CN1072094C - 用以使两个构件相对移位的装置 - Google Patents

用以使两个构件相对移位的装置 Download PDF

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Publication number
CN1072094C
CN1072094C CN98803059A CN98803059A CN1072094C CN 1072094 C CN1072094 C CN 1072094C CN 98803059 A CN98803059 A CN 98803059A CN 98803059 A CN98803059 A CN 98803059A CN 1072094 C CN1072094 C CN 1072094C
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CN
China
Prior art keywords
force
link
relative
arm
applying
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 - Lifetime
Application number
CN98803059A
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English (en)
Chinese (zh)
Other versions
CN1249705A (zh
Inventor
T·布罗加德
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.)
ABB AB
Original Assignee
Asea Brown Boveri AB
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 SE9700090A external-priority patent/SE521584C2/sv
Application filed by Asea Brown Boveri AB filed Critical Asea Brown Boveri AB
Publication of CN1249705A publication Critical patent/CN1249705A/zh
Application granted granted Critical
Publication of CN1072094C publication Critical patent/CN1072094C/zh
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • 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
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • 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
    • Y10S414/00—Material or article handling
    • Y10S414/13—Handlers utilizing parallel links
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
  • Manipulator (AREA)
CN98803059A 1997-01-14 1998-01-14 用以使两个构件相对移位的装置 Expired - Lifetime CN1072094C (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE9700090A SE521584C2 (sv) 1996-03-14 1997-01-14 Anordning för relativ förflyttning av två element
SE97000905 1997-01-14

Publications (2)

Publication Number Publication Date
CN1249705A CN1249705A (zh) 2000-04-05
CN1072094C true CN1072094C (zh) 2001-10-03

Family

ID=20405419

Family Applications (1)

Application Number Title Priority Date Filing Date
CN98803059A Expired - Lifetime CN1072094C (zh) 1997-01-14 1998-01-14 用以使两个构件相对移位的装置

Country Status (10)

Country Link
US (1) US6540471B1 (enExample)
EP (1) EP1007292B1 (enExample)
JP (1) JP2001508158A (enExample)
KR (1) KR100569638B1 (enExample)
CN (1) CN1072094C (enExample)
AU (1) AU5685498A (enExample)
CA (1) CA2277846A1 (enExample)
DE (1) DE69833850T2 (enExample)
ES (1) ES2260827T3 (enExample)
WO (1) WO1998030366A1 (enExample)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7337691B2 (en) * 1999-08-05 2008-03-04 Shambhu Nath Roy Parallel kinematics mechanism with a concentric spherical joint
FR2810573B1 (fr) * 2000-06-21 2002-10-11 Commissariat Energie Atomique Bras de commande a deux branches en parallele
GB0020461D0 (en) * 2000-08-18 2000-10-11 Oliver Crispin Consulting Ltd Improvements in and relating to the robotic positioning of a work tool to a sensor
SE517356C2 (sv) * 2000-09-11 2002-05-28 Abb Ab Manipulator innefattande minst tre armar för förflyttning av en kropp i rymden
SE0100134D0 (sv) 2001-01-15 2001-01-15 Abb Ab Industrirobot
EP1492649B1 (en) * 2002-01-16 2009-03-04 Abb Ab Industrial robot
SE521539C2 (sv) * 2002-03-18 2003-11-11 Abb Ab Manipulator och förfarande involverande manipulator för förflyttning av ett objekt,innefattande minst två drivande parallellkinematiska förbindningskedjor
JP4222068B2 (ja) * 2003-03-10 2009-02-12 東京エレクトロン株式会社 被処理体の搬送装置
US7331750B2 (en) * 2005-03-21 2008-02-19 Michael Merz Parallel robot
US7950306B2 (en) * 2007-02-23 2011-05-31 Microdexterity Systems, Inc. Manipulator
US8181799B2 (en) * 2009-11-30 2012-05-22 GM Global Technology Operations LLC Actuation system configured for moving a payload
US20120073738A1 (en) 2010-09-29 2012-03-29 The Boeing Company Method and apparatus for laying up barrel-shaped composite structures
JP2012192499A (ja) * 2011-03-17 2012-10-11 Canon Electronics Inc パラレルリンクロボット
CN104875201B (zh) * 2015-06-08 2016-05-18 广西大学 一种变构态大空间码垛机器人机构
CN105855983A (zh) * 2016-06-02 2016-08-17 刘瑞 一种机械加工用平移机械装置
CN107414800B (zh) * 2017-09-11 2023-05-26 中国地质大学（武汉） 一种采用旋转驱动的两分支并联手术机器人
WO2019138025A1 (en) * 2018-01-15 2019-07-18 Cognibotics Ab An industrial robot arm
EP3611420A1 (de) * 2018-08-16 2020-02-19 Ondal Medical Systems GmbH Vorrichtung zum tragen eines monitors
EP3838499A1 (en) * 2019-12-19 2021-06-23 Cognibotics AB An agile robot arm for positioning a tool with controlled orientation
DE102023133156B4 (de) * 2023-11-28 2025-08-07 Karl Storz Se & Co. Kg Positioniervorrichtung und haptisches eingabegerät

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4522555A (en) * 1981-09-25 1985-06-11 Matsushita Electric Industrial Co., Ltd. Handling apparatus

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4483074A (en) * 1980-12-18 1984-11-20 Kaunassky Politekhnichesky Institut Imeni A. Snechkusa Method for locating a point by its coordinates and a device for accomplishing same
FR2572981A1 (fr) * 1984-11-13 1986-05-16 Inadex Dispositif de deplacement et de manipulation d'objets dans l'espace.
DE3445055A1 (de) * 1984-12-11 1986-06-12 Reis GmbH & Co, 8753 Obernburg Mehrachsiger, programmierbarer manipulator mit einem trainingsarm zum programmieren des manipulators
CH672089A5 (enExample) 1985-12-16 1989-10-31 Sogeva Sa
SE502256C2 (sv) * 1989-03-22 1995-09-25 Niclas Klintberg Anordning för styrning av ett verktyg
US5222409A (en) * 1991-09-25 1993-06-29 Dalakian Sergei V Industrial robot arms
US5263382A (en) * 1992-04-13 1993-11-23 Hughes Aircraft Company Six Degrees of freedom motion device
SE501207C2 (sv) * 1993-04-30 1994-12-12 Asea Brown Boveri Industrirobot
DE69317574T2 (de) 1993-09-01 1998-07-09 Yaskawa Denki Kitakyushu Kk Gelenkroboter
US5656905A (en) * 1995-04-03 1997-08-12 Tsai; Lung-Wen Multi-degree-of-freedom mechanisms for machine tools and the like
SE508890C2 (sv) * 1996-03-14 1998-11-16 Asea Brown Boveri Manipulator

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4522555A (en) * 1981-09-25 1985-06-11 Matsushita Electric Industrial Co., Ltd. Handling apparatus

Also Published As

Publication number Publication date
DE69833850D1 (de) 2006-05-11
ES2260827T3 (es) 2006-11-01
JP2001508158A (ja) 2001-06-19
KR20000070142A (ko) 2000-11-25
EP1007292B1 (en) 2006-03-15
CA2277846A1 (en) 1998-07-16
AU5685498A (en) 1998-08-03
DE69833850T2 (de) 2006-09-28
US6540471B1 (en) 2003-04-01
CN1249705A (zh) 2000-04-05
KR100569638B1 (ko) 2006-04-10
WO1998030366A1 (en) 1998-07-16
EP1007292A1 (en) 2000-06-14

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SE01 Entry into force of request for substantive examination
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GR01 Patent grant
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Granted publication date: 20011003