MX2022002074A - Una maquina cinematica paralela con orientacion versatil de la herramienta. - Google Patents

Una maquina cinematica paralela con orientacion versatil de la herramienta.

Info

Publication number
MX2022002074A
MX2022002074A MX2022002074A MX2022002074A MX2022002074A MX 2022002074 A MX2022002074 A MX 2022002074A MX 2022002074 A MX2022002074 A MX 2022002074A MX 2022002074 A MX2022002074 A MX 2022002074A MX 2022002074 A MX2022002074 A MX 2022002074A
Authority
MX
Mexico
Prior art keywords
tool
support
linkage
tool base
platform
Prior art date
Application number
MX2022002074A
Other languages
English (en)
Inventor
Torgny Brogårdh
Adam Nilsson
Klas Nilsson
Original Assignee
Cognibotics Ab
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 Cognibotics Ab filed Critical Cognibotics Ab
Publication of MX2022002074A publication Critical patent/MX2022002074A/es

Links

Classifications

    • 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
    • B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
    • B25J9/0057—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-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
    • B25J9/0033—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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

Abstract

Una máquina cinemática paralela, PKM, que comprende: una plataforma de soporte (17a), un primer eslabonamiento de soporte (SL1); un segundo eslabonamiento de soporte (SL2) y un tercer eslabonamiento de soporte (SL3), en donde el primer eslabonamiento de soporte (SL1), el segundo eslabonamiento de soporte (SL2) y el tercer eslabonamiento de soporte (SL3) juntos comprenden al menos cinco eslabones de soporte (8, 9, 10, 11, 12, 13). La PKM comprende además: una base de herramientas (140) que comprende una junta de eje (24, 40, 41, 200, 202, 262a, 262b), un eje de la base de herramientas (19) y una plataforma de herramientas (17b). El eje de la base de herramientas (19) se conecta a la plataforma de soporte (17a) a través de la junta de eje (24, 40, 41, 200, 202, 262a, 262b), y donde la plataforma de herramientas (17b) y el eje de la base de herramientas (19) se conectan rígidamente. La PKM también comprende uno o más eslabonamientos de herramientas (TL1, TL2, TL3), comprendiendo cada uno un eslabón de herramientas (26, 31; 29, 32; 38) conectado en un extremo a través de una junta de la base de herramientas (25, 28, 37) a la base de herramientas (140), y en el otro extremo conectado a través de una junta del carro de herramientas (27, 30, 39) a un carro dispuesto para moverse a lo largo de una trayectoria; y en donde cada eslabonamiento de herramientas (TL1, TL2, TL3) se configura para girar el eje de la base de herramientas (19) alrededor de al menos un eje con respecto a la plataforma de soporte (17), transfiriendo un movimiento del eslabonamiento de herramientas respectivo (TL1, TL2, TL3) al eje de la base de herramientas (19).
MX2022002074A 2019-08-19 2020-08-17 Una maquina cinematica paralela con orientacion versatil de la herramienta. MX2022002074A (es)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP19192225 2019-08-19
US202063051221P 2020-07-13 2020-07-13
PCT/EP2020/072999 WO2021032680A1 (en) 2019-08-19 2020-08-17 A parallel-kinematic machine with versatile tool orientation

Publications (1)

Publication Number Publication Date
MX2022002074A true MX2022002074A (es) 2022-04-06

Family

ID=72046918

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2022002074A MX2022002074A (es) 2019-08-19 2020-08-17 Una maquina cinematica paralela con orientacion versatil de la herramienta.

Country Status (9)

Country Link
US (1) US11731265B2 (es)
EP (1) EP4017686B1 (es)
KR (1) KR20220047282A (es)
CN (1) CN114269520B (es)
AU (1) AU2020333886A1 (es)
CA (1) CA3149563A1 (es)
ES (1) ES2949537T3 (es)
MX (1) MX2022002074A (es)
WO (1) WO2021032680A1 (es)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111601685B (zh) * 2018-01-15 2021-08-06 康格尼博提克斯股份公司 工业机器人手臂
CN116766164B (zh) * 2023-08-23 2023-10-20 太原理工大学 一种带有多环耦合支链的高刚度五自由度并联驱动机器人

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5816105A (en) * 1996-07-26 1998-10-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Three degree of freedom parallel mechanical linkage
JP4155637B2 (ja) * 1998-10-01 2008-09-24 三菱プレシジョン株式会社 ３次元空間座標入力装置
US6497548B1 (en) 1999-08-05 2002-12-24 Shambhu Nath Roy Parallel kinematics mechanism with a concentric sperical joint
EP1234632A1 (fr) * 2001-02-23 2002-08-28 Willemin Machines S.A. Dispositif cinématique du support et de déplacement programmable d'un élément terminal dans une machine ou un instrument
SE0201848D0 (sv) * 2002-06-14 2002-06-14 Abb Ab Anordning vid industrirobot
ES2303131T3 (es) * 2003-12-16 2008-08-01 Abb Ab Manipulador cinematico paralelo para espacios de trabajo grandes.
ATE491551T1 (de) 2004-06-10 2011-01-15 Abb Ab Kinematischer parallelroboter und verfahren zur steuerung dieses roboters
CN1715008A (zh) * 2005-07-06 2006-01-04 河北工业大学 三自由度解耦并联机器人机构
US7938602B2 (en) * 2006-03-31 2011-05-10 Jtekt Corporation Three degree of freedom parallel mechanism, multi-axis control machine tool using the mechanism and control method for the mechanism
CN101712151B (zh) 2009-11-11 2015-07-01 哈尔滨工业大学深圳研究生院 一种大倾角六自由度并联机器人
US8852174B2 (en) * 2009-11-13 2014-10-07 Intuitive Surgical Operations, Inc. Surgical tool with a two degree of freedom wrist
CN103302510B (zh) * 2013-07-03 2015-10-28 上海交通大学 含有两个可浮动交错转轴的并联机构
US10626963B2 (en) * 2015-10-19 2020-04-21 GM Global Technology Operations LLC Articulated mechanism for linear compliance
CN107081760B (zh) 2017-06-21 2023-05-09 东莞爱创机器人科技有限公司 一种基于平动并联机构的六自由度机械臂
US20200370274A1 (en) 2019-05-21 2020-11-26 Cognibotics Ab Multi-backhoe linkage mechanism

Also Published As

Publication number Publication date
CN114269520A (zh) 2022-04-01
CA3149563A1 (en) 2021-02-25
US20220281100A1 (en) 2022-09-08
EP4017686A1 (en) 2022-06-29
EP4017686B1 (en) 2023-06-14
AU2020333886A1 (en) 2022-03-03
WO2021032680A1 (en) 2021-02-25
KR20220047282A (ko) 2022-04-15
EP4017686C0 (en) 2023-06-14
US11731265B2 (en) 2023-08-22
ES2949537T3 (es) 2023-09-29
CN114269520B (zh) 2024-02-06

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