Industrial robot
View Patent ↗An industrial robot for movement of an object in space comprising a stationary platform, a movable platform adapted for supporting the object, and a first, a second and a third arm to which the platforms are joined. The first arm comprises a first actuator, a first supporting arm influenced by the first actuator and rotatable around a first axis, and a first linkage. The second arm comprises a second actuator, a second supporting arm influenced by the second actuator and rotatable around a second axis, and a second linkage. The third arm comprises a third actuator, a third supporting arm influenced by the third actuator and rotatable around a third axis, and a third linkage. The second supporting arm is freely mounted around a cross-beam that is arranged at right angles to the second axis.
1. An industrial robot for movement of an object in space comprising a stationary platform, a movable platform adapted for supporting the object, and a first, a second and a third arm to which the platforms are joined, the first arm comprising a first actuator, a first supporting arm influenced by the first actuator and rotatable around a first axis, and a first linkage, the second arm comprising a second actuator, a second supporting arm influenced by the second actuator and rotatable around a second axis, and a second linkage, and the third arm comprising a third actuator, a third supporting arm influenced by the third actuator and rotatable around a third axis, and a third linkage, wherein the stationary platform comprises a bearing allowing the third supporting arm to freely rotate around a fourth axis that is arranged in a plane normal to the third axis.
2. The industrial robot according to claim 1 , wherein the third supporting arm comprises a linkage that influences the third supporting arm to rotate in a plane intersecting the movable platform.
3. The industrial robot according to claim 1 , wherein the third supporting arm comprises a fourth supporting arm, the outer end of which is connected, by means of a first link, to the first supporting arm and is connected, by means of a second link, to the second supporting arm.
4. The industrial robot according to claim 3 , wherein the fourth supporting arm comprises a triangle, the base of which is journalled to the third supporting arm.
5. The industrial robot according to claim 1 , wherein the third linkage comprises a triangle, the base of which is journalled in the third supporting arm and the top of which is journalled in the movable platform.
6. The industrial robot according to claim 1 , wherein the first linkage comprises a triple link and that the second linkage comprises a double link.
7. The industrial robot according to claim 1 , wherein the third linkage comprises a locked double link that joins the third supporting arm to the movable platform.
8. The industrial robot according to claim 7 , wherein the first linkage comprises a double link and that the second linkage comprises a double link.
9. The industrial robot according to claim 7 , wherein the first linkage comprises a triple link and that the second linkage comprises one link.
10. The industrial robot according to claim 1 , wherein the first and second axes are coincident.
11. A method for manufacturing an industrial robot, with which an object is moved in space, the comprising:
operatively supporting the object with a movable platform;
operatively connecting a first arm and a third arm to the movable platform;
operatively connecting the first arm to a first actuator;
operatively connecting a first supporting arm rotatable around a first axis to the first actuator;
operatively connecting a first linkage to the first arm and to the movable platform;
operatively connecting the second arm to a second actuator;
operatively connecting a second supporting arm rotatable around a second axis to the second actuator;
operatively connecting a second linkage to the first arm and to the movable platform;
operatively connecting a third actuator to the third arm;
operatively connecting a third supporting arm rotatable around a third axis to the third actuator;
operatively connecting a third linkage to the third arm and to the movable platform; and
providing the movable platform with a bearing operative to permit the second supporting arm to freely rotate around a fourth axis that is arranged in a plane normal to the third axis.
12. The method according to claim 11 further comprising: arranging the third supporting arm such that it can rotate in a plane intersecting the movable platform.
13. The method according to claim 11 further comprising:
providing the third supporting arm with a fourth supporting arm;
connecting an outer end of the fourth supporting arm by means of a first link to the first supporting arm and by means of a second link to the third supporting arm.
14. A method for carrying out laser cutting, the method comprising:
providing a robot including a stationary platform, a movable platform adapted for supporting the object, and a first, a second and a third arm to which the platforms are joined, the first arm comprising a first actuator, a first supporting arm influenced by the first actuator and rotatable around a first axis, and a first linkage, the second arm comprising a second actuator, a second supporting arm influenced by the second actuator and rotatable around a second axis, and a second linkage, and the third arm comprising a third actuator, a third supporting arm influenced by the third actuator and rotatable around a third axis, and a third linkage, wherein the stationary platform comprises a bearing allowing the third supporting arm to freely rotate around a fourth axis that is arranged in a plane normal to the third axis; and
carrying out laser cutting with the robot.