公开(公告)号：US20160368136A1

公开(公告)日：2016-12-22

申请号：US15122226

申请日：2014-03-18

Applicant: ABB SCHWEIZ AG

Inventor： Torgny BROGÅRDH ,  Johan ERNLUND

IPC: B25J9/00

CPC classification number: B25J9/0045 ,  B25J9/0051

Abstract: A parallel kinematics robot has a first drive arm and a second drive arm, the two drive arms being crossed when the robot operates within its normal work area. The drive arms thereby occupy less space in a horizontal direction compared with a situation where the two drive arms point away from each other.

Abstract translation: 平行运动机器人具有第一驱动臂和第二驱动臂，当机器人在其正常工作区域内操作时，两个驱动臂交叉。 与两个驱动臂相互指向的情况相比，驱动臂在水平方向上占据较少的空间。

公开(公告)号：US20180117768A1

公开(公告)日：2018-05-03

申请号：US15524992

申请日：2014-11-12

Applicant: ABB Schweiz AG

Inventor： Torgny BROGÅRDH ,  Peter FIXELL ,  Görgen JOHANSSON ,  Hans ANDERSSON ,  Sven Hanssen ,  Stig MOBERG ,  Siim VIILUP ,  Mats OLSSON

IPC: B25J9/16 ,  B25J17/00

CPC classification number: B25J9/1692 ,  B25J17/00 ,  G05B2219/39018 ,  G05B2219/39027 ,  Y10S901/02 ,  Y10S901/15 ,  Y10S901/25 ,  Y10S901/28

Abstract: An arrangement for determining the calibration position of a robot joint where the joint has a moveable joint element and a stationary joint element, where one of the joint elements has a holding structure and the other a force providing protrusion, a robot controller, a motor connected between the robot controller and the moveable joint element and a force receiving element adapted to form a kinematic coupling with the holding structure and the force providing protrusion, where the kinematic coupling has at least two areas of contact between the structure and the force receiving element and one area of contact between the force providing protrusion and the force receiving element, the force receiving element being fastenable to the holding structure for stretching out across a gap between the two robot joint elements for receiving a force from the force providing protrusion.