
a first actuator configured to rotate an inner arm-assemblage about a first axis of rotation of the robot arm, the inner-arm assemblage comprising an arm link rigidly connected to a first joint that is connected to a first link of an outer arm-linkage such that the outer arm-linkage is pivotably arranged around a second axis of rotation of the first joint, the outer arm-linkage being connected to an end-effector platform, thereby forming a first kinematic chain from the first actuator to the end-effector platform, which gives a first degree of freedom for positioning the end-effector platform;
a second actuator configured to rotate the outer arm-linkage around the second axis of rotation, thereby forming 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, wherein the second kinematic chain comprises an inner arm-linkage including at least one link connected to the outer-arm linkage via connection bearings, and wherein the second actuator is configured to move the at least one link via at least one inner connection joint connected to the at least one link;
a third actuator configured to rotate a shaft around a third axis of rotation such that the outer arm-linkage is rotated via a second joint around the third axis of rotation, thereby forming a third kinematic chain from the third actuator to the end-effector platform, which gives a third degree of freedom for positioning the end-effector platform;
wherein the outer arm-linkage comprises an outer pair of parallel links including the first link connected to the end-effector platform via end-effector bearings mounted to the end-effector platform, wherein the outer pair of parallel links are the only links of the robot arm that are, via the end-effector bearings, connected to the end-effector platform.