ES2579438T3 - Hexápodo - Google Patents

Hexápodo Download PDF

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Publication number
ES2579438T3
ES2579438T3 ES11701081.9T ES11701081T ES2579438T3 ES 2579438 T3 ES2579438 T3 ES 2579438T3 ES 11701081 T ES11701081 T ES 11701081T ES 2579438 T3 ES2579438 T3 ES 2579438T3
Authority
ES
Spain
Prior art keywords
support
fixing
fixing bracket
movement path
hexapod
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.)
Active
Application number
ES11701081.9T
Other languages
English (en)
Inventor
Martin Schwab
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.)
Individual
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
Application granted granted Critical
Publication of ES2579438T3 publication Critical patent/ES2579438T3/es
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • 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
    • 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
    • B23Q2210/00—Machine tools incorporating a specific component
    • B23Q2210/006—Curved guiding rails

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
  • Invalid Beds And Related Equipment (AREA)
  • Mirrors, Picture Frames, Photograph Stands, And Related Fastening Devices (AREA)
  • Gear Transmission (AREA)

Abstract

Hexápodo, que comprende un alojamiento con preferencia en forma de placa, en el que están dispuestas al menos cinco, con preferencia seis barras alojadas en articulaciones separadas, en el que cada barra está dispuesta con su otro extremo de forma articulada en un soporte de fijación, en el que todos los soportes de fijación son móviles a lo largo de una trayectoria de movimiento, en el que en cada soporte de fijación (8) está dispuesta sólo una barra (13) de forma articulada, en el que cada soporte de fijación (8) está dispuesto en un soporte (3) separado, en el que un soporte (3) es un anillo o una sección de anillo o posee, definiendo una trayectoria de movimiento cerrada o abierta, una forma espacial girada bi o tridimensional, y en el que o bien el soporte de fijación (8) respectivo es móvil a lo largo del soporte (3) respectivo, o el soporte (3) respectivo es móvil junto con el soporte de fijación (8) dispuesto en él.

Description

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Claims (1)

  1. imagen1
ES11701081.9T 2010-01-22 2011-01-20 Hexápodo Active ES2579438T3 (es)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102010005586 2010-01-22
DE102010005586A DE102010005586B4 (de) 2010-01-22 2010-01-22 Hexapod
PCT/EP2011/050785 WO2011089198A1 (de) 2010-01-22 2011-01-20 Hexapod

Publications (1)

Publication Number Publication Date
ES2579438T3 true ES2579438T3 (es) 2016-08-11

Family

ID=43735761

Family Applications (1)

Application Number Title Priority Date Filing Date
ES11701081.9T Active ES2579438T3 (es) 2010-01-22 2011-01-20 Hexápodo

Country Status (7)

Country Link
US (1) US9205566B2 (es)
EP (1) EP2525947B1 (es)
JP (1) JP5873809B2 (es)
CN (1) CN102802886B (es)
DE (1) DE102010005586B4 (es)
ES (1) ES2579438T3 (es)
WO (1) WO2011089198A1 (es)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010025275B4 (de) * 2010-06-28 2012-03-29 Martin Schwab Hexapod
WO2013105849A1 (en) * 2012-01-10 2013-07-18 Wittyworx Llp Actuated hexapod platform
ITMO20130231A1 (it) * 2013-08-06 2015-02-07 Cms Spa Attrezzatura per tenere un pezzo
WO2015077953A1 (en) 2013-11-28 2015-06-04 Abb Technology Ltd Rotary joint of robot and robot including
US10562157B2 (en) * 2014-08-06 2020-02-18 C.M.S. S.P.A. System for supporting a workpiece
US10434322B2 (en) * 2016-05-17 2019-10-08 Center Of Human-Centered Interaction For Coexistence Robot for controlling position of motion platform and bio-stimulation system having the same
US10306984B2 (en) * 2016-08-30 2019-06-04 The Boeing Company Toroidal support structures
CN107336219B (zh) * 2017-07-04 2020-05-29 北京交通大学 一种具有两移动三转动五自由度的并联机构
US10180207B1 (en) * 2017-07-13 2019-01-15 Danylo Kozub Stand
WO2020196164A1 (ja) * 2019-03-22 2020-10-01 Ntn株式会社 パラレルリンク機構およびリンク作動装置
CN110450141B (zh) * 2019-08-30 2022-06-10 燕山大学 四支链六自由度混联机构
FR3102697B1 (fr) * 2019-11-05 2024-03-08 Pollen Robotics Articulation à trois degrés de liberté pour un robot et procédé de commande correspondant
CN113263495B (zh) * 2021-06-08 2022-07-29 佛山科学技术学院 一种工业机械人用的移动式平台
WO2023198621A2 (en) 2022-04-11 2023-10-19 E2M Technologies B.V. A movement platform system

Family Cites Families (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6087684A (ja) 1983-10-18 1985-05-17 Ricoh Co Ltd 物体駆動制御装置
JPS6087684U (ja) * 1983-11-24 1985-06-15 住友電気工業株式会社 移動機構
US5538373A (en) * 1992-02-20 1996-07-23 Giddings & Lewis, Inc. Machine tool vibration isolation system
JP3640087B2 (ja) * 1994-11-29 2005-04-20 豊田工機株式会社 工作機械
EP0868255B1 (de) * 1995-12-20 1999-09-08 Alexander Konrad Wiegand Vorrichtung zur räumlichen gesteuerten bewegung eines körpers in drei bis sechs freiheitsgraden
US5987726A (en) * 1996-03-11 1999-11-23 Fanuc Robotics North America, Inc. Programmable positioner for the stress-free assembly of components
AU9036098A (en) * 1997-08-28 1999-03-16 Microdexterity Systems Parallel mechanism
US6281651B1 (en) 1997-11-03 2001-08-28 Immersion Corporation Haptic pointing devices
FI103761B1 (fi) * 1997-12-12 1999-09-30 Planmeca Oy Lääketieteellinen kuvantamislaite
US6196081B1 (en) * 1998-02-03 2001-03-06 Hexel Corporation Systems and methods employing a rotary track for machining and manufacturing
JP2000097306A (ja) * 1998-09-24 2000-04-04 Olympus Optical Co Ltd パラレルリンク機構
JP2000210831A (ja) * 1999-01-22 2000-08-02 Seiko Seiki Co Ltd パラレル機構
JP2001038551A (ja) * 1999-08-04 2001-02-13 Hiihaisuto Seiko Kk ６自由度パラレルメカニズムを適用したワークテーブル機構
US20020010465A1 (en) * 2000-01-31 2002-01-24 Ja Kyo Koo Frame fixator and operation system thereof
SE524747C2 (sv) 2002-02-06 2004-09-28 Abb Ab Industrirobot innehållande en parallellkinematisk manipulator för förflyttning av ett föremål i rymden
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
WO2006133583A1 (de) * 2005-06-13 2006-12-21 Ruefli Franz Vorrichtung zur bearbeitung aller seiten eines werkstücks mit zwei parallelkinematischen trägerebenen
CN100376363C (zh) * 2005-12-30 2008-03-26 哈尔滨工业大学 双环三支链缩放式并联机构
JP2008264904A (ja) 2007-04-17 2008-11-06 Fanuc Ltd パラレルリンク型作業装置
DE102007051714A1 (de) * 2007-10-30 2009-05-07 B. Ketterer Söhne GmbH & Co. KG Photovoltaikanlage

Also Published As

Publication number Publication date
WO2011089198A1 (de) 2011-07-28
CN102802886A (zh) 2012-11-28
JP5873809B2 (ja) 2016-03-01
JP2013517951A (ja) 2013-05-20
DE102010005586A1 (de) 2011-07-28
US20120286123A1 (en) 2012-11-15
EP2525947A1 (de) 2012-11-28
DE102010005586B4 (de) 2012-03-29
US9205566B2 (en) 2015-12-08
EP2525947B1 (de) 2016-03-30
CN102802886B (zh) 2016-06-29

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