BRPI0518431A2 - mÁquina paralela-cinemÁtica - Google Patents
mÁquina paralela-cinemÁticaInfo
- Publication number
- BRPI0518431A2 BRPI0518431A2 BRPI0518431-2A BRPI0518431A BRPI0518431A2 BR PI0518431 A2 BRPI0518431 A2 BR PI0518431A2 BR PI0518431 A BRPI0518431 A BR PI0518431A BR PI0518431 A2 BRPI0518431 A2 BR PI0518431A2
- Authority
- BR
- Brazil
- Prior art keywords
- movable
- positioning head
- setting devices
- reinforcing
- rotatable
- Prior art date
Links
- 230000003014 reinforcing effect Effects 0.000 abstract 3
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
- B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
- B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
- B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
- B23Q1/5462—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T409/00—Gear cutting, milling, or planing
- Y10T409/30—Milling
- Y10T409/306664—Milling including means to infeed rotary cutter toward work
- Y10T409/307672—Angularly adjustable cutter head
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T409/00—Gear cutting, milling, or planing
- Y10T409/30—Milling
- Y10T409/309576—Machine frame
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20317—Robotic arm including electric motor
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Machine Tool Units (AREA)
- Lenses (AREA)
- Sorption Type Refrigeration Machines (AREA)
- Compression-Type Refrigeration Machines With Reversible Cycles (AREA)
- Transmission Devices (AREA)
- Pivots And Pivotal Connections (AREA)
- Transplanting Machines (AREA)
- Extrusion Moulding Of Plastics Or The Like (AREA)
- Working Measures On Existing Buildindgs (AREA)
- Soil Working Implements (AREA)
- Lifting Devices For Agricultural Implements (AREA)
- Machines For Laying And Maintaining Railways (AREA)
- Laser Beam Processing (AREA)
Abstract
MÁQUINA PARALELA-CINEMÁTICA. Uma máquina paralela-cinemática (1) que inclui pelo menos três dispositivos de assentamento (4.1, 4.2, 4.3) que podem ser alongados e encurtados individualmente, no qual cada dispositivo de assentamento (4.1, 4.2, 4.3) está ligado a uma cabeça de posicionamento (11), via uma primeira junta (8, 9, 10), no qual cada dispositivo de assentamento (4.1, 4.2, 4.3) está ligado a uma base (2), via uma junta universal (3.1, 3.2, 3.3), e no qual a cabeça de posicionamento (11) é móvel dentro de uma faixa de operação em resposta a manobra dos dispositivos de assentamento (4.1, 4.2, 4.3), no qual pelo menos duas travessas de reforço (5.1, 5.2, 5.2.1, 5.2.2) são ligadas à cabeça de posicionamento (11), via um respectivo mancal de rotação de travessa (100.1, 100.2), cada uma tendo somente um grau de liberdade, no qual cada travessa de reforço (5.1, 5.2, 5.2.1, 5.2.2) é adaptada para deslizar transversalmente em um mancal de travessa (17.1, 17.2, 17.2.1, 17.2.2) na base (2) quando um ou mais dos dispositivos de assentamento (4.1, 4.2, 4.3) é alongado ou encurtado, no qual cada mancal de travessa (17.1, 17.2, 17.2.1, 17.2.2) é ligado à base (2), via uma junta universal de travessa (BUl, BU2), e no qual o mancal de travessa (17.2, 17.2.1, 17.2.2) de pelo menos uma travessa de reforço (5.2, 5.2.1, 5.2.2) é girável sobre um eixo que se estende paralelo com o eixo longitudinal de referida travessa de reforço (5.2, 5.2.1, 5.2.2).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE0402824A SE527873C2 (sv) | 2004-11-18 | 2004-11-18 | Parallellkinematisk maskin |
PCT/SE2005/001651 WO2006054935A1 (en) | 2004-11-18 | 2005-11-03 | Parallel-kinematical machine |
Publications (2)
Publication Number | Publication Date |
---|---|
BRPI0518431A2 true BRPI0518431A2 (pt) | 2008-11-25 |
BRPI0518431B1 BRPI0518431B1 (pt) | 2018-05-08 |
Family
ID=33516484
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
BRPI0518431A BRPI0518431B1 (pt) | 2004-11-18 | 2005-11-03 | máquina paralela-cinemática |
Country Status (22)
Country | Link |
---|---|
US (1) | US8783127B2 (pt) |
EP (1) | EP1838501B1 (pt) |
JP (1) | JP4955568B2 (pt) |
KR (1) | KR101227727B1 (pt) |
CN (1) | CN101155672B (pt) |
AT (1) | ATE496737T1 (pt) |
AU (1) | AU2005307148B2 (pt) |
BR (1) | BRPI0518431B1 (pt) |
CA (1) | CA2587836C (pt) |
DE (1) | DE602005026175D1 (pt) |
DK (1) | DK1838501T3 (pt) |
ES (1) | ES2358240T3 (pt) |
IL (1) | IL183080A (pt) |
MX (1) | MX2007006036A (pt) |
MY (1) | MY141396A (pt) |
PL (1) | PL1838501T3 (pt) |
RU (1) | RU2395380C2 (pt) |
SE (1) | SE527873C2 (pt) |
SI (1) | SI1838501T1 (pt) |
TW (1) | TWI345520B (pt) |
WO (1) | WO2006054935A1 (pt) |
ZA (1) | ZA200705062B (pt) |
Families Citing this family (33)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102006046758A1 (de) * | 2006-09-29 | 2008-04-03 | Abb Patent Gmbh | Vorrichtung insbesondere zum Positionieren von Objekten |
WO2009069153A1 (en) * | 2007-11-26 | 2009-06-04 | Mechatronic System Company S.R.L. | A device for handling and/or performing work operations on objects |
US20120150306A1 (en) * | 2009-06-15 | 2012-06-14 | Roelof Marissen | Hinge structure |
SE535182C2 (sv) * | 2010-06-17 | 2012-05-08 | Exechon Ab | En parallellkinematisk maskin med kardanhållare |
CN101954593B (zh) * | 2010-09-07 | 2012-06-13 | 上海工程技术大学 | 用于虚轴机床和机器人的三转动并联机构 |
CN101966502B (zh) * | 2010-10-15 | 2012-12-12 | 江苏长虹汽车装备集团有限公司 | 基于空间和平面三自由度并联机构的汽车喷涂混联机器人 |
CN102114599B (zh) * | 2011-02-11 | 2012-08-08 | 上海工程技术大学 | 用于虚轴机床和机器人的解耦三转动并联机构 |
US9764464B2 (en) * | 2011-08-03 | 2017-09-19 | The Boeing Company | Robot including telescopic assemblies for positioning an end effector |
CN102672714B (zh) * | 2012-03-21 | 2014-05-21 | 天津大学 | 高刚度高精度五坐标并联动力头 |
CN102632394B (zh) * | 2012-04-18 | 2013-12-11 | 浙江理工大学 | 具有两条垂直相交转轴的三自由度并联机构 |
KR101419897B1 (ko) * | 2012-04-26 | 2014-07-15 | 고려대학교 산학협력단 | 병렬형 5자유도 마이크로 로봇 |
CN102699899B (zh) * | 2012-06-06 | 2014-08-06 | 天津大学 | 过约束高刚度多坐标混联机器人 |
CN102699900B (zh) * | 2012-06-06 | 2015-05-27 | 天津大学 | 含双平台的过约束五自由度混联机器人 |
CN102922507A (zh) * | 2012-08-30 | 2013-02-13 | 南京理工大学 | 二自由度调平装置 |
KR101382666B1 (ko) * | 2012-11-26 | 2014-04-07 | 양국진 | 병렬형 머니퓰레이터 |
US20140150593A1 (en) * | 2012-12-05 | 2014-06-05 | Alio Industries, Inc. | Precision tripod motion system |
CN103029122B (zh) * | 2012-12-11 | 2015-03-11 | 北京交通大学 | 一种冗余驱动的三自由度平移型并联机器人机构 |
CN103240614B (zh) * | 2013-05-06 | 2015-11-25 | 江苏国威工程机械有限公司 | 一种冗余驱动五轴联动混联机床 |
CN103252774B (zh) * | 2013-05-07 | 2015-04-15 | 天津大学 | 一种空间五自由度混联机器人 |
WO2014185877A2 (en) * | 2013-05-13 | 2014-11-20 | Coşkunöz Metal Form Maki̇na Endüstri̇ Ve Ti̇c. A.Ş. | A laser processing machine with a movement mechanism |
CN103600346A (zh) * | 2013-11-25 | 2014-02-26 | 浙江理工大学 | 一种3自由度空间定位并联机构 |
CN104384941B (zh) * | 2014-09-16 | 2016-08-17 | 燕山大学 | 具有等效Tricept机构运动的过约束并联机构 |
ES2540925B1 (es) | 2015-05-27 | 2016-01-22 | Caviaroli, S.L. | Procedimiento de encapsulación de sustancias hidrófobas |
CN105598478B (zh) * | 2016-03-24 | 2018-10-12 | 江苏中智自动化有限公司 | 一种高精度数控机床并联主轴头 |
CN106378770B (zh) * | 2016-11-09 | 2018-10-02 | 南京理工大学 | 一种可实现两平一转的三自由度机器人机构 |
CN106426102B (zh) * | 2016-11-09 | 2018-10-02 | 南京理工大学 | 一种具有三平两转的五自由度机器人机构 |
CN108500953A (zh) * | 2018-02-28 | 2018-09-07 | 上海大学 | 一种含有动平台附加约束的五自由度精密串并联机器人 |
CN108656092B (zh) * | 2018-08-07 | 2020-11-27 | 燕山大学 | 基于四支链两转动一移动并联机构的混联机器人 |
CN109128872B (zh) * | 2018-09-26 | 2019-09-17 | 燕山大学 | 一种能够实现多方向定点转动的对称三轴并联主轴头 |
CN110076444A (zh) * | 2019-04-30 | 2019-08-02 | 天津大学 | 一种用于搅拌摩擦焊接的两自由度并联机头 |
CN110450142A (zh) * | 2019-09-09 | 2019-11-15 | 哈工大机器人(合肥)国际创新研究院 | 一种基于双陀螺仪部件的六自由度并联机器人 |
RU2744148C1 (ru) * | 2019-12-16 | 2021-03-03 | Булат Азатович Еникеев | Станок с параллельной кинематикой повышенной виброустойчивости |
CN113715003A (zh) * | 2021-09-16 | 2021-11-30 | 江南大学 | 具有两条异面转轴的rrp型两转一移并联机构 |
Family Cites Families (20)
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US148216A (en) | 1874-03-03 | Improvement in suspenders | ||
US4407625A (en) * | 1981-05-15 | 1983-10-04 | Westinghouse Electric Corp. | Multi-arm robot |
US4569627A (en) | 1983-03-10 | 1986-02-11 | Simunovic Sergio N | Robotic manipulator |
GB2143498B (en) | 1983-07-21 | 1986-04-30 | Emi Ltd | Improvements in or relating to assembly robots |
JPS60122711A (ja) * | 1983-12-08 | 1985-07-01 | Oji Paper Co Ltd | 多孔質炭素板の製造方法 |
SE452279B (sv) * | 1985-05-10 | 1987-11-23 | Neos Products Hb | Robot |
US4819496A (en) * | 1987-11-17 | 1989-04-11 | The United States Of America As Represented By The Secretary Of The Air Force | Six degrees of freedom micromanipulator |
EP0482268A1 (fr) * | 1990-10-24 | 1992-04-29 | Marc Lecomte | Module de guidage linéaire et de translation |
JP3192678B2 (ja) * | 1991-04-30 | 2001-07-30 | キヤノン株式会社 | Zチルトアーム |
KR0160676B1 (ko) * | 1995-02-20 | 1998-12-15 | 김광호 | 로보트 |
JP3090257B2 (ja) * | 1996-11-11 | 2000-09-18 | キタムラ機械株式会社 | マシニングセンタ |
DE19757885A1 (de) * | 1997-12-24 | 1999-07-08 | Wissner Rolf | Vorrichtung zur Positionierung eines ersten Maschinenteils gegenüber einem zweiten Maschinenteil |
SE512338C2 (sv) * | 1998-06-25 | 2000-02-28 | Neos Robotics Ab | System och metod för reglering av en robot |
JP3731710B2 (ja) * | 1998-10-01 | 2006-01-05 | ファナック株式会社 | パラレルリンク機構の継手構造 |
US6497548B1 (en) * | 1999-08-05 | 2002-12-24 | Shambhu Nath Roy | Parallel kinematics mechanism with a concentric sperical joint |
DE19952423A1 (de) | 1999-10-30 | 2001-05-10 | Hueller Hille Gmbh | Bearbeitungsmaschine zum mehrachsigen Bewegen eines Werkzeuges oder Werkstückes |
FR2800659B1 (fr) | 1999-11-05 | 2002-01-18 | Process Conception Ing Sa | Dispositif de deplacement d'un objet sensiblement parallelement a un plan |
DE10252824A1 (de) * | 2002-11-13 | 2004-06-03 | Deckel Maho Pfronten Gmbh | Werkzeugmaschine |
JP4249530B2 (ja) * | 2003-04-11 | 2009-04-02 | 高松機械工業株式会社 | パラレルメカニズム利用の位置決め装置 |
SE535182C2 (sv) * | 2010-06-17 | 2012-05-08 | Exechon Ab | En parallellkinematisk maskin med kardanhållare |
-
2004
- 2004-11-18 SE SE0402824A patent/SE527873C2/sv unknown
-
2005
- 2005-10-24 TW TW094137069A patent/TWI345520B/zh not_active IP Right Cessation
- 2005-11-03 AU AU2005307148A patent/AU2005307148B2/en not_active Ceased
- 2005-11-03 ES ES05799561T patent/ES2358240T3/es active Active
- 2005-11-03 BR BRPI0518431A patent/BRPI0518431B1/pt not_active IP Right Cessation
- 2005-11-03 JP JP2007542969A patent/JP4955568B2/ja not_active Expired - Fee Related
- 2005-11-03 US US11/719,117 patent/US8783127B2/en active Active
- 2005-11-03 RU RU2007120945/02A patent/RU2395380C2/ru active
- 2005-11-03 DE DE602005026175T patent/DE602005026175D1/de active Active
- 2005-11-03 WO PCT/SE2005/001651 patent/WO2006054935A1/en active Application Filing
- 2005-11-03 CN CN2005800395787A patent/CN101155672B/zh active Active
- 2005-11-03 KR KR1020077013693A patent/KR101227727B1/ko active IP Right Grant
- 2005-11-03 PL PL05799561T patent/PL1838501T3/pl unknown
- 2005-11-03 SI SI200531228T patent/SI1838501T1/sl unknown
- 2005-11-03 CA CA2587836A patent/CA2587836C/en active Active
- 2005-11-03 MX MX2007006036A patent/MX2007006036A/es active IP Right Grant
- 2005-11-03 AT AT05799561T patent/ATE496737T1/de active
- 2005-11-03 DK DK05799561.5T patent/DK1838501T3/da active
- 2005-11-03 EP EP05799561A patent/EP1838501B1/en active Active
- 2005-11-07 MY MYPI20055214A patent/MY141396A/en unknown
-
2007
- 2007-05-09 IL IL183080A patent/IL183080A/en active IP Right Grant
- 2007-06-11 ZA ZA200705062A patent/ZA200705062B/xx unknown
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
B25A | Requested transfer of rights approved |
Owner name: EXECHON TECHNOLOGIES HOLDING AB (SE) |
|
B09A | Decision: intention to grant [chapter 9.1 patent gazette] | ||
B16A | Patent or certificate of addition of invention granted [chapter 16.1 patent gazette] | ||
B21F | Lapse acc. art. 78, item iv - on non-payment of the annual fees in time |
Free format text: REFERENTE A 18A ANUIDADE. |
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B24J | Lapse because of non-payment of annual fees (definitively: art 78 iv lpi, resolution 113/2013 art. 12) |
Free format text: EM VIRTUDE DA EXTINCAO PUBLICADA NA RPI 2747 DE 29-08-2023 E CONSIDERANDO AUSENCIA DE MANIFESTACAO DENTRO DOS PRAZOS LEGAIS, INFORMO QUE CABE SER MANTIDA A EXTINCAO DA PATENTE E SEUS CERTIFICADOS, CONFORME O DISPOSTO NO ARTIGO 12, DA RESOLUCAO 113/2013. |