US 11,938,624 B2
Parallel kinematic robot
Mats Olsson, Västerås (SE); Tommy Thors, Västerås (SE); Daniel Lundbäck, Västerås (SE); Jeroen Derkx, Enköping (SE); and Johan Ernlund, Västerås (SE)
Assigned to ABB Schweiz AG, Baden (CH)
Appl. No. 17/046,833
Filed by ABB Schweiz AG, Baden (CH)
PCT Filed Apr. 24, 2018, PCT No. PCT/EP2018/060465
§ 371(c)(1), (2) Date Oct. 12, 2020,
PCT Pub. No. WO2019/206403, PCT Pub. Date Oct. 31, 2019.
Prior Publication US 2021/0362321 A1, Nov. 25, 2021
Int. Cl. B25J 9/00 (2006.01); B25J 9/10 (2006.01)
CPC B25J 9/0051 (2013.01) [B25J 9/102 (2013.01); B25J 9/0042 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A parallel kinematic robot comprising:
a base unit,
a platform movable in relation to the base unit about a plurality of main axes,
at least two independently movable actuating arms connected between the base unit and the movable platform for moving the platform in relation to the base unit,
a tool holder rotatably connected to the platform to allow rotation of the tool holder in relation to the platform about a first auxiliary axis,
a motor for driving the first auxiliary axis, located in the base unit, and
a gear unit for transferring rotational movement from the motor to the platform, characterized in that the gear unit includes a first gearbox located in the base unit and a second gearbox located in the platform,
wherein the robot comprises an articulated first transmission member for transferring rotational movement from the motor to the platform for rotating the tool holder about the first auxiliary axis, and the first and second gearboxes are connected to the first transmission member, and
wherein the first transmission member is connected to the movable platform at an offset distance from the first auxiliary axis, and the platform is provided with a center hole coinciding with the first auxiliary axis to allow cabling to a tool to pass through the platform.