CN104511904B - 球坐标操控机构 - Google Patents

球坐标操控机构 Download PDF

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Publication number
CN104511904B
CN104511904B CN201410493157.2A CN201410493157A CN104511904B CN 104511904 B CN104511904 B CN 104511904B CN 201410493157 A CN201410493157 A CN 201410493157A CN 104511904 B CN104511904 B CN 104511904B
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CN
China
Prior art keywords
outer frame
terminal
inner frame
frame structure
rotating element
Prior art date
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Active
Application number
CN201410493157.2A
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English (en)
Chinese (zh)
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CN104511904A (zh
Inventor
崔文德
林淑青
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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
Priority claimed from TW102134887A external-priority patent/TWI568942B/zh
Priority claimed from TW103117062A external-priority patent/TWI574722B/zh
Application filed by Individual filed Critical Individual
Publication of CN104511904A publication Critical patent/CN104511904A/zh
Application granted granted Critical
Publication of CN104511904B publication Critical patent/CN104511904B/zh
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/003—Program-controlled manipulators having parallel kinematics
    • B25J9/0045—Program-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0048—Program-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
    • 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
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • 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
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • 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
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/14—Arm movement, spatial
    • Y10S901/15—Jointed 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
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/14—Arm movement, spatial
    • Y10S901/18—Spherical
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
  • Pivots And Pivotal Connections (AREA)
  • Surgical Instruments (AREA)
CN201410493157.2A 2013-09-26 2014-09-24 球坐标操控机构 Active CN104511904B (zh)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
TW102134887 2013-09-26
TW102134887A TWI568942B (zh) 2013-09-26 2013-09-26 球座標轉向平行機構
TW103117062A TWI574722B (zh) 2014-05-15 2014-05-15 球座標轉向機構
TW103117062 2014-05-15

Publications (2)

Publication Number Publication Date
CN104511904A CN104511904A (zh) 2015-04-15
CN104511904B true CN104511904B (zh) 2017-12-08

Family

ID=51625834

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201410493157.2A Active CN104511904B (zh) 2013-09-26 2014-09-24 球坐标操控机构

Country Status (4)

Country Link
US (2) US9579786B2 (https=)
EP (1) EP2863102B1 (https=)
JP (1) JP6494967B2 (https=)
CN (1) CN104511904B (https=)

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DE102012002400B4 (de) * 2011-03-17 2020-06-18 Eb-Invent Gmbh Manipulator
US11458579B2 (en) 2013-12-06 2022-10-04 Huber Diffraktionstechnik Gmbh & Co. Kg Redundant parallel positioning table device
US10955084B2 (en) * 2013-12-06 2021-03-23 Huber Diffraktionstechnik Gmbh & Co. Kg Redundant parallel positioning table device
GB2531994B (en) * 2014-10-15 2020-06-24 Cmr Surgical Ltd Surgical articulation
CN107030682B (zh) * 2016-01-15 2020-07-14 崔文德 十二轴球坐标运动机构
TWI623345B (zh) 2016-01-15 2018-05-11 崔文德 弧桿組合機構
CN205552509U (zh) * 2016-02-03 2016-09-07 中北大学 一种可重构球面并联机器人
CN105598954B (zh) * 2016-03-24 2017-09-22 褚宏鹏 大工作空间两转动并联机构
CN106128512B (zh) * 2016-07-04 2020-06-09 北京航空航天大学 球面三自由度转动柔性机构
CN106426094B (zh) * 2016-10-17 2019-08-27 广东工业大学 一种四自由度并联机构
CN106346450B (zh) 2016-10-17 2018-11-09 中国科学院深圳先进技术研究院 三支链三自由度并联机构
CN106541292A (zh) * 2016-11-25 2017-03-29 广西大学 球坐标钻孔机
CN107050763B (zh) * 2017-06-14 2022-12-06 韶关星火创客科技有限公司 一种新型踝关节康复机器人其控制方法
CN107097217B (zh) * 2017-06-21 2023-03-10 东莞爱创机器人科技有限公司 一种动平台具有重构能力的球面并联机构
CN107932480A (zh) * 2017-11-29 2018-04-20 中国科学院沈阳自动化研究所 通过同轴旋转驱动的二自由度定心并联机构
CN108000495B (zh) * 2017-12-13 2023-12-01 浙江理工大学 一种具有大摆角的两转动一移动冗余驱动并联机构
CN108000508B (zh) * 2018-01-25 2024-01-26 西南石油大学 一种运动调节装置
CN108356802A (zh) * 2018-05-16 2018-08-03 湖北理工学院 一种部分解耦的二自由度并联机构
US11668375B2 (en) * 2018-10-10 2023-06-06 Kyushu Institute Of Technology Parallel link mechanism and link actuation device
CN110539293B (zh) * 2019-10-15 2020-10-30 湖北理工学院 一种四自由度并联机构
CN111137464A (zh) * 2019-12-16 2020-05-12 北京大学 一种环保机器人
US11812126B2 (en) * 2020-01-27 2023-11-07 Sanctuary Cognitive Systems Corporation Eye cartridge
TW202219420A (zh) * 2020-11-03 2022-05-16 崔文德 球座標轉向機構
TW202336376A (zh) 2022-03-01 2023-09-16 崔文德 球座標機構
CN121693632A (zh) * 2023-08-09 2026-03-17 上海灵转动力科技有限公司 转动范围可控的运动系统
CN119260693B (zh) * 2024-10-11 2025-09-16 中山大学 一种用于磁控机器人的高刚度大角度范围运动的装置

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US5656905A (en) * 1995-04-03 1997-08-12 Tsai; Lung-Wen Multi-degree-of-freedom mechanisms for machine tools and the like
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Also Published As

Publication number Publication date
CN104511904A (zh) 2015-04-15
JP6494967B2 (ja) 2019-04-03
US20170165831A1 (en) 2017-06-15
US9579786B2 (en) 2017-02-28
US20150082934A1 (en) 2015-03-26
EP2863102B1 (en) 2018-05-02
JP2015068502A (ja) 2015-04-13
EP2863102A1 (en) 2015-04-22

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