Patents by Inventor Torgny Brogardh
Torgny Brogardh has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11865711Abstract: A robot arm includes a first kinematic chain from a first actuator to an end-effector platform, providing a first degree of freedom for positioning the end-effector platform; a second kinematic chain from a second actuator to the end effector platform, providing a second degree of freedom for positioning the end effector platform; a third kinematic chain from a third actuator to the end-effector platform, providing a third degree of freedom for positioning the end-effector platform; and a fourth kinematic chain configured to transmit movement of a fourth actuator to a corresponding orientation axis of an end-effector. The fourth kinematic chain includes an orientation linkage mounted to an inner arm assemblage via at least one bearing mounted to the end-effector platform, wherein the orientation linkage includes an end-effector rotation link and joints that provide at least two degrees of freedom for each end joint of the end-effector rotation link.Type: GrantFiled: August 18, 2022Date of Patent: January 9, 2024Assignee: Cognibiotics ABInventors: Torgny Brogardh, Adam Nilsson, Klas Nilsson
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Publication number: 20230339099Abstract: A parallel kinematic machine (PKM) includes a support platform and first, second, and third support linkages. The first, second, and third support linkages together include at least five support links. The PKM further includes a tool base having a shaft joint, a tool base shaft, and a tool platform. The tool base shaft is connected to the support platform via the shaft joint, rigidly connecting the tool platform and the tool base shaft. The PKM also includes one or more tool linkages, each including a tool link connected at one end, via a tool base joint, to the tool base, and at the other end connected, via a tool carriage joint, to a movable carriage. Each tool linkage is configured to rotate the tool base shaft around at least one axis relative to the support platform by transferring a movement of the respective tool linkage to the tool base shaft.Type: ApplicationFiled: June 28, 2023Publication date: October 26, 2023Applicant: COGNIBOTICS ABInventors: Torgny Brogardh, Klas Nilsson, Adam Nilsson, Mattias Svahn, Edvin Malm, Carlos Sedglach
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Patent number: 11731265Abstract: A parallel kinematic machine, PKM, comprising: a support platform (17a), a first support linkage (SL1); a second support linkage (SL2) and a third support linkage (SL3), wherein the first support linkage (SL1), the second support linkage (SL2) and the third support linkage (SL3) together comprises at least five support links (8, 9, 10, 11, 12, 13). The PKM further comprises: a tool base (140) comprising a shaft joint (24, 40, 41, 200, 202, 262a, 262b), a tool base shaft (19) and a tool platform (17b). The tool base shaft (19) is connected to the support platform (17a) via the shaft joint (24, 40, 41, 200, 202, 262a, 262b), and wherein the tool platform (17b) and the tool base shaft (19) are rigidly connected.Type: GrantFiled: August 17, 2020Date of Patent: August 22, 2023Assignee: COGNIBOTICS ABInventors: Torgny Brogardh, Klas Nilsson, Adam Nilsson
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Publication number: 20230010862Abstract: A robot arm (500) for positioning a tool (44) with controlled orientation. The robot arm (500) comprises an inner-arm linkage (15, 18, 29; 15, 18, 77); an outer-arm linkage (23; 81; 173; 228; 632; 384) and a first actuator (1; 249) configured to rotate the inner-arm linkage about a first axis of rotation (180). The inner-arm linkage includes a first inner link (15) that at an inner end is arranged to rotate around a fourth axis of rotation (185), and a second inner link (18) that at an inner end is arranged to rotate around a different, third axis of rotation (182, 185), wherein the axes of rotation (182, 185) are perpendicular to the first axis of rotation (180), and the rotations result in a geometric reconfiguration of the inner-arm linkage.Type: ApplicationFiled: December 7, 2020Publication date: January 12, 2023Applicant: COGNIBOTICS ABInventors: Torgny Brogardh, Klas Nilsson
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Publication number: 20220388155Abstract: A robot arm (500) for end-effector motion. The robot arm comprises a first actuator (4) and a first kinematic chain from the first actuator to an end-effector platform, which gives a first degree of freedom for positioning the end-effector platform. The robot arm also comprises a second actuator (5; 5b) and 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. The robot arm further comprises a third actuator (6; 6b, 512) and a third kinematic chain from the third actuator (6; 6b) to the end-effector platform, which gives a third degree of freedom for positioning the end-effector platform. The robot arm also comprises a fourth actuator (50; 150) and a fourth kinematic chain configured to transmit a movement of the fourth actuator to a corresponding orientation axis (65) for an end-effector (28).Type: ApplicationFiled: August 18, 2022Publication date: December 8, 2022Applicant: COGNIBOTICS ABInventors: Torgny Brogardh, Adam Nilsson, Klas Nilsson
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Publication number: 20220339782Abstract: A method for determining placement of support-platform joints (8a, 9a, 10a, 11a, 12a, 13a) on a support-platform (17) of a parallel kinematic manipulator, PKM. The PKM comprises: the support-platform (17), a first support linkage (SL1), a second support linkage (SL2) and a third support linkage (SL3). The first support linkage (SL1), the second support linkage (SL2) and the third support linkage (SL3) together comprises at least five support-links (8, 9, 10, 11, 12, 13). The method comprises estimating (S1) parameters indicative of stiffness for the PKM, based on a kinematic model and an elastic model of the PKM and chosen defined forces and/or torques applied to a tool (22) during a processing sequence, and checking (S2) whether the estimated parameters indicative of stiffness of the PKM fulfill one or more stiffness criteria.Type: ApplicationFiled: October 1, 2020Publication date: October 27, 2022Applicant: COGNIBOTICS ABInventors: Torgny Brogardh, Klas Nilsson, Peter Helgosson
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Patent number: 11453118Abstract: A robot arm (500) for end-effector motion. The robot arm comprises a first actuator (4) and a first kinematic chain from the first actuator to an end-effector platform, which gives a first degree of freedom for positioning the end-effector platform. The robot arm also comprises a second actuator (5; 5b) and 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. The robot arm further comprises a third actuator (6; 6b, 512) and a third kinematic chain from the third actuator (6; 6b) to the end-effector platform, which gives a third degree of freedom for positioning the end-effector platform. The robot arm also comprises a fourth actuator (50; 150) and a fourth kinematic chain configured to transmit a movement of the fourth actuator to a corresponding orientation axis (65) for an end-effector (28).Type: GrantFiled: January 11, 2019Date of Patent: September 27, 2022Assignee: COGNIBOTICS ABInventors: Torgny Brogardh, Adam Nilsson, Klas Nilsson
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Publication number: 20220281100Abstract: A parallel kinematic machine, PKM, comprising: a support platform (17a), a first support linkage (SL1); a second support linkage (SL2) and a third support linkage (SL3), wherein the first support linkage (SL1), the second support linkage (SL2) and the third support linkage (SL3) together comprises at least five support links (8, 9, 10, 11, 12, 13). The PKM further comprises: a tool base (140) comprising a shaft joint (24, 40, 41, 200, 202, 262a, 262b), a tool base shaft (19) and a tool platform (17b). The tool base shaft (19) is connected to the support platform (17a) via the shaft joint (24, 40, 41, 200, 202, 262a, 262b), and wherein the tool platform (17b) and the tool base shaft (19) are rigidly connected.Type: ApplicationFiled: August 17, 2020Publication date: September 8, 2022Applicant: COGNIBOTICS ABInventors: Torgny Brogardh, Klas Nilsson, Adam Nilsson
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Publication number: 20200391374Abstract: A robot arm (500) for end-effector motion. The robot arm comprises a first actuator (4) and a first kinematic chain from the first actuator to an end-effector platform, which gives a first degree of freedom for positioning the end-effector platform. The robot arm also comprises a second actuator (5; 5b) and 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. The robot arm further comprises a third actuator (6; 6b, 512) and a third kinematic chain from the third actuator (6; 6b) to the end-effector platform, which gives a third degree of freedom for positioning the end-effector platform. The robot arm also comprises a fourth actuator (50; 150) and a fourth kinematic chain configured to transmit a movement of the fourth actuator to a corresponding orientation axis (65) for an end-effector (28).Type: ApplicationFiled: January 11, 2019Publication date: December 17, 2020Applicant: COGNIBOTICS ABInventors: Torgny Brogardh, Adam Nilsson, Klas Nilsson
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Patent number: 10828768Abstract: A robot installation includes a first robot and a second robot. The first robot is attached to a fixed position in relation to the second robot such that the second robot lies within a reach of at least one drive arm of the first robot.Type: GrantFiled: February 27, 2014Date of Patent: November 10, 2020Assignee: ABB Schweiz AGInventors: Torgny Brogårdh, Johan Ernlund
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Patent number: 10737379Abstract: An industrial robot includes first and second kinematic chains configured to transmit the movements of corresponding first and second actuators to respective movements of an end effector. The first kinematic chain includes a first rod which is stiff. The second kinematic chain includes elements between the second actuator and the first rod such that the actuation of the second actuator causes bending forces on the first rod. The first and second kinematic chains thereby have the first rod as a common element, which improves compactness and accessibility of the robot. This improvement assumes that the robot is provided with one or more stiff rods that can bear the bending forces resulting from the actuation of the corresponding actuators.Type: GrantFiled: May 23, 2013Date of Patent: August 11, 2020Assignee: ABB Schweiz AGInventor: Torgny Brogardh
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Patent number: 10272571Abstract: 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.Type: GrantFiled: November 12, 2014Date of Patent: April 30, 2019Assignee: ABB Schweiz AGInventors: Torgny Brogårdh, Peter Fixell, Görgen Johansson, Hans Andersson, Sven Hanssen, Stig Moberg, Siim Viilup, Mats Olsson
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Patent number: 10272562Abstract: A parallel kinematics robot includes a base and an end effector movable in relation to the base. A first actuator is attached to the base and connected to the end effector via a first kinematic chain including a first drive arm, a first rod, a first joint between the first drive arm and the first rod, and a second joint between the first rod and the end effector. A second actuator is attached to the base and connected to the end effector via a second kinematic chain including a second drive arm, a second rod, a third joint between the second drive arm and the second rod, and a fourth joint between the second rod and the end effector. A third actuator is attached to the base or to the first drive arm, and connected to the end effector via a third kinematic chain including a first gear wheel and a second gear wheel, the first and second gear wheels being journalled in bearings to the end effector and intermeshing with each other.Type: GrantFiled: June 9, 2014Date of Patent: April 30, 2019Assignee: ABB Schweiz AGInventor: Torgny Brogårdh
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Patent number: 10166684Abstract: An industrial robot including a manipulator for movement of an object in space. The manipulator includes a movable platform arranged for carrying the object, a first arm arranged for influencing the platform in a first direction and including a first inner arm part rotatable about a first axis, a second arm arranged for influencing the platform in a second direction and including a second inner arm part rotatable about a second axis, a third arm arranged for influencing the platform in a third direction and including a third inner arm part rotatable about a third axis.Type: GrantFiled: March 8, 2013Date of Patent: January 1, 2019Assignee: ABB Research Ltd.Inventors: Torgny Brogardh, Mats Isaksson
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Publication number: 20180117768Abstract: 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.Type: ApplicationFiled: November 12, 2014Publication date: May 3, 2018Inventors: Torgny BROGÅRDH, Peter FIXELL, Görgen JOHANSSON, Hans ANDERSSON, Sven Hanssen, Stig MOBERG, Siim VIILUP, Mats OLSSON
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Patent number: 9868205Abstract: 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.Type: GrantFiled: March 18, 2014Date of Patent: January 16, 2018Assignee: ABB Schweiz AGInventors: Torgny Brogårdh, Johan Ernlund
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Publication number: 20170050312Abstract: A parallel kinematics robot includes a base and an end effector movable in relation to the base. A first actuator is attached to the base and connected to the end effector via a first kinematic chain including a first drive arm, a first rod, a first joint between the first drive arm and the first rod, and a second joint between the first rod and the end effector. A second actuator is attached to the base and connected to the end effector via a second kinematic chain including a second drive arm, a second rod, a third joint between the second drive arm and the second rod, and a fourth joint between the second rod and the end effector. A third actuator is attached to the base or to the first drive arm, and connected to the end effector via a third kinematic chain including a first gear wheel and a second gear wheel, the first and second gear wheels being journalled in bearings to the end effector and intermeshing with each other.Type: ApplicationFiled: June 9, 2014Publication date: February 23, 2017Inventor: Torgny Brogårdh
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Publication number: 20160368136Abstract: 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.Type: ApplicationFiled: March 18, 2014Publication date: December 22, 2016Inventors: Torgny BROGÅRDH, Johan ERNLUND
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Publication number: 20160332295Abstract: A robot installation includes a first robot and a second robot. The first robot is attached to a fixed position in relation to the second robot such that the second robot lies within a reach of at least one drive arm of the first robot.Type: ApplicationFiled: February 27, 2014Publication date: November 17, 2016Inventors: Torgny BROGÅRDH, Johan ERNLUND
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Patent number: D763937Type: GrantFiled: November 25, 2014Date of Patent: August 16, 2016Assignee: ABB Technology LtdInventors: Torgny Brogardh, Ove Ode, Johan Ernlund