CN103003034B - 六足设备 - Google Patents

六足设备 Download PDF

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Publication number
CN103003034B
CN103003034B CN201180032371.2A CN201180032371A CN103003034B CN 103003034 B CN103003034 B CN 103003034B CN 201180032371 A CN201180032371 A CN 201180032371A CN 103003034 B CN103003034 B CN 103003034B
Authority
CN
China
Prior art keywords
stator
hexapod
rotor
ring
carrier
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201180032371.2A
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English (en)
Chinese (zh)
Other versions
CN103003034A (zh
Inventor
马丁·施瓦布
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Milcoyan And Vitofas Patent Civil Law Co
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of CN103003034A publication Critical patent/CN103003034A/zh
Application granted granted Critical
Publication of CN103003034B publication Critical patent/CN103003034B/zh
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • F16M13/022—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle repositionable
    • 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
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H21/00—Gearings comprising primarily only links or levers, with or without slides
    • F16H21/46—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions [3D]

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Linear Motors (AREA)
  • Manipulator (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
CN201180032371.2A 2010-06-28 2011-06-21 六足设备 Expired - Fee Related CN103003034B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102010025275.1 2010-06-28
DE201010025275 DE102010025275B4 (de) 2010-06-28 2010-06-28 Hexapod
PCT/EP2011/060338 WO2012000840A1 (de) 2010-06-28 2011-06-21 Hexapod

Publications (2)

Publication Number Publication Date
CN103003034A CN103003034A (zh) 2013-03-27
CN103003034B true CN103003034B (zh) 2015-04-15

Family

ID=44583708

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201180032371.2A Expired - Fee Related CN103003034B (zh) 2010-06-28 2011-06-21 六足设备

Country Status (7)

Country Link
US (1) US9109743B2 (https=)
EP (1) EP2585257B1 (https=)
JP (1) JP5826837B2 (https=)
CN (1) CN103003034B (https=)
DE (1) DE102010025275B4 (https=)
ES (1) ES2602478T3 (https=)
WO (1) WO2012000840A1 (https=)

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DE102012002400B4 (de) * 2011-03-17 2020-06-18 Eb-Invent Gmbh Manipulator
WO2013105849A1 (en) * 2012-01-10 2013-07-18 Wittyworx Llp Actuated hexapod platform
DE202012004341U1 (de) 2012-04-30 2013-05-06 Fgb A. Steinbach Gmbh & Co. Kg Hydraulikzylinder für Hexapod und Hexapod mit einem solchen Hydraulikzylinder
DE102012207178B4 (de) 2012-04-30 2018-06-14 Fgb A. Steinbach Gmbh & Co. Kg Hydraulikzylinder für Hexapod und Hexapod mit einem solchen Hydraulikzylinder
WO2014039083A1 (en) 2012-09-07 2014-03-13 Gies Mark Ground mounted solar module integration system
CN103926936B (zh) * 2014-03-25 2016-04-20 哈尔滨工业大学 一种用于纵向运动模拟的六自由度并联组装机构
DE102014220065B3 (de) * 2014-10-02 2015-11-19 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Manipulator zur erzeugung einer translationsbewegung aus einer rotationsbewegung und ein computertomographie- untersuchungsgerät mit einem solchen manipulator
US10744639B2 (en) * 2015-10-26 2020-08-18 Sony Corporation Parallel link robot and operation apparatus
US10973599B2 (en) * 2016-03-25 2021-04-13 Intuitive Surgical Operations, Inc. Surgical platform supported by multiple arms
US20180038461A1 (en) * 2016-08-05 2018-02-08 Ecole Polytechnique Federale De Lausanne (Epfl) Planar Pop-Up Actuator Device with Embedded Electro-Magnetic Actuation
DE102017216291A1 (de) 2017-09-14 2019-03-14 Bayerische Motoren Werke Aktiengesellschaft Kraftfahrzeug
US11247072B2 (en) * 2017-09-29 2022-02-15 Varian Medical Systems International Ag X-ray imaging system with a combined filter and collimator positioning mechanism
AT520613A1 (de) * 2017-11-13 2019-05-15 Voestalpine Tubulars Gmbh & Co Kg Vorrichtung zur optischen Vermessung des Außengewinde-Profils von Rohren
DE102018114883B4 (de) 2018-06-20 2020-12-10 Ponticon Gmbh Vorrichtung und Verfahren zum (Hochgeschwindigkeits-) Laserauftragschweißen
EP3943780B1 (en) * 2019-03-22 2024-08-14 NTN Corporation Parallel link mechanism and link actuation device
DE102019108538B3 (de) 2019-04-02 2020-06-25 Yxlon International Gmbh Röntgenprüfvorrichtung mit Manipulator sowie Verfahren zur Bewegung der Fixiervorrichtungen einer solchen Röntgenprüfvorrichtung
FR3102697B1 (fr) * 2019-11-05 2024-03-08 Pollen Robotics Articulation à trois degrés de liberté pour un robot et procédé de commande correspondant
DE102019135471A1 (de) * 2019-12-20 2021-06-24 Deutsches Zentrum für Luft- und Raumfahrt e.V. Effektor für einen Roboter, Roboter und Verfahren zum Positionieren, Orientieren, Aufnehmen, Handhaben und/oder Ablegen eines Objekts
US11945112B2 (en) * 2020-02-28 2024-04-02 The Board Of Trustees Of The Leland Stanford Junior University Robotic platforms to mimic papillary muscle motion ex vivo
WO2021176517A1 (ja) * 2020-03-02 2021-09-10 株式会社神戸製鋼所 アクチュエータおよびアクチュエータ装置
CN111687886A (zh) * 2020-06-28 2020-09-22 上海道简机电科技有限公司 一种基于磁悬浮驱动的3-dof仿生眼运动装置及其运动方法
JP7438908B2 (ja) * 2020-09-23 2024-02-27 Ntn株式会社 パラレルリンク機構およびリンク作動装置
DE102022101921B4 (de) * 2022-01-27 2026-01-15 Toptica Photonics SE Halteanordung für ein optisches Element
CN119908005A (zh) 2022-04-11 2025-04-29 E2M科技公司 一种运动平台系统
IT202200023544A1 (it) * 2022-11-15 2024-05-15 Vi Grade Gmbh Apparato e relativo procedimento per la simulazione della conduzione di un veicolo terrestre

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU1049244A1 (ru) * 1982-02-11 1983-10-23 Belikov Viktor T Манипул тор
SU1083302A1 (ru) * 1982-02-01 1984-03-30 Belikov Viktor T Двухкоординатный электрический двигатель
US6196081B1 (en) * 1998-02-03 2001-03-06 Hexel Corporation Systems and methods employing a rotary track for machining and manufacturing
US6330837B1 (en) * 1997-08-28 2001-12-18 Microdexterity Systems, Inc. Parallel mechanism
JP3439151B2 (ja) * 1999-04-12 2003-08-25 ヒーハイスト精工株式会社 多自由度機構
WO2004033161A1 (en) * 2002-09-30 2004-04-22 Evotech S.R.L. Device for moving and orienting an object with at least two degrees of freedom

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4806068A (en) * 1986-09-30 1989-02-21 Dilip Kohli Rotary linear actuator for use in robotic manipulators
US4919382A (en) * 1988-09-14 1990-04-24 The United States Of America As Represented By The Secretary Of The Navy Multi-post yoke gimbal
US4988244A (en) 1989-09-01 1991-01-29 Kearney & Trecker Six-axis machine tool
GB9107207D0 (en) 1991-04-05 1991-05-22 Tycho Technology Ltd Mechanical manipulator
US5388935A (en) 1993-08-03 1995-02-14 Giddings & Lewis, Inc. Six axis machine tool
SE511804C2 (sv) * 1996-03-14 1999-11-29 Abb Ab Anordning för relativ förflyttning av två element
ITMI20010830A1 (it) * 2001-04-19 2002-10-19 Consiglio Nazionale Ricerche Robot modulare e riconfigurabile a cinematica parallela
JP3931296B2 (ja) 2003-03-27 2007-06-13 株式会社ジェイテクト 四自由度パラレルロボット
WO2006133583A1 (de) * 2005-06-13 2006-12-21 Ruefli Franz Vorrichtung zur bearbeitung aller seiten eines werkstücks mit zwei parallelkinematischen trägerebenen
US8430878B2 (en) * 2009-11-13 2013-04-30 Amei Technologies, Inc. Adjustable orthopedic fixation system
DE102010005586B4 (de) * 2010-01-22 2012-03-29 Martin Schwab Hexapod

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU1083302A1 (ru) * 1982-02-01 1984-03-30 Belikov Viktor T Двухкоординатный электрический двигатель
SU1049244A1 (ru) * 1982-02-11 1983-10-23 Belikov Viktor T Манипул тор
US6330837B1 (en) * 1997-08-28 2001-12-18 Microdexterity Systems, Inc. Parallel mechanism
US6196081B1 (en) * 1998-02-03 2001-03-06 Hexel Corporation Systems and methods employing a rotary track for machining and manufacturing
JP3439151B2 (ja) * 1999-04-12 2003-08-25 ヒーハイスト精工株式会社 多自由度機構
WO2004033161A1 (en) * 2002-09-30 2004-04-22 Evotech S.R.L. Device for moving and orienting an object with at least two degrees of freedom

Also Published As

Publication number Publication date
ES2602478T3 (es) 2017-02-21
EP2585257B1 (de) 2016-08-10
JP5826837B2 (ja) 2015-12-02
US20130099085A1 (en) 2013-04-25
US9109743B2 (en) 2015-08-18
EP2585257A1 (de) 2013-05-01
DE102010025275B4 (de) 2012-03-29
JP2013529558A (ja) 2013-07-22
DE102010025275A1 (de) 2011-12-29
CN103003034A (zh) 2013-03-27
WO2012000840A1 (de) 2012-01-05

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C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20220815

Address after: Schpert, Germany

Patentee after: Milcoyan and vitofas patent civil law Co.

Address before: German Obbo M Bach

Patentee before: Schwab Martin (DE)

CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20150415