JP5987246B2 - 6脚プラットフォーム、およびその6脚プラットフォームに使用することができるジャッキ - Google Patents
6脚プラットフォーム、およびその6脚プラットフォームに使用することができるジャッキ Download PDFInfo
- Publication number
- JP5987246B2 JP5987246B2 JP2011084566A JP2011084566A JP5987246B2 JP 5987246 B2 JP5987246 B2 JP 5987246B2 JP 2011084566 A JP2011084566 A JP 2011084566A JP 2011084566 A JP2011084566 A JP 2011084566A JP 5987246 B2 JP5987246 B2 JP 5987246B2
- Authority
- JP
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- Prior art keywords
- jack
- jacks
- ball joint
- platform
- rod
- 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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Links
- 239000012530 fluid Substances 0.000 claims description 25
- 230000002706 hydrostatic effect Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000005294 ferromagnetic effect Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
- F15B15/1447—Pistons; Piston to piston rod assemblies
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/14—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction with ball-joint
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
- F16M11/26—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by telescoping, with or without folding
-
- 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
-
- 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
- Y10T74/20317—Robotic arm including electric motor
-
- 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
-
- 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)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Actuator (AREA)
- Manipulator (AREA)
- Fluid-Pressure Circuits (AREA)
Description
10−1 ジャッキ
10−2 ジャッキ
10−3 ジャッキ
10−4 ジャッキ
10−5 ジャッキ
10−6 ジャッキ
11 本体
12 ピストン
13 長手方向軸線
14 軸受
15 軸受
16 チャンバ
17 チャンバ
18 ロッド
18−1 ロッド
18−2 ロッド
18−3 ロッド
18−4 ロッド
18−5 ロッド
18−6 ロッド
19 端部
20 端部
21 第1のボールジョイント
21−1 第1のボールジョイント
21−2 第1のボールジョイント
21−3 第1のボールジョイント
21−4 第1のボールジョイント
21−5 第1のボールジョイント
21−6 第1のボールジョイント
22 1つ以上の流路
23 1つ以上の流路
24 第2のボールジョイント
24−1 第2のボールジョイント
24−2 第2のボールジョイント
24−3 第2のボールジョイント
24−4 第2のボールジョイント
24−5 第2のボールジョイント
24−6 第2のボールジョイント
25 流路
26 センサ
27 ハウジング
28 強磁性の棒
29 磁石
30 6脚プラットフォーム
31 ベース
32 移動トッププレート
33−1 両矢印
33−2 両矢印
33−3 両矢印
33−4 両矢印
33−5 両矢印
33−6 両矢印
35 油圧制御部材
36 開口部
40 取付部
41 取付部
42 取付部
44−1 低圧容器
44−2 低圧容器
44−3 低圧容器
44−4 低圧容器
44−5 低圧容器
44−6 低圧容器
45 高圧容器
46 高圧容器
47 高圧容器
Claims (9)
- ベース(31)と移動トッププレート(32)と6つのジャッキ(10−1〜10−6)とを備える6脚プラットフォームであって、前記ジャッキ(10−1〜10−6)の各々が、本体(11)と、前記本体(11)に対して並進運動することができるピストン(12)と、前記ピストン(12)の並進運動に従うように前記ピストン(12)に接続されたロッド(18)とを備え、前記ロッド(18)によって前記ジャッキ(10−1〜10−6)が荷重を加える6脚プラットフォームにおいて、前記ジャッキ(10−1〜10−6)の各々について、前記ロッド(18)が、前記ロッドの端部(19、20)の第1の端部(19)のボールジョイント(21)によって前記ピストン(12)に接続されること、および前記ジャッキ(10−1〜10−6)の各々が、前記ロッド(18)の第2の端部(20)に配置された第2のボールジョイント(24)を備えること、および前記6つのジャッキ(10−1〜10−6)が、それらの本体(11)によって前記ベース(31)に固定され、前記6つのジャッキ(10−1〜10−6)の第2のボールジョイント(24−1〜24−6)を介して前記移動トッププレート(32)に接続されること、および前記6つのジャッキ(10−1〜10−6)の各々の前記本体(11)が前記ベース(31)に固定されることを特徴とする6脚プラットフォーム。
- 前記6つのジャッキ(10−1〜10−6)が油圧ジャッキであること、および前記ジャッキ(10−1〜10−6)の各々について、前記ボールジョイント(21)が流体静力学的であり、前記ジャッキ(10)を作動させるために使用される流体を送り出すことによって、前記ボールジョイント(21)に流体が供給されることを特徴とする請求項1に記載のプラットフォーム。
- 前記ジャッキ(10−1〜10−6)の各々について、前記第2のボールジョイント(24)が流体静力学的であり、前記ジャッキ(10)を作動させるために使用される流体を送り出すことによって、前記第2のボールジョイント(24)に流体が供給されることを特徴とする請求項2に記載のプラットフォーム。
- 前記ジャッキ(10−1〜10−6)の各々について、前記第2のボールジョイントへの流体の供給が、前記ロッド(18)に配置されかつ前記2つのボールジョイント(21、24)を接続する流路(25)によって行われることを特徴とする請求項3に記載のプラットフォーム。
- 前記ジャッキ(10−1〜10−6)の各々が、前記本体(11)内に形成されかつ前記ピストン(12)によって分離された2つのチャンバ(16、17)を備えること、および前記ジャッキ(10−1〜10−6)の各々について、流体が、前記チャンバ(16、17)の各々と前記ボールジョイント(21)とを接続する1つ以上の流路(22、23)を介して送り出されることを特徴とする請求項2〜4のいずれか1項に記載のプラットフォーム。
- 前記ジャッキ(10−1〜10−6)の各々が、前記ジャッキ(10)を制御するための油圧制御部材(35)を備えること、および前記部材(35)が前記ジャッキ(10)の前記本体(11)に固定されることを特徴とする請求項1〜5のいずれか1項に記載のプラットフォーム。
- 前記プラットフォームが、前記ジャッキ(10−1〜10−6)の前記本体(11)を対をなして固定する前記ベース(31)に固定された取付部(40、41、42)と、前記ジャッキ(10−1〜10−6)に関連しかつ前記取付部(40、41、42)に固定された油圧流体貯蔵容器(44−1〜44−6、45、46および47)とを備えることを特徴とする請求項1〜6のいずれか1項に記載のプラットフォーム。
- 前記ジャッキ(10−1〜10−6)の各々が、複動ジャッキであることを特徴とする請求項1〜7のいずれか1項に記載のプラットフォーム。
- 前記ジャッキ(10−1〜10−6)の各々が、前記本体(11)に対する前記ピストン(12)の位置を検知するセンサ(26)を備えることを特徴とする請求項1〜8のいずれか1項に記載のプラットフォーム。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1052655 | 2010-04-08 | ||
FR1052655A FR2958695A1 (fr) | 2010-04-08 | 2010-04-08 | Verin apte a etre utilise dans une tourelle hexapode et tourelle hexapode comprenant le verin |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2011237029A JP2011237029A (ja) | 2011-11-24 |
JP5987246B2 true JP5987246B2 (ja) | 2016-09-07 |
Family
ID=43064820
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2011084566A Active JP5987246B2 (ja) | 2010-04-08 | 2011-04-06 | 6脚プラットフォーム、およびその6脚プラットフォームに使用することができるジャッキ |
Country Status (11)
Country | Link |
---|---|
US (1) | US8495927B2 (ja) |
EP (1) | EP2375084B1 (ja) |
JP (1) | JP5987246B2 (ja) |
KR (1) | KR101766191B1 (ja) |
CN (1) | CN102211748B (ja) |
BR (1) | BRPI1101870B1 (ja) |
CA (1) | CA2735760C (ja) |
ES (1) | ES2419379T3 (ja) |
FR (1) | FR2958695A1 (ja) |
MX (1) | MX2011003783A (ja) |
RU (1) | RU2561551C2 (ja) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009043405B3 (de) * | 2009-09-29 | 2011-04-07 | Kuka Roboter Gmbh | Industrieroboter mit einem Gewichtsausgleichssystem |
US8956068B2 (en) * | 2011-01-05 | 2015-02-17 | King Fahd University Of Petroleum And Minerals | Kinematic platform |
US9162880B2 (en) | 2012-09-07 | 2015-10-20 | LuxVue Technology Corporation | Mass transfer tool |
EP2918377B1 (en) * | 2012-10-02 | 2019-01-09 | AVS Added Value Industrial Engineering Solutions, S.L. | Manipulator for an ultra-high-vacuum chamber |
US20140150593A1 (en) * | 2012-12-05 | 2014-06-05 | Alio Industries, Inc. | Precision tripod motion system |
GB2512059B (en) * | 2013-03-18 | 2016-08-31 | Rolls Royce Plc | An independently moveable machine tool |
US9522468B2 (en) | 2014-05-08 | 2016-12-20 | Apple Inc. | Mass transfer tool manipulator assembly with remote center of compliance |
CN107882983A (zh) * | 2016-09-27 | 2018-04-06 | 惠州科赛医疗有限公司 | 一种活塞结构 |
RU2674132C1 (ru) * | 2017-12-14 | 2018-12-04 | Игорь Феликсович Шлегель | Смеситель для сыпучих материалов |
FR3086645A1 (fr) * | 2018-09-28 | 2020-04-03 | Airbus Sas | Chariot de transport |
WO2020081111A1 (en) * | 2018-10-19 | 2020-04-23 | Cowley Daniel J | Mechanism combining articulation and side-shift |
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DE7700917U1 (de) * | 1977-01-14 | 1978-05-18 | Massey-Ferguson-Hanomag Inc. & Co, 3000 Hannover | Lagerung fuer verschwenkbare druckmittelbtaetigte Kolben/Zylindereinheiten zum Betrieb von Arbeitsgeraeten |
NO151381C (no) * | 1977-06-21 | 1985-03-27 | Atlas Copco Ab | Anordning for parallellfoering av maskinenheter. |
FR2512410A1 (fr) * | 1981-09-04 | 1983-03-11 | Kroczynski Patrice | Systeme de robots a pattes |
NO157568C (no) * | 1985-11-26 | 1988-04-13 | Multicraft As | Armanordning. |
US4811608A (en) * | 1985-12-18 | 1989-03-14 | Spatial Systems Pty Limited | Force and torque converter |
JPS63251605A (ja) * | 1987-04-06 | 1988-10-19 | Tamagawa Seiki Co Ltd | シリンダ装置 |
US5116190A (en) * | 1990-08-02 | 1992-05-26 | General Atomics | Remotely adjustable compliance for end effector tooling |
DE4117538C1 (ja) * | 1991-05-29 | 1992-07-09 | Ant Nachrichtentechnik Gmbh, 7150 Backnang, De | |
US5350054A (en) * | 1993-04-28 | 1994-09-27 | Foster Raymond K | Ball block for mounting linear motor |
US5721566A (en) * | 1995-01-18 | 1998-02-24 | Immersion Human Interface Corp. | Method and apparatus for providing damping force feedback |
CA2213558A1 (en) * | 1995-03-01 | 1996-09-06 | Harold S. Taylor | Spatial frame |
US5847528A (en) * | 1995-05-19 | 1998-12-08 | Canadian Space Agency | Mechanism for control of position and orientation in three dimensions |
DE19608132A1 (de) * | 1996-03-02 | 1997-05-15 | Fichtel & Sachs Ag | Zylinder, insbesondere Geberzylinder |
AU733717B2 (en) | 1996-08-27 | 2001-05-24 | David E.E. Carmein | Omni-directional treadmill |
DE19636100A1 (de) * | 1996-09-05 | 1998-03-12 | Fraunhofer Ges Forschung | Hexapod-Bearbeitungszentrum |
US6026703A (en) * | 1997-08-14 | 2000-02-22 | Stanisic; Michael M. | Dexterous split equator joint |
US5901936A (en) * | 1997-08-25 | 1999-05-11 | Sandia Corporation | Six-degree-of-freedom multi-axes positioning apparatus |
JP3806273B2 (ja) * | 1999-09-17 | 2006-08-09 | 株式会社ジェイテクト | 四自由度パラレルロボット |
KR200175330Y1 (ko) | 1999-10-22 | 2000-03-15 | 주식회사금양 | 모션 베이스 장치 |
GB0026357D0 (en) * | 2000-10-27 | 2000-12-13 | Makex Ltd | Improvements in parallel link machine design |
AU2002319119A1 (en) * | 2001-07-02 | 2003-01-21 | Microbotic A/S | Apparatus comprising a robot arm adapted to move object handling hexapods |
US6640458B2 (en) * | 2002-03-25 | 2003-11-04 | Btm Corporation | End arm effector set-up |
JP4996867B2 (ja) * | 2006-03-20 | 2012-08-08 | 日立アプライアンス株式会社 | 密閉形圧縮機及び冷凍装置並びに冷蔵庫 |
JP5299882B2 (ja) * | 2007-03-30 | 2013-09-25 | 安全自動車株式会社 | 車両用リフト装置 |
GB0706663D0 (en) | 2007-04-04 | 2007-05-16 | Univ Bristol | Analysis of parallel manipulators |
CN101352303A (zh) * | 2007-07-24 | 2009-01-28 | 深圳市爱可机器人技术有限公司 | 基于并联机构的自动或半自动烹调装置 |
CN201194250Y (zh) * | 2008-04-21 | 2009-02-11 | 上海大学 | 六自由度并联机构天线座 |
-
2010
- 2010-04-08 FR FR1052655A patent/FR2958695A1/fr not_active Withdrawn
-
2011
- 2011-03-25 EP EP11159723.3A patent/EP2375084B1/fr active Active
- 2011-03-25 ES ES11159723T patent/ES2419379T3/es active Active
- 2011-04-04 KR KR1020110030764A patent/KR101766191B1/ko active IP Right Grant
- 2011-04-04 CA CA2735760A patent/CA2735760C/en active Active
- 2011-04-06 JP JP2011084566A patent/JP5987246B2/ja active Active
- 2011-04-07 CN CN201110094723.9A patent/CN102211748B/zh active Active
- 2011-04-07 RU RU2011113524/02A patent/RU2561551C2/ru active
- 2011-04-07 US US13/082,263 patent/US8495927B2/en active Active
- 2011-04-08 BR BRPI1101870-4A patent/BRPI1101870B1/pt not_active IP Right Cessation
- 2011-04-08 MX MX2011003783A patent/MX2011003783A/es active IP Right Grant
Also Published As
Publication number | Publication date |
---|---|
EP2375084A1 (fr) | 2011-10-12 |
KR101766191B1 (ko) | 2017-08-08 |
CA2735760A1 (en) | 2011-10-08 |
BRPI1101870B1 (pt) | 2020-12-29 |
BRPI1101870A2 (pt) | 2012-08-21 |
CA2735760C (en) | 2018-01-02 |
US20110247446A1 (en) | 2011-10-13 |
JP2011237029A (ja) | 2011-11-24 |
US8495927B2 (en) | 2013-07-30 |
RU2561551C2 (ru) | 2015-08-27 |
KR20110113139A (ko) | 2011-10-14 |
CN102211748A (zh) | 2011-10-12 |
EP2375084B1 (fr) | 2013-05-01 |
MX2011003783A (es) | 2011-10-28 |
ES2419379T3 (es) | 2013-08-20 |
FR2958695A1 (fr) | 2011-10-14 |
RU2011113524A (ru) | 2012-10-20 |
CN102211748B (zh) | 2015-06-17 |
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