CN100462197C - 机器或仪器中终端零件的支撑和可编程移动的运动装置 - Google Patents

机器或仪器中终端零件的支撑和可编程移动的运动装置 Download PDF

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Publication number
CN100462197C
CN100462197C CNB028068300A CN02806830A CN100462197C CN 100462197 C CN100462197 C CN 100462197C CN B028068300 A CNB028068300 A CN B028068300A CN 02806830 A CN02806830 A CN 02806830A CN 100462197 C CN100462197 C CN 100462197C
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CN
China
Prior art keywords
workbench
hinge
terminal part
support
axle
Prior art date
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Expired - Fee Related
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CNB028068300A
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English (en)
Chinese (zh)
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CN1498149A (zh
Inventor
马库斯·图尔奈森
雷蒙德·克拉韦尔
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Willemin Machines SA
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Willemin Machines SA
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Publication of CN1498149A publication Critical patent/CN1498149A/zh
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    • 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
    • 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
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B23Q1/4852—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
    • B25J9/0039—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-spherical-spherical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
    • 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
    • Y10T74/20329—Joint between elements
    • Y10T74/20335—Wrist

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Machine Tool Units (AREA)
  • Transmission Devices (AREA)
  • Pivots And Pivotal Connections (AREA)
  • Prostheses (AREA)
  • Organic Low-Molecular-Weight Compounds And Preparation Thereof (AREA)
CNB028068300A 2001-02-23 2002-02-21 机器或仪器中终端零件的支撑和可编程移动的运动装置 Expired - Fee Related CN100462197C (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP01810193A EP1234632A1 (fr) 2001-02-23 2001-02-23 Dispositif cinématique du support et de déplacement programmable d'un élément terminal dans une machine ou un instrument
EP01810193.1 2001-02-23

Publications (2)

Publication Number Publication Date
CN1498149A CN1498149A (zh) 2004-05-19
CN100462197C true CN100462197C (zh) 2009-02-18

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CNB028068300A Expired - Fee Related CN100462197C (zh) 2001-02-23 2002-02-21 机器或仪器中终端零件的支撑和可编程移动的运动装置

Country Status (13)

Country Link
US (1) US8303238B2 (enExample)
EP (2) EP1234632A1 (enExample)
JP (1) JP4523228B2 (enExample)
KR (1) KR100882624B1 (enExample)
CN (1) CN100462197C (enExample)
CA (1) CA2439881C (enExample)
CZ (1) CZ20032512A3 (enExample)
EA (1) EA005147B1 (enExample)
HU (1) HUP0303205A2 (enExample)
IL (2) IL157476A0 (enExample)
PL (1) PL205720B1 (enExample)
SK (1) SK11642003A3 (enExample)
WO (1) WO2002066203A1 (enExample)

Cited By (2)

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CN102303187A (zh) * 2011-08-16 2012-01-04 江苏扬力数控机床有限公司 一种三维五轴数控激光切割机
CN105666468A (zh) * 2016-03-23 2016-06-15 中北大学 一种大摆角龙门式五轴联动混联机床

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DE102004030659B8 (de) * 2004-06-24 2007-01-18 Ruprecht Altenburger Bewegungsvorrichtung
CN101233071A (zh) * 2005-07-29 2008-07-30 弗伦茨·埃伦莱特纳 可折叠的悬臂
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CN100411826C (zh) * 2005-11-11 2008-08-20 华南理工大学 一种二维平动二维转动的四自由度并联机器人机构
CN100427276C (zh) * 2005-11-11 2008-10-22 华南理工大学 一种三维平动二维转动的五自由度并联机器人机构
CN100409992C (zh) * 2005-11-30 2008-08-13 江苏大学 一种激光加工机床
CN100384599C (zh) * 2006-06-09 2008-04-30 燕山大学 四自由度并联机械臂
WO2008037883A2 (fr) * 2006-09-21 2008-04-03 Airbus France Dispositif pour l'usinage en plafond de pieces fixes
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CN101444914A (zh) * 2008-11-19 2009-06-03 浙江工业大学 三自由度拟人并联机械臂
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CN102381557B (zh) * 2010-08-30 2013-08-28 鸿富锦精密工业（深圳）有限公司 物件分离与合并装置
CN101966652B (zh) * 2010-09-14 2011-10-26 常州大学 一种三轴数控平面型并联操作手
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CN102303186B (zh) * 2011-08-16 2013-09-04 江苏扬力数控机床有限公司 一种少自由度并联五轴数控激光切割机
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PL396589A1 (pl) * 2011-10-10 2013-04-15 Janusz Marcin Ejma Maszyna z manipulatorem narzedzia, zwlaszcza narzedzia precyzyjnego
CN102615645A (zh) * 2012-04-12 2012-08-01 重庆大学 六自由度高机动高精度实用并联机器人
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JP5723426B2 (ja) * 2013-09-02 2015-05-27 株式会社カイジョー 駆動機構及び製造装置
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Publication number Priority date Publication date Assignee Title
CN102303187A (zh) * 2011-08-16 2012-01-04 江苏扬力数控机床有限公司 一种三维五轴数控激光切割机
CN102303187B (zh) * 2011-08-16 2013-09-25 江苏扬力数控机床有限公司 一种三维五轴数控激光切割机
CN105666468A (zh) * 2016-03-23 2016-06-15 中北大学 一种大摆角龙门式五轴联动混联机床

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Publication number Publication date
EA200300921A1 (ru) 2004-02-26
SK11642003A3 (sk) 2004-05-04
WO2002066203A1 (fr) 2002-08-29
JP4523228B2 (ja) 2010-08-11
IL157476A0 (en) 2004-03-28
KR20030096262A (ko) 2003-12-24
CA2439881C (en) 2011-01-04
EP1365887A1 (fr) 2003-12-03
PL364104A1 (en) 2004-12-13
IL157476A (en) 2009-07-20
CA2439881A1 (en) 2002-08-29
KR100882624B1 (ko) 2009-02-06
US8303238B2 (en) 2012-11-06
EP1234632A1 (fr) 2002-08-28
JP2004524982A (ja) 2004-08-19
CZ20032512A3 (cs) 2004-12-15
EA005147B1 (ru) 2004-12-30
US20040052628A1 (en) 2004-03-18
CN1498149A (zh) 2004-05-19
HK1064636A1 (zh) 2005-02-04
HUP0303205A2 (hu) 2003-12-29
PL205720B1 (pl) 2010-05-31

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