KR100882624B1 - 기계 또는 기구 내에서 터미널 소재를 지지하고 프로그램에 따라 이동시키기 위한 운동장치 - Google Patents

기계 또는 기구 내에서 터미널 소재를 지지하고 프로그램에 따라 이동시키기 위한 운동장치 Download PDF

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Publication number
KR100882624B1
KR100882624B1 KR1020037011109A KR20037011109A KR100882624B1 KR 100882624 B1 KR100882624 B1 KR 100882624B1 KR 1020037011109 A KR1020037011109 A KR 1020037011109A KR 20037011109 A KR20037011109 A KR 20037011109A KR 100882624 B1 KR100882624 B1 KR 100882624B1
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South Korea
Prior art keywords
platform
joint
slide
axis
pivot
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Expired - Fee Related
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KR1020037011109A
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English (en)
Korean (ko)
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KR20030096262A (ko
Inventor
마커스 써니센
레이몬드 클라벨
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윌레민 머신즈 에스.에이.
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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)
KR1020037011109A 2001-02-23 2002-02-21 기계 또는 기구 내에서 터미널 소재를 지지하고 프로그램에 따라 이동시키기 위한 운동장치 Expired - Fee Related KR100882624B1 (ko)

Applications Claiming Priority (3)

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
EP01810193.1 2001-02-23
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 (2)

Publication Number Publication Date
KR20030096262A KR20030096262A (ko) 2003-12-24
KR100882624B1 true KR100882624B1 (ko) 2009-02-06

Family

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Application Number Title Priority Date Filing Date
KR1020037011109A Expired - Fee Related KR100882624B1 (ko) 2001-02-23 2002-02-21 기계 또는 기구 내에서 터미널 소재를 지지하고 프로그램에 따라 이동시키기 위한 운동장치

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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KR101101495B1 (ko) 2003-12-05 2012-01-03 자노메 미싱 고교가부시키가이샤 로봇
CN111515926A (zh) * 2020-04-07 2020-08-11 上海工程技术大学 一种并联机器人

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DE102004030659B8 (de) * 2004-06-24 2007-01-18 Ruprecht Altenburger Bewegungsvorrichtung
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Publication number Priority date Publication date Assignee Title
KR101101495B1 (ko) 2003-12-05 2012-01-03 자노메 미싱 고교가부시키가이샤 로봇
CN111515926A (zh) * 2020-04-07 2020-08-11 上海工程技术大学 一种并联机器人
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JP4523228B2 (ja) 2010-08-11
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
US8303238B2 (en) 2012-11-06
EP1234632A1 (fr) 2002-08-28
JP2004524982A (ja) 2004-08-19
CZ20032512A3 (cs) 2004-12-15
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US20040052628A1 (en) 2004-03-18
CN1498149A (zh) 2004-05-19
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