US 12,350,824 B2
Parallel-kinematic machine with versatile tool orientation
Torgny Brogardh, Molndal (SE); Klas Nilsson, Lund (SE); Adam Nilsson, Brooklyn, NY (US); Mattias Svahn, Dalby (SE); Edvin Malm, Malmö (SE); and Carlos Sedglach, Malmö (SE)
Assigned to COGNIBOTICS AB, Lund (SE)
Filed by COGNIBOTICS AB, Lund (SE)
Filed on Jun. 28, 2023, as Appl. No. 18/215,660.
Application 18/215,660 is a continuation in part of application No. 17/753,054, granted, now 11,731,265, previously published as PCT/EP2020/072999, filed on Aug. 17, 2020.
Claims priority of provisional application 63/051,221, filed on Jul. 13, 2020.
Claims priority of application No. 19192225 (EP), filed on Aug. 19, 2019.
Prior Publication US 2023/0339099 A1, Oct. 26, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/16 (2006.01); B25J 9/00 (2006.01); B25J 9/10 (2006.01)
CPC B25J 9/0036 (2013.01) [B25J 9/0033 (2013.01); B25J 9/0042 (2013.01); B25J 9/106 (2013.01); B25J 9/1623 (2013.01); B25J 9/1664 (2013.01); G05B 2219/40267 (2013.01); G05B 2219/50162 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A parallel kinematic machine (PKM), comprising:
a support platform;
a first support linkage, comprising one or more first support links, each of the first support links connected at a first end to the support platform via a first support joint, and at a second end connected to a first carriage via a first carriage joint, wherein the first carriage is movable along a first path, and wherein the first support linkage is arranged to transfer a first movement to the support platform;
a second support linkage, comprising one or more second support links, each of the second support links connected at a first end to the support platform via a second support joint, and at a second end connected to a second carriage via a second carriage joint, wherein the second carriage is movable along a second path, and wherein the second support linkage is arranged to transfer a second movement to the support platform;
a third support linkage comprising, one or more third support links, each of the third support links connected at a first end to the support platform via a third support joint, and at a second end connected to a third carriage via a third carriage joint;
wherein the third carriage is movable along a third path, and the third support linkage is arranged to transfer a third movement to the support platform; and wherein the first support linkage, the second support linkage, and the third support linkage together comprise at least five support links;
wherein the PKM further comprises:
a tool base, comprising a shaft joint and a tool platform, wherein the tool platform is connected to the support platform via the shaft joint; and
one or more tool linkages, each of the tool linkages comprising a tool link connected at a first end, via a tool base joint, to the tool base, and at a second end connected, via a tool carriage joint, to a carriage arranged for movement along a path, wherein at least one of the one or more tool linkages is configured to have a controllable, variable length;
wherein each of the tool linkages is configured to rotate the tool platform around at least one axis relative to the support platform, by transferring a movement of the respective tool linkage to the tool base platform.