JP5873809B2 - ヘキサポッド - Google Patents
ヘキサポッド Download PDFInfo
- Publication number
- JP5873809B2 JP5873809B2 JP2012549359A JP2012549359A JP5873809B2 JP 5873809 B2 JP5873809 B2 JP 5873809B2 JP 2012549359 A JP2012549359 A JP 2012549359A JP 2012549359 A JP2012549359 A JP 2012549359A JP 5873809 B2 JP5873809 B2 JP 5873809B2
- Authority
- JP
- Japan
- Prior art keywords
- support
- hexapod
- mounting
- bearing
- individual
- 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.)
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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)
Description
Claims (9)
- 独立した継ぎ手に装着された少なくとも5本以上のロッドがその上に配置された受け器を備え、各ロッドのもう一方の端はマウンティングに接合されており、全てのマウンティングが移動路に沿って動くことができる、ヘキサポッドであって、
各マウンティングを独立した環状の支持部に配置し、それぞれの支持部が対応のマウンティングとともに移動可能であり、各支持部は同一の回転軸を有するように同心円状に配置され、各支持部はそれ自身が移動しないモータによって駆動され、
各支持部のそれぞれが個別の前記モータによって独立して駆動されることを特徴とするヘキサポッド。 - 請求項1に記載のヘキサポッドであって、前記支持部が同じ水平面上、または平行な水平面上に配置されていることを特徴とするヘキサポッド。
- 請求項1または2に記載のヘキサポッドであって、前記支持部が積み重なって同心円状に配置される、または互いの範囲内で同心円状に配置されることを特徴とするヘキサポッド。
- 請求項1に記載のヘキサポッドであって、各移動可能な支持部が歯部を有し、これが、前記モータによって駆動される伝導要素とかみ合うことを特徴とするヘキサポッド。
- 請求項4に記載のヘキサポッドであって、前記支持部は、前記歯部を外側または内側に備えることを特徴とするヘキサポッド。
- 請求項1から5のいずれかに記載のヘキサポッドであって、前記支持部が、軸受け手段を介して1つ以上の静止構造部に装着されること、またはそれらの間に配置された軸受け手段によってそれらが装着されることを特徴とするヘキサポッド。
- 請求項6に記載のヘキサポッドであって、支持部それぞれが軸受けアームを有し、全ての軸受けアームが軸受け手段を介して共通の中心軸台に装着されることを特徴とするヘキサポッド。
- 請求項6に記載のヘキサポッドであって、直径が同じである前記同心円状の支持部は、これら支持部の外側で、少なくとも3個の軸台に、軸台側にあるそれぞれの軸受け手段によって装着されることを特徴とするヘキサポッド。
- 請求項1から8のいずれかに記載のヘキサポッドであって、全ての駆動機構を制御する共通の制御機構を備えることを特徴とするヘキサポッド。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102010005586.7 | 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 (2)
Publication Number | Publication Date |
---|---|
JP2013517951A JP2013517951A (ja) | 2013-05-20 |
JP5873809B2 true JP5873809B2 (ja) | 2016-03-01 |
Family
ID=43735761
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2012549359A Active JP5873809B2 (ja) | 2010-01-22 | 2011-01-20 | ヘキサポッド |
Country Status (7)
Country | Link |
---|---|
US (1) | US9205566B2 (ja) |
EP (1) | EP2525947B1 (ja) |
JP (1) | JP5873809B2 (ja) |
CN (1) | CN102802886B (ja) |
DE (1) | DE102010005586B4 (ja) |
ES (1) | ES2579438T3 (ja) |
WO (1) | WO2011089198A1 (ja) |
Families Citing this family (14)
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 |
CN105636749B (zh) | 2013-11-28 | 2017-09-05 | Abb技术有限公司 | 机器人的旋转关节以及包括它的机器人 |
BR112017001883B1 (pt) * | 2014-08-06 | 2021-02-02 | C.M.S. S.P.A. | sistema de suporte para suportar uma peça em uma posição de usinagem, e método de utilização do sistema |
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 |
CN113597523B (zh) * | 2019-03-22 | 2024-03-15 | Ntn株式会社 | 平行连杆机构和连杆致动装置 |
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)
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 |
WO1999010137A1 (en) * | 1997-08-28 | 1999-03-04 | 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 |
JP2003532544A (ja) * | 1998-02-03 | 2003-11-05 | ヘクセル・コーポレーション | 機械加工及び製造のため回転台座を採用する装置及び方法 |
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 |
-
2010
- 2010-01-22 DE DE102010005586A patent/DE102010005586B4/de active Active
-
2011
- 2011-01-20 ES ES11701081.9T patent/ES2579438T3/es active Active
- 2011-01-20 EP EP11701081.9A patent/EP2525947B1/de active Active
- 2011-01-20 JP JP2012549359A patent/JP5873809B2/ja active Active
- 2011-01-20 US US13/574,501 patent/US9205566B2/en active Active
- 2011-01-20 WO PCT/EP2011/050785 patent/WO2011089198A1/de active Application Filing
- 2011-01-20 CN CN201180014724.6A patent/CN102802886B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
EP2525947A1 (de) | 2012-11-28 |
CN102802886B (zh) | 2016-06-29 |
WO2011089198A1 (de) | 2011-07-28 |
ES2579438T3 (es) | 2016-08-11 |
DE102010005586B4 (de) | 2012-03-29 |
CN102802886A (zh) | 2012-11-28 |
US9205566B2 (en) | 2015-12-08 |
JP2013517951A (ja) | 2013-05-20 |
US20120286123A1 (en) | 2012-11-15 |
EP2525947B1 (de) | 2016-03-30 |
DE102010005586A1 (de) | 2011-07-28 |
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