JP4523228B2 - 機械又は計器における端部要素を支持し且つプログラム可能に駆動するための運動デバイス - Google Patents

機械又は計器における端部要素を支持し且つプログラム可能に駆動するための運動デバイス Download PDF

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Publication number
JP4523228B2
JP4523228B2 JP2002565749A JP2002565749A JP4523228B2 JP 4523228 B2 JP4523228 B2 JP 4523228B2 JP 2002565749 A JP2002565749 A JP 2002565749A JP 2002565749 A JP2002565749 A JP 2002565749A JP 4523228 B2 JP4523228 B2 JP 4523228B2
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platform
joint
axis
support
drive
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Expired - Fee Related
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Japanese (ja)
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JP2004524982A (ja
JP2004524982A5 (enExample
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テュルネイザン，マルクス
クラベル，レイモン
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ウィレマン マシン ソシエテ アノニム
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    • 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
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • 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
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B23Q1/4852—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating 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
    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
    • B25J9/0039—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-spherical-spherical
    • 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
    • Y10T409/309576—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
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements
    • Y10T74/20335—Wrist

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Machine Tool Units (AREA)
  • Transmission Devices (AREA)
  • Pivots And Pivotal Connections (AREA)
  • Prostheses (AREA)
  • Organic Low-Molecular-Weight Compounds And Preparation Thereof (AREA)
JP2002565749A 2001-02-23 2002-02-21 機械又は計器における端部要素を支持し且つプログラム可能に駆動するための運動デバイス Expired - Fee Related JP4523228B2 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP01810193A EP1234632A1 (fr) 2001-02-23 2001-02-23 Dispositif cinématique du support et de déplacement programmable d'un élément terminal dans une machine ou un instrument
PCT/CH2002/000100 WO2002066203A1 (fr) 2001-02-23 2002-02-21 Dispositif cinematique de support et de deplacement programmable d'un element terminal dans une machine ou un instrument

Publications (3)

Publication Number Publication Date
JP2004524982A JP2004524982A (ja) 2004-08-19
JP2004524982A5 JP2004524982A5 (enExample) 2005-12-22
JP4523228B2 true JP4523228B2 (ja) 2010-08-11

Family

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JP2002565749A Expired - Fee Related JP4523228B2 (ja) 2001-02-23 2002-02-21 機械又は計器における端部要素を支持し且つプログラム可能に駆動するための運動デバイス

Country Status (13)

Country Link
US (1) US8303238B2 (enExample)
EP (2) EP1234632A1 (enExample)
JP (1) JP4523228B2 (enExample)
KR (1) KR100882624B1 (enExample)
CN (1) CN100462197C (enExample)
CA (1) CA2439881C (enExample)
CZ (1) CZ20032512A3 (enExample)
EA (1) EA005147B1 (enExample)
HU (1) HUP0303205A2 (enExample)
IL (2) IL157476A0 (enExample)
PL (1) PL205720B1 (enExample)
SK (1) SK11642003A3 (enExample)
WO (1) WO2002066203A1 (enExample)

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Publication number Publication date
EA200300921A1 (ru) 2004-02-26
SK11642003A3 (sk) 2004-05-04
WO2002066203A1 (fr) 2002-08-29
CN100462197C (zh) 2009-02-18
IL157476A0 (en) 2004-03-28
KR20030096262A (ko) 2003-12-24
CA2439881C (en) 2011-01-04
EP1365887A1 (fr) 2003-12-03
PL364104A1 (en) 2004-12-13
IL157476A (en) 2009-07-20
CA2439881A1 (en) 2002-08-29
KR100882624B1 (ko) 2009-02-06
US8303238B2 (en) 2012-11-06
EP1234632A1 (fr) 2002-08-28
JP2004524982A (ja) 2004-08-19
CZ20032512A3 (cs) 2004-12-15
EA005147B1 (ru) 2004-12-30
US20040052628A1 (en) 2004-03-18
CN1498149A (zh) 2004-05-19
HK1064636A1 (zh) 2005-02-04
HUP0303205A2 (hu) 2003-12-29
PL205720B1 (pl) 2010-05-31

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