ES2179706B1 - Modulo con movimiento cinematico paralelo de ejes ortogonales. - Google Patents

Modulo con movimiento cinematico paralelo de ejes ortogonales.

Info

Publication number
ES2179706B1
ES2179706B1 ES009900283A ES9900283A ES2179706B1 ES 2179706 B1 ES2179706 B1 ES 2179706B1 ES 009900283 A ES009900283 A ES 009900283A ES 9900283 A ES9900283 A ES 9900283A ES 2179706 B1 ES2179706 B1 ES 2179706B1
Authority
ES
Spain
Prior art keywords
module
union
ortogonal
axles
parallel kinematic
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
ES009900283A
Other languages
English (en)
Other versions
ES2179706A1 (es
Inventor
Fernandez Agustin J Saenz
Jimenez Valentin Collado
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.)
Fundacion Tecnalia Research and Innovation
Original Assignee
Fundacion Fatronik
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 Fundacion Fatronik filed Critical Fundacion Fatronik
Priority to ES009900283A priority Critical patent/ES2179706B1/es
Priority to US09/501,108 priority patent/US6336778B1/en
Priority to EP00500020A priority patent/EP1027965B1/fr
Priority to AT00500020T priority patent/ATE251015T1/de
Priority to DE60005578T priority patent/DE60005578T2/de
Priority to ES00500020T priority patent/ES2207476T3/es
Publication of ES2179706A1 publication Critical patent/ES2179706A1/es
Application granted granted Critical
Publication of ES2179706B1 publication Critical patent/ES2179706B1/es
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • Y10T409/30784—Milling including means to adustably position cutter
    • Y10T409/307952—Linear adjustment
    • Y10T409/308232—Linear adjustment and angular adjustment
    • 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
    • Y10T409/30784—Milling including means to adustably position cutter
    • Y10T409/308512—Compound angular adjustment
    • 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
    • Y10T74/20341—Power elements as controlling elements
    • Y10T74/20348—Planar surface with orthogonal movement and rotation

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
  • Machine Tool Units (AREA)

Abstract

Módulo con movimiento cinemático paralelo de ejes ortogonales que consta de una estructura fija o bancada, una estructura pasiva con, al menos, una tijera cinemática unida por uno de sus extremos a la estructura fija y por el otro extremo a una estructura móvil plana, siendo articulada una de dichas uniones; y una estructura móvil espacial portadora del cabezal de trabajo y que puede desplazarse linealmente respecto a la estructura móvil plana; y unos brazos con una unión por un extremo a la estructura fija y por el otro extremo con una unión a la estructura móvil espacial, siendo una de las uniones de dos grados de libertad y la otra unión de tres grados de libertad; y medios para accionar el movimiento de los brazos. De aplicación en máquinas herramientas.
ES009900283A 1999-02-11 1999-02-11 Modulo con movimiento cinematico paralelo de ejes ortogonales. Expired - Fee Related ES2179706B1 (es)

Priority Applications (6)

Application Number Priority Date Filing Date Title
ES009900283A ES2179706B1 (es) 1999-02-11 1999-02-11 Modulo con movimiento cinematico paralelo de ejes ortogonales.
US09/501,108 US6336778B1 (en) 1999-02-11 2000-02-09 Orthogonal axes module with parallel kinematic movement
EP00500020A EP1027965B1 (fr) 1999-02-11 2000-02-11 Manipulateur parallèle muni d'un méchanisme de guidage passif
AT00500020T ATE251015T1 (de) 1999-02-11 2000-02-11 Parallelmanipulator mit einem passiven führungsmechanismus
DE60005578T DE60005578T2 (de) 1999-02-11 2000-02-11 Parallelmanipulator mit einem passiven Führungsmechanismus
ES00500020T ES2207476T3 (es) 1999-02-11 2000-02-11 Manipulador paralelo provisto de un mecanismo pasico de guia.

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ES009900283A ES2179706B1 (es) 1999-02-11 1999-02-11 Modulo con movimiento cinematico paralelo de ejes ortogonales.

Publications (2)

Publication Number Publication Date
ES2179706A1 ES2179706A1 (es) 2003-01-16
ES2179706B1 true ES2179706B1 (es) 2003-12-16

Family

ID=8307289

Family Applications (2)

Application Number Title Priority Date Filing Date
ES009900283A Expired - Fee Related ES2179706B1 (es) 1999-02-11 1999-02-11 Modulo con movimiento cinematico paralelo de ejes ortogonales.
ES00500020T Expired - Lifetime ES2207476T3 (es) 1999-02-11 2000-02-11 Manipulador paralelo provisto de un mecanismo pasico de guia.

Family Applications After (1)

Application Number Title Priority Date Filing Date
ES00500020T Expired - Lifetime ES2207476T3 (es) 1999-02-11 2000-02-11 Manipulador paralelo provisto de un mecanismo pasico de guia.

Country Status (5)

Country Link
US (1) US6336778B1 (es)
EP (1) EP1027965B1 (es)
AT (1) ATE251015T1 (es)
DE (1) DE60005578T2 (es)
ES (2) ES2179706B1 (es)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7454529B2 (en) * 2002-08-02 2008-11-18 Netapp, Inc. Protectable data storage system and a method of protecting and/or managing a data storage system
ITTO20030502A1 (it) * 2003-07-01 2005-01-02 O M V Ohg Venete S R L Macchina a controllo numerico.

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2612826A1 (fr) * 1987-03-24 1988-09-30 Houiller Louis Machine-outil pour le travail de pieces de bois
US4962676A (en) * 1989-10-12 1990-10-16 The Gillette Company Two axis transfer device
US5167160A (en) * 1991-06-05 1992-12-01 Agmed, Inc. Positioning device for presenting samples for electromagnetic analysis
US5267818A (en) * 1991-08-05 1993-12-07 Optima Industries, Inc. Arrangement for providing planar movement of a machine tool
US5569004A (en) * 1993-06-22 1996-10-29 Optima Industries, Inc. Machine tool positioning arrangement
US5378282A (en) * 1993-06-28 1995-01-03 Pollard; Willard L. Robotic tool manipulating apparatus
FR2716400B1 (fr) * 1994-02-22 1996-04-26 Onera (Off Nat Aerospatiale) Dispositif manipulateur, à structure parallèle, pour déplacer un objet dans un espace de travail cylindrique.
EP0674969B1 (en) * 1994-03-02 2010-02-17 Renishaw plc Coordinate positioning machine
JP3640087B2 (ja) * 1994-11-29 2005-04-20 豊田工機株式会社 工作機械
US5592793A (en) * 1995-06-07 1997-01-14 Merrick Machine Co. Router machine
JP3626265B2 (ja) * 1995-12-18 2005-03-02 本田技研工業株式会社 工作機械
DE59603026D1 (de) * 1995-12-20 1999-10-14 Wiegand Alexander Konrad Vorrichtung zur räumlichen gesteuerten bewegung eines körpers in drei bis sechs freiheitsgraden
DE19623511A1 (de) * 1996-06-13 1997-12-18 Vdw Ev Vorrichtung zur Bearbeitung und/oder Montage von Werkstücken
US5903125A (en) * 1997-02-06 1999-05-11 Speedline Technologies, Inc. Positioning system
AT411446B (de) * 1998-08-03 2004-01-26 Ernst Krause & Co Arbeitsstation
DE19836624C1 (de) * 1998-08-13 2000-02-10 Heckert Werkzeugmaschinen Gmbh Werkzeugmaschine mit Koppelführung

Also Published As

Publication number Publication date
EP1027965A1 (fr) 2000-08-16
ES2179706A1 (es) 2003-01-16
US6336778B1 (en) 2002-01-08
ATE251015T1 (de) 2003-10-15
EP1027965B1 (fr) 2003-10-01
DE60005578T2 (de) 2004-08-05
DE60005578D1 (de) 2003-11-06
ES2207476T3 (es) 2004-06-01

Similar Documents

Publication Publication Date Title
ES2674391T3 (es) Manipulador de baja inercia para máquinas de corte láser para metales laminares planos
ES2629266T3 (es) Cabezal con alambre de corte, combinado con un brazo robótico, para trabajar materiales de piedra
ES2108962T3 (es) Robot industrial, en particular para la transferencia de piezas de una prensa a otra en una linea de prensas.
TNSN07315A1 (en) High-speed parallel robot with four degrees of freedom
MY141396A (en) Parallel-kinematical machine
DE502008001056D1 (de) Handwerkzeuggerät
ES2152436T3 (es) Maquina-herramienta para la mecanizacion de cigueñales para motores de cuatro cilindros en linea, su proceso de trabajo y cadena de mecanizacion que integra dicha maquina-herramienta.
ES2435428T3 (es) Máquina para cortar piel y similares y materiales de tipo hoja en general, con una mesa de trabajo de acceso simplificado
ES2245613A1 (es) Disposicion de robots y dispositivo que comprende la misma.
ES2665919T3 (es) Máquina para cortar paneles, en particular de mármol, granito, vidrio y materiales compuestos
ES2193750T3 (es) Maquina-heramienta, en particular centro de mecanizado de fresado.
CA2376801A1 (en) Device for positioning a tool within a predetermined working area
ES2161514T3 (es) Maquina herramienta para mecanizar piezas largas.
DE50306965D1 (de) Vorrichtung mit einer arbeits- und funktionseinheit
ES2140958T3 (es) Estructura logica de una maquina herramienta de mecanizado de gran velocidad del tipo portahusillos
ATE395162T1 (de) Mehrachsige werkzeugmaschine
ES2179706B1 (es) Modulo con movimiento cinematico paralelo de ejes ortogonales.
ES2156609T3 (es) Dispositivo de transferencia para una prensa de multiples operaciones.
ATE489195T1 (de) Werkzeugmaschine
CN103481334B (zh) 一种带变位台结构的高压水切割装置
AR035171A1 (es) Agarradera para interconectar componentes de un aparato de apuntalamiento.
ES2361654T3 (es) Máquina rectificadora.
CN102941772A (zh) 一种有约束链的少自由度的并联机构
SE0201064D0 (sv) Verktygsanordning för höghastighetsbearbetning
ITBO20050447A1 (it) Macchina per la lavorazione del cartone

Legal Events

Date Code Title Description
EC2A Search report published

Date of ref document: 20030116

Kind code of ref document: A1

FG2A Definitive protection

Ref document number: 2179706B1

Country of ref document: ES

FD2A Announcement of lapse in spain

Effective date: 20180807