NL2029419B1 - Movement device and operation equipment - Google Patents
Movement device and operation equipment Download PDFInfo
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- NL2029419B1 NL2029419B1 NL2029419A NL2029419A NL2029419B1 NL 2029419 B1 NL2029419 B1 NL 2029419B1 NL 2029419 A NL2029419 A NL 2029419A NL 2029419 A NL2029419 A NL 2029419A NL 2029419 B1 NL2029419 B1 NL 2029419B1
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- unit
- rod piece
- movement
- assembly
- trajectory information
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- 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
- B25J9/006—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-universal
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The present application discloses a movement device and operation equipment. The movement device realizes variable-trajectory information by using a lever principle, and includes a movement assembly and a control assembly. The control assembly is connected with the movement assembly. The movement assembly is at least partially connected with a fixing assembly. The movement assembly includes a rod piece, at least three groups of power units, and a hinge unit. A first end of the power unit is hinged to a non-first end of the rod piece, and a second end of the power unit is hinged to the fixing assembly. The non-first end of the rod piece is slidably connected with the hinge unit to form a hinge fulcrum, so that a stable structural point is formed at a first end of the rod piece. The control assembly controls the at least three groups of power units to move. The first end of the rod piece moves around the hinge fulcrum under the action of the power units. Under the action of the lever principle, forward and inverse kinematics of the at least three groups of power units and the first end of the rod piece is solved to realize variable-trajectory information. The operation equipment further includes the tool device connected to the first end of the rod piece.
Description
MOVEMENT DEVICE AND OPERATION EQUIPMENT
[01] The present application belongs to the field of manufacturing of robots and additional material equipment, and specifically relates to a movement device and operation equipment.
[02] At present, although a mechanical arm has the advantages of fast response, high accuracy and the like, it is restricted by factors such as poor stability and unadjustable accuracy, so the printing effect is not ideal. The stability of the mechanical arm structure is improved so that the accuracy of an XYZ direction is not differentiated. Adjustment parameters are set according to the accuracy of a printed object, which is of great importance for the classification accuracy.
[03] It is in urgent and necessary need to develop low-cost, ultra-stable, highly reliable, and variable-accuracy movement devices for innovative platform architecture.
[04] The embodiments of the present application aim to provide a movement device and operation equipment, which can solve the problem of incapability of realizing variable-trajectory information in the existing art.
[05] In order to solve the above technical problems, the present application is realized below.
[06] A movement device realizes variable-trajectory information by using a lever principle, and includes a movement assembly and a control assembly; the control assembly is connected with the movement assembly; the movement assembly is at least partially connected with a fixing assembly;
[07] the movement assembly includes a rod piece, at least three groups of power units, and a hinge unit; a first end of the power unit is hinged to a non-first end of the rod piece; the non-first end of the rod piece is slidably connected with the hinge unit to form a hinge fulcrum, so that a stable structural point is formed at a first end of the rod piece;
[08] the control assembly controls the at least three groups of power units to move; the first end of the rod piece moves around the hinge fulcrum under the action of the power units; under the action of the lever principle, forward and inverse kinematics of corresponding trajectory information of the at least three groups of power units and the first end of the rod piece is solved to realize variable-trajectory information.
[09] Preferably, the solving of trajectory information, and vanable-trajectory information are realized according to changes in the position of the hinge fulcrum on the rod piece.
[10] Preferably, the trajectory information at least includes a pose, a speed, a displacement, acceleration, a force, and accuracy.
[11] Preferably, the power unit is a unit that realizes movement of single degree of freedom under the control of the control assembly, particularly a structure with a telescoping function, such as a cylinder or an electric actuator or a hydraulic cylinder or a sliding rail.
[12] Preferably, the control assembly includes a movement control unit used to control, store and process the trajectory information of movement of the power unit and convert the trajectory information into trajectory information of the first end of the rod piece.
[13] Preferably, the fixing assembly includes a zero-degree-of-freedom structure or a single-degree-of-freedom structure or a multi-degree-of-freedom structure;
[14] a second end of the power unit is hinged to the fixing assembly;
[15] the hinge unit is at least partially connected with the fixing assembly.
[16] Preferably, the hinge unit is a unit providing a fulcrum for the rod piece and having a certain degree of freedom, and includes a tumbler bearing or a ball hinge structure.
[17] Operation equipment is characterized in that the operation equipment includes the above-mentioned movement device, and further includes a tool device. The tool device is connected with the first end of the rod piece.
[18] Preferably, the tool device includes a 3D printing unit or a clamping unit or a machining unit or a repair unit or an energy unit;
[19] the 3D printing unit prints an object under the movement action of the first end of the rod piece;
[20] the clamping unit is a unit for picking and placing a desired article and includes clamp forceps or a suction disk;
[21] the machining unit is a unit for machining related workpieces and includes cutting or milling or planing or grinding or drilling;
[22] the repair unit is a unit for repairing related articles and includes a welding rod;
[23] the energy unit is a unit for providing energy and includes laser or ultraviolet light.
[24] Preferably, the control assembly further includes an operation control unit, and the operation control unit is a programmable control unit for controlling the tool device to work.
[25] In the embodiments of the present application, the movement assembly used has simple structure, ingenious idea and high reliability, and is suitable for severe conditions such as high temperature and sealing. The hinge fulcrum formed by the rod piece and the hinge unit is set at different positions, so that variable-trajectory information such as variable accuracy, variable force and variable speed of a movement can be realized; the fixing assembly of the single-degree-of-freedom structure can realize accuracy- adjustable 3D printing; setting the hinge unit is favorable for free swing of a moving rod; and the at least three groups of power units and the hinge unit are respectively connected to the rod piece to form an ultra-stable structure, which is good for the stability of the structure and realization of the free swing in the moving process. The position of the hinge fulcrum is controlled by using the lever principle, so that changes in the trajectory information such as the speed and the force of the first end of the rod piece can be effectively controlled, thus realizing quick and accurate adjustment. The technology can realize the trajectory information exceeding the accuracy and the force of the power unit, and can also realize high accuracy. The first end of the rod piece is connected with the tool device to realize 3D printing, machining, picking, and other operations. The present application can solve the problem of incapability of realizing variable-trajectory information in the existing art.
[26] FIG. 1 is a schematic structural diagram of a movement device and operation equipment in the embodiments of the present application.
[27] FIG. 2 is a schematic diagram of a movement principle of a movement device and operation equipment in the embodiments of the present application.
[28] Reference signs in the drawings:
[29] 10: movement assembly; 11: rod piece; 12: power unit; 13: hinge unit; 20: control assembly; 21: movement control unit; 22: operation control unit; 30: tool device; and 40: fixing assembly.
[30] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Apparently, the embodiments described herein are only part of the embodiments of the present application, not all the embodiments.
Based on the embodiments in present application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present application. [BI] The terms “first”, “second”, etc. in the specification and claims of the present application are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or a precedence order. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and objects distinguished by "first", "second", etc. are usually of one type, and the number of objects is not limited. For example, the first object may be one or multiple. In addition, "and/or" in the specification and claims means at least one of the connected objects, and the character "/" generally means that the associated objects before and after are in an "or" relationship.
[32] In the following, a temperature measurement method provided in the embodiments of the present application will be described in detail through specific embodiments and application scenarios with reference to the accompanying drawings.
[33] Referring to FIGS. 1-2, the embodiments of the present application provide a movement device which realizes variable-trajectory information by using a lever principle, and includes a movement assembly 10 and a control assembly20. The control assembly 20 is connected with the movement assembly 10, and the movement assembly 10 is at least partially connected with a fixing assembly 40.
[34] The movement assembly 10 includes a rod piece 11, at least three groups of power units 12, and a hinge unit 13; a first end of the power unit 12 is hinged to a non- first end of the rod piece 11; a second end of the power unit 12 is hinged to the fixing assembly 40; the non-first end of the rod piece 11 is slidably connected with the hinge unit 13 to form a hinge fulcrum, so that a stable structural point is formed at a first end of the rod piece 11.
[35] The control assembly 20 controls the at least three groups of power units 12 to move; the first end of the rod piecell moves around the hinge fulcrum under the action of the power units 12; under the action of the lever principle, forward and inverse kinematics of corresponding trajectory information of the at least three groups of power units 12 and the first end of the rod piece 11 is solved to realize variable-trajectory information.
[36] Inthe embodiments of the present application, the movement assembly 10 used has simple structure, ingenious idea and high reliability, and is suitable for severe conditions such as high temperature and sealing. The hinge fulcrum formed by the rod piece 11 and the hinge unit 13 is set at different positions, so that variable-trajectory information such as variable accuracy, variable force and variable speed of a movement can be realized; the fixing assembly 40 of the single-degree-of-freedom structure can realize accuracy-adjustable 3D printing; setting the hinge unit 13 is favorable for free swing of a moving rod; and the at least three groups of power units 12 and the hinge unit 13 are respectively connected to the rod piece 11 to form an ultra-stable structure, which is good for the stability of the structure and realization of the free swing in the moving process. The position of the hinge fulcrum is controlled by using the lever principle, so that changes in the trajectory information such as the speed and the force of the first end of the rod piece 11 can be effectively controlled, thus realizing quick and accurate adjustment. The technology can realize the trajectory information exceeding the accuracy and the force of the power unit 12, and can also realize high accuracy. The first end of the rod piece 11 is connected with the tool device 30 to realize 3D printing, machining, picking, and other operations. The present application can solve the problem of incapability of realizing variable-trajectory information in the existing art.
[37] It should be noted that the hinge connection is a connection in which two mechanisms can be rotated relative to each other. The two mechanisms may be mechanisms hinged to one end of the power unit 12, or a structure capable of realizing mutual movement may be added between the two mechanisms, such as including a ball hinge mechanism. A rotation angle is not limited. The two mechanisms can also be rotating mechanisms or a combination form for realizing the same function.
[38] It should be noted that, in the embodiments of the present application, the forward and inverse kinematics refer to both forward and inverse kinematics.
[39] The positive kinematics is to solve the trajectory information of the first end of the rod piece 11 if the trajectory information of the at least three groups of the power units 12 is known, and the variable-trajectory information is solved according to the lever principle.
[40] Steps of a method for solving new position coordinates are, for example, as follows: 1. organizing change equations of all the power units 12; 2. solving coordinate positions of hinge points of the power units 12 at the present; 3. solving a movement vector; and 4. using the lever principle to solve a new position of the first end of the rod piece 11.
[41] The specific solving method is as follows:
[42] Supposing: there are three groups of power units 12, each of which is a hydraulic cylinder; the first ends of the three groups of the hydraulic cylinders and the rod piece 11 are hinged at one point p; the end point of the first end of the rod piece 11 is q; and an origin of coordinates is the hinge fulcrum, defined as 0.
[43] The rod piece 11 is a cylindrical rod piece 11, defined as M, and the three groups of hydraulic cylinders are A, B, and C. At an initial position, the position coordinates of the first ends of the three groups of hydraulic cylinders are (x, y, z), the position coordinates of the second end of the cylinder A are (Xa, Ya, Za), the position coordinates of the second end of the cylinder B are (xu, yb, Zo), and the position coordinates of the second end of the cylinder C are (xc, ye, Ze).
[44] Ata current position, the position coordinates of the first ends of the three groups of hydraulic cylinders are (x', y', z'), the position coordinates of the second end of the cylinder A are (X's, V/a, Z's), the position coordinates of the second end of the cylinder B are (x's, y'b, Z'n), and the position coordinates of the second end of the cylinder C are (x'c,
Ve, Ze).
[45] The initial position is represented by a solid line, and the current position is represented by a dashed line.
[46] The hinge point is represented by 0. La, Ls, and Lc are lengths of the initial power units 12, and L’., L's, and L’ are lengths of the current power units 12.
[47] According to length equations (sqrt represents square root calculation}, initial position equations are:
[48] Le=sqrt((-xa) Hy-ya) Hz-za)"); 49 Lo=sqr(G-x0)Hy-y0) Hz-20)°); 50] L=sqr((-xc)+H(y-ye) Hz-ze));
[51] according to the initial equations, the initial position (x, y, z) of the point p can be solved.
[52] Current position equations are: 53] Lass ya) HZ) 54] Lo=sqri((x HG yo -z');
B Leste Hy ys) HZ ze)
[56] according to the current position equations, the current position (x', y', z') of the point p can be solved.
[57] The movement control unit 21 controls variables of the power units 12.
[58] The variables of the three hydraulic cylinders are respectively a’, b', ¢', and the variables can be positive values or negative values.
[59] L.=Lita; L'v=Lyt+b; L':=Lctc.
[60] If a total length of the rod piece 11 (M) is L,
[61] Mis divided into two sections by taking the hinge fulcrum as a boundary, i.e., the section pO is ml, and the section qO is m2. A length ratio of the two ends is:
A=(ma/my); 5 [62] mss HZ);
[63] m:-=L-m;;
[64] the position coordinates (x’1, y’2, z’2) of the point q are solved;
[65] x'l=-A%*;
[66] y'2=A%y;
[67] z2=-A*z.
[68] It should be noted that in the embodiments of the present application, if other trajectory information is to be solved, a size and direction of a force of the point q are solved according to the lever principle, for example, a size and direction of a force of the point p are known.
[69] It should be noted that in the embodiments of the present application, the movement device can realize the variable-trajectory information.
[70] It should be noted that in the embodiments of the present application, the force can be magnified and reduced according to the lever principle, so that a size value exceeding the force of the original power unit 12 can be realized.
[71] The speed can be increased and decreased according to the lever principle, i.e, realizing fast movement or realizing a real-time varying speed.
[72] Variable accuracy can also be realized according to the lever principle. When A does not change, the accuracy can be raised and lowered according to the power unit 12.
[73] When A has no real-time changes, the accuracy can be changed in real time. In 3D printing, different printing accuracies at different positions can be realized.
[74] It should be noted that when the hinge fulcrum is close to the first end of the rod piece 11, it is better for an accurate mechanical trajectory, which is equivalent to a sharp movement of a moving end of the power unit 12 to cause a tiny movement of the first end of the rod piece 11, thereby realizing a micro-nano movement.
[75] The inverse kinematics is to solve the trajectory information of the at least three groups of power units 12 according to the known trajectory information of the first end of the rod piece 11.
[76] It should be noted that the solution of the inverse kinematics can be inversion according to the above forward kinematics.
[77] It should be noted that in the embodiments of the present application, there are at least three groups of power units 12, preferably three groups. The technical solution can also be realized by selecting one or two groups of power units 12. However, this structure has low stability. When one or two groups are selected, a motor and other mechanisms shall be added. A unique solution is solved if the angle and telescopic amount of the rod piece 11 are known. Three or more groups of power units 12 are selected to make the structure ultra-stable, and the movement calculation is more complex.
[78] It should be noted that in the embodiments of the present application, the power unit 12 preferentially selects a structure such as a cylinder, a hydraulic cylinder, an electric actuator, which can realize a telescoping function, and at the same time, the control component 20 can control the telescoping amount of its degree of freedom. Of course, structures with the same function, such as a sliding rail and a connection rod, can also be used.
[79] It should be noted that in the embodiments of the present application, two ends of the power unit 12 are divided into a first end and a second end, and can also be divided into a fixed end and a mobile end. Preferably, the first end is the mobile end.
[80] It should be noted that in the embodiments of the present application, the non- first end refers to a region other than the first end, including the second end and all non- end rod pieces 11.
[81] It should be noted that in the embodiments of the present application, the first end of the power unit 12 is hinged to the non-first end of the rod piece 11, and the non- first end of the rod piece 11 is slidably connected to the hinge unit 13 to form a hinge fulcrum. There are two position relationships. One position relationship is on the rod piece 11, i.e, the hinge fulcrum is in the middle of a connection point between the first end of the rod piece 11 and the first end of the power unit 12. The other one is on the rod piece 11, i.e, the hinge fulcrum is on one side of the connection point between the first end of the rod piece 11 and the first end of the power unit 12.
[82] It should be noted that, in the embodiments of the present application, the second ends of the at least three groups of power units 12 are hinged to the fixing assembly 40, and the first ends of the at least three groups of power units 12 are hinged to the rod piece 11. The hinge connection points of the first ends of the power units 12 are uniformly distributed in a circumferential direction on a cross section of the rod piece 11. This distribution is only a special case. The distribution method can be more convenient for solving and is stabler. The hinge connection points of the first ends of the power units 12 may not be on the same cross section of the rod piece 11.
[83] It should be noted that in the embodiments of the present application, a combined movement direction and size of the connection rods at the first ends of the power units 12 are results of combined action of the at least three groups of power units 12.
[84] It should be noted that in the embodiments of the present application, the rod piece 11 is cylindrical. Of course, the form of the rod piece 11 can be in various styles, for example, a rodlike cross section is cylindrical, rectangular, polygonal, or spiral. It can also be rodlike or linear at one end, and various shapes at the other end. It can be curved, folded in any degrees, or nonlinear.
[85] It should be noted that regardless of how the shape of the rod piece changes, the rod piece 11 is of a straight line shape within a maximum range of the movement of the hinge fulcrum on the rod piece 11.
[86] It should be noted that in the embodiment of the present application, since there is no motor in a three-dimensional space and a surrounding region, this mechanism has certain advantages in a high-temperature environment.
[87] It should be noted that in the embodiment of the present application, the movement control unit 21 can be used to achieve a free trajectory, and, at the same time, can achieve many advantages such as repeated path planning and a curved layered path.
[88] Preferably, solving of trajectory information, and variable-trajectory information are realized according to changes in the position of the hinge fulcrum on the rod piece 11.
[89] It should be noted that in the embodiments of the present application, the variable-trajectory information is divided into two situations.
[90] When the position of the hinge fulcrum on the rod piece 11 does not change, the combined trajectory information of the power units 12 can be equivalent to the trajectory information of the first end of the rod piece 11 and is constant. In this case, arc work can be realized, or can be realized by combination according to the fixing assembly 40.
When the fixing assembly 40 has a single degree of freedom, layered printing by a constant-accuracy arc surface can be realized.
[91] When the position of the hinge fulcrum on the rod piece 11 changes, real-time changes of the trajectory information such as accuracy, force and speed can be realized.
In addition, the fixing assembly 40 can better complete various operations due to different degrees of freedom.
[92] Preferably, the trajectory information at least includes a pose, a speed, a displacement, acceleration, a force, and accuracy.
[93] It should be noted that the accuracy refers to changing to an accuracy value of the first end of the rod piece 11 according to the combined accuracy of the power unit 12 via the lever principle, and the rest of the trajectory information is the same.
[94] It should be noted that in the embodiment of the present application, the trajectory information includes a pose. The pose refers to a position and a posture. A method for solving the position and the posture is determined according to the movement of the power unit 12.
[95] Preferably, the power unit 12 is a unit that realizes movement of a single degree of freedom under the control of the control assembly 20, particularly a structure with a telescoping function, such as a cylinder or an electric actuator or a hydraulic cylinder or asliding rail.
[96] It should be noted that the structure with telescoping function is not limited to the above examples, and the sliding rail connection method is the same. A moving block can be regarded as the first end, and one end of the fixed end can be regarded as the second end, so as to ensure the realization of the above functions.
[97] It should be noted that the power unit 12 does not include a motor.
[98] Preferably, the control assembly 20 includes a movement control unit 21 used to control, store, and process the trajectory information of the movement of the power unit 12 to convert it into the trajectory information of the first end of the rod piece 11.
[99] It should be noted that the control is to control the power unit 12 according to a program, and the storage is to store the trajectory information of the movement of the power unit 12, so that the trajectory information of multiple groups of power units 12 is converted using the above formula to realize the trajectory information and changes of the first end of the rod piece 11.
[100] Preferably, the fixing assembly 40 includes a zero-degree-of-freedom structure ora single-degree-of-freedom structure or a multi-degree-of-freedom structure;
[101] the hinge unit 13 is at least partially connected with the fixing assembly 40.
[102] It should be noted that the zero-degree-of-freedom structure refers to a structure that does not change its displacement, such as a welded part and a bolt frame structure.
[103] The single-degree-of-freedom structure refers to a structure that can realize lifting or unidirectional movement;
[104] the multi-degree-of-freedom structure may be a mechanical arm or a mechanical structure with the multi-degree-of-freedom structure. Connection to the multi-degree- of-freedom structure can adjust the accuracy of the multi-degree of freedom and realize functions such as secondary adjustment.
[105] Preferably, the hinge unit 13 is a unit providing a fulcrum for the rod piece 11 and having a certain degree of freedom, and includes a tumbler bearing or a ball hinge structure.
[106] The ball hinge structure includes a ball sleeve and a ball hinge; the ball hinge is movably connected with the ball sleeve and rotates freely in the ball sleeve; the ball hinge is slidably connected with the rod piece 11; and the ball sleeve is connected with the fixing assembly 40.
[107] It should be noted that if the hinge fulcrum and the ball hinge are not at the same position point, biasing or equivalence needs to be carried out.
[108] Operation equipment includes the above-mentioned movement device, and further includes a tool device 30. The tool device 30 is connected to the first end of the rod piece 11.
[109] Preferably, the tool device 30 includes a 3D printing unit or a clamping unit or a machining unit or a repair unit or an energy unit;
[110] the 3D printing unit prints an object under the movement action of the first end of the rod piece 11.
[111] It should be noted that, in the embodiments of the present application, after the trajectory information of the first end of the rod piece 11 is solved, the trajectory information needs to be converted and transformed again to a printing end.
[112] A printing process is not limited, such as: FDM.
[113] It should be noted that the embodiments of the present application can realize any changed trajectory.
[114] The clamping unit is a unit for picking and placing a desired article and includes clamp forceps or a suction disk.
[115] It should be noted that the clamping unit can be applied in industrial production or agricultural production.
[116] The industrial production is, for example, to pick and place a workpiece. The agricultural production is, for example, to pick the workpiece.
[117] The machining unit is a unit for machining related workpieces and includes cutting or milling or planing or grinding or drilling.
[118] It should be noted that using this movement structure can realize machining of various accuracies.
[119] The repair unit is a unit for repairing related articles and includes a welding rod.
[120] It should be noted that the repair unit can be used to repair and weld tiny cracks.
[121] The energy unit is a unit for providing energy and includes laser or ultraviolet light.
[122] It should be noted that the energy unit can realize photocuring printing or laser engraving.
[123] It should be noted that the tool device 30 can also be a shooting unit that realizes a shooting task in a desired direction and is for military use.
[124] Preferably, the control assembly 20 further includes an operation control unit 22, and the operation control unit 22 is a programmable control unit for controlling the tool device 30 to work.
[125] It should be noted that the control assembly 20 can realize complete control of the operation equipment, and is not limited to that the movement control unit 21 and the operation control unit 22 can be used independently or together.
[126] It should be noted that the structure of the operation equipment is not limited to the above-mentioned device.
[127] The working principle and working process of the present invention are as follows:
[128] first, the movement control unit 21 is switched on to make the power unit 12 move;
[129] the trajectory information of the first end of the rod piece 11 is solved according to the programmable control program;
[130] if the tool device 30 is added, the trajectory information will be converted into the trajectory information of the end of the tool device 30, and the tool device is controlled to work according to the operation control unit 22; and
[131] the movement control unit 21 is controlled to realize variable-trajectory information.
[132] The working principle is detailed in the above formula.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NL2029419A NL2029419B1 (en) | 2021-10-14 | 2021-10-14 | Movement device and operation equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NL2029419A NL2029419B1 (en) | 2021-10-14 | 2021-10-14 | Movement device and operation equipment |
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| Publication Number | Publication Date |
|---|---|
| NL2029419B1 true NL2029419B1 (en) | 2023-05-16 |
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| NL2029419A NL2029419B1 (en) | 2021-10-14 | 2021-10-14 | Movement device and operation equipment |
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| NL (1) | NL2029419B1 (en) |
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| US20040115019A1 (en) * | 2002-11-13 | 2004-06-17 | Hans Gronbach | Machine tool |
| US20040126198A1 (en) * | 2002-12-27 | 2004-07-01 | Jeng-Shyong Chen | Multi-axis cartesian guided parallel kinematic machine |
| EP2624914B1 (en) * | 2010-10-05 | 2014-07-16 | Rheinisch-Westfälische Technische Hochschule Aachen (RWTH) | Device for moving an object |
| EP3228425B1 (en) * | 2016-04-08 | 2021-04-07 | Michele d'Egidio | Device for the movement and positioning of an element in space |
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2021
- 2021-10-14 NL NL2029419A patent/NL2029419B1/en active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6301525B1 (en) * | 1998-06-25 | 2001-10-09 | Neos Robotics Ab | System and method for controlling a robot |
| DE19904702A1 (en) * | 1999-02-05 | 2000-08-10 | Schaeffler Waelzlager Ohg | Parallel kinematics machine |
| US20040115019A1 (en) * | 2002-11-13 | 2004-06-17 | Hans Gronbach | Machine tool |
| US20040126198A1 (en) * | 2002-12-27 | 2004-07-01 | Jeng-Shyong Chen | Multi-axis cartesian guided parallel kinematic machine |
| EP2624914B1 (en) * | 2010-10-05 | 2014-07-16 | Rheinisch-Westfälische Technische Hochschule Aachen (RWTH) | Device for moving an object |
| EP3228425B1 (en) * | 2016-04-08 | 2021-04-07 | Michele d'Egidio | Device for the movement and positioning of an element in space |
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