SE0950953A1 - A header - Google Patents
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- SE0950953A1 SE0950953A1 SE0950953A SE0950953A SE0950953A1 SE 0950953 A1 SE0950953 A1 SE 0950953A1 SE 0950953 A SE0950953 A SE 0950953A SE 0950953 A SE0950953 A SE 0950953A SE 0950953 A1 SE0950953 A1 SE 0950953A1
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- SE
- Sweden
- Prior art keywords
- profiles
- arm
- robot
- beams
- nodes
- Prior art date
Links
- 125000006850 spacer group Chemical group 0.000 claims description 15
- 238000003466 welding Methods 0.000 claims description 6
- 241000446313 Lamella Species 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000006978 adaptation Effects 0.000 claims 1
- 241000047428 Halter Species 0.000 description 9
- 230000008859 change Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 235000015096 spirit Nutrition 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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- 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
- B23Q1/4857—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 followed perpendicularly by a single rotating pair
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—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
- B23Q1/50—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
- B23Q1/5406—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 a single rotating pair followed perpendicularly by a single rotating pair
- B23Q1/5425—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 a single rotating pair followed perpendicularly by a single rotating pair followed perpendicularly by a single sliding pair
-
- 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
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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
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B7/00—Connections of rods or tubes, e.g. of non-circular section, mutually, including resilient connections
- F16B7/04—Clamping or clipping connections
- F16B7/044—Clamping or clipping connections for rods or tubes being in angled relationship
- F16B7/048—Clamping or clipping connections for rods or tubes being in angled relationship for rods or for tubes without using the innerside thereof
- F16B7/0486—Clamping or clipping connections for rods or tubes being in angled relationship for rods or for tubes without using the innerside thereof forming an abutting connection of at least one tube
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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
- F16M11/16—Details concerning attachment of head-supporting legs, with or without actuation of locking members thereof
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Automatic Assembly (AREA)
Abstract
Uppfinningen avser en anordning (i) vid förind-ning av profiler etc.Enligt uppfinningen sträcker sig åtminstone tre fästen (6-8) för koppling till var sin arm (2-4) eller liknande frän en infästning (5} avsedd för en robot etc. Resp fäste (6-S) bildas av knutpunkter som är svängbart lagrade och som möjliggöres att justeras till önskad riktning (9-11) och fastlåsning i önskade lägen (I, II, III), varvid flera av sagda armar etc (2-4) är sammansatta så att i huvudsak endast drag-och tryckkrafter (B, T) initieras i sagda infästnings (5) struktur och att varje arm etc (2-4) i knutpunkterna (6-8) är anordnade att riktas i fritt, valda vinklar mot intillbelägen knutpunkt och/eller slutpunkt.(Fig 1)The invention relates to a device (i) for connecting profiles, etc. According to the invention, at least three attachments (6-8) for connection to each arm (2-4) or the like extend from an attachment (5} intended for a robot etc. Resp attachment (6-S) is formed by pivot points which are pivotally mounted and which enable adjustment to the desired direction (9-11) and locking in desired positions (I, II, III), whereby several of said arms etc (2 -4) are composed so that essentially only tensile and compressive forces (B, T) are initiated in the structure of said fastening (5) and that each arm etc. (2-4) in the nodes (6-8) are arranged to be directed in free , selected angles towards an adjacent node and/or end point. (Fig 1)
Description
,,_.> b) to CD th Q (Ii Den föreliggande uppfinningen avser en anord- ning vid forbindning av profilerßbalkar/armar etc. The present invention relates to a device for connecting profile beams / arms, etc.
Uppfinnlngen är avsedd att tillämpas vid bl.a. robotar och närmare bestämt då vid utformning av robotgrimmor i syfte att minimera materialàtgàng och vikt l förhållande till styrka, möjliggöra snabb byggnation och reparation av robot~ grimman, öka precisionen i robotgrimmans funktioner, minska utrymmesbebov, korta ner cykeltlder, minska behovet av stora robotar och sänka tillverkningskostnader.The invention is intended to be applied to e.g. robots and more specifically when designing robot halters in order to minimize material consumption and weight in relation to strength, enable rapid construction and repair of the robot halter, increase precision in the robot halter's functions, reduce space requirements, shorten cycle ages, reduce the need for large robots and reduce manufacturing costs.
Robotgrimman avses att användas i applikationer där det i dag används tyngre robotgrlmmor i företrädesvis aluminium och stål. Robotgrlmmor används företrädesvis for att nantera och operera på komponenter i tillverkande industri.The robot halter is intended for use in applications where heavier robot masks are currently used, preferably aluminum and steel. Robotic grommets are preferably used to nant and operate on components in the manufacturing industry.
Dagens robotgrlmmor ar ofta onödigt stora, ofta svåra att bygga, svåra att reoarera, vager mycket och ar dyra T' att konstruera. l vissa fall kan griumorna vara valdigt dyra och omöjliga att andra. Att accelerera och bromsa tunga robot- grimmor innebar ofta nog energlätgång och långsamma tempen.Today's robot gimmicks are often unnecessarily large, often difficult to build, difficult to reorient, weigh a lot and are expensive to construct. In some cases, the griums can be very expensive and impossible for others. Accelerating and braking heavy robot halters often meant enough energy and slow temps.
Stora robotar behövs för att hantera grimmorna. Den stora vikten innebär också att precisionen inte alltid den bästa. är Huvudandamàlet med den föreliggande uppfin- ningen är därför i forsta hand att åstadkomma en anordning som löser bl.a. de ovan sagda problemen på ett effektivt och säkert sätt.Large robots are needed to handle the halters. The great importance also means that the precision is not always the best. is The main object of the present invention is therefore primarily to provide a device which solves e.g. the above problems in an efficient and safe manner.
Sagda ändamål uppnås medelst en anordning .enligt den föreliggande up finnlngen, som i huvudsak känneteck- nas därav, att till en infastning från en robot eller annat verktyg eller föremål sträcker sig åtminstone tre fästen for koppling till var sin arm, profil, balk eller liknande, att resp fäste bildas av knutpunkter som är svangbart lagrade och som möjliggöres att justeras till önskad riktning och fastlàsning i önskade lagen varvid flera av sagda armar etc ar sammansatta så att l huvudsak endast drag~ och tryokkraíter (Il F* f t 25 30 EU initieras i sagda infästninqs struktur och att varje arm etc i knutpunkterna är anordnade att riktas i fritt valda vinklar mot intillbelägen knutpunkt och/eller slutpunkt.The said object is achieved by means of a device according to the present invention, which is mainly characterized in that at least three brackets extend to a fastening from a robot or other tool or object for connection to each arm, profile, beam or the like. , that the respective bracket is formed by nodes which are pivotally mounted and which are made possible to adjust to the desired direction and locking in the desired layers, several of said arms, etc. being assembled so that essentially only tensile and pressure craters (Il F * ft 25 30 EU are initiated) in the structure of said fastening and that each arm etc in the nodes are arranged to be directed at freely chosen angles towards the adjacent node and / or end point.
(D Uppfinningen beskriv i det folfiande med hänvisning till de bifogade ritningarna, på vilka Fig 1 visar i perspektiv (D n förbindning enligt uppfinningen snett framifrån, Fig 2 och 3 visar schematiskt anslutningar i förbindningen i olika lägen, Fig 4-6 visar ytterligare vyer av förbind- ningar, Fig 7-9 visar exempel på kspplingsled till for- bindninqen, och Fig 1G visar exempel pa robotgrimma applicerad på en industrirobot.The invention is described in the following with reference to the accompanying drawings, in which Fig. 1 shows in perspective (D n connection according to the invention obliquely from the front, Figs. 2 and 3 schematically show connections in the connection in different positions, Figs. 4-6 show further views of connections, Figs. 7-9 show examples of connection paths to the connection, and Fig. 1G shows examples of robot halter applied to an industrial robot.
Enligt föreliggande uppfinning sätts flera profiler/balkar samman så att nästan endast drag och tryokkraf~ ter initieras i robotgrimmans struktur och att i knutpunkterns varje profil/balk kan riktas i fritt valda vinklar mot nästa knutpunkt alternativt slutpunkt. Detta gäller vid en_robot som ej visas i bild med uppfinningen applicerad. ínfästningspunkten for roboten utgöres av en krans, en första krans, med infästninqsmöjligheter runt om for profiler,balKar. På ett lämpligt avstånd från sagda forsta krans kan ytterligare en krans med infastningsmojligheter för profiler/balkar placeras. De båda kransarna kan läsas till varandra via distanselement. Distanselementen kan bestå av antingen profilerfbalkar eller någon form av cylinder. Två krensar och distanselementen mellan desamma kan även vara utförda som ett enda stycke.According to the present invention, several profiles / beams are assembled so that almost only tensile and compressive forces are initiated in the structure of the robot halter and that in each node / beam of the node can be directed at freely chosen angles towards the next node or end point. This applies to a robot that is not shown in the picture with the invention applied. The attachment point for the robot consists of a wreath, a first wreath, with attachment options around for profiles, beams. At a suitable distance from said first ring, another ring with fastening possibilities for profiles / beams can be placed. The two wreaths can be read to each other via spacers. The spacer elements can consist of either profile beams or some form of cylinder. Two rings and the spacer elements between them can also be made as a single piece.
Genom att utforma distanselementen så att avståndet mellan profilerna kan ökas/minskas dynamiskt kan en viss förändring av balkens längd åstadkommas och kontrolleras.By designing the spacer elements so that the distance between the profiles can be increased / decreased dynamically, a certain change in the length of the beam can be achieved and controlled.
LT! ¿..; CD fi l LH Distanselementens form kan ändras och kontrolleras på många satt. Gemensamt för elementen ar dock att de arbetar från centrum av balken.LT! ¿..; CD fi l LH The shape of the spacer elements can be changed and checked in many ways. Common to the elements, however, is that they work from the center of the beam.
De längsgående profilerna kan företrädesvis bestå av ”Pull trusioned composite profiles” och profilerna skall ha en stor andel kolfiber i sig.The longitudinal profiles can preferably consist of "Pull trusioned composite profiles" and the profiles should have a large proportion of carbon fiber in them.
Profilerna kan vara kapade och fastade 1 distanselementen och sina andar och straoka sig rakt mellan distanselementen.The profiles can be cut and fastened to the spacer elements and their spirits and stroked straight between the spacer elements.
Enligt uppfinningen avses en fast arm för fri snabb flexibel placering och orientering av ett fäste for verkw tyg, sugkopp, gripdon, svetstang, styrning, svetspistol, mun- stycke, kameror, eto. Armen kan ingå som en del i en robot- qrimma, jigg, lyftgalge, eller fixtnr eller fungera som stativ och kan innefatta en justerbar länk för fri riktning av arm, balk, etc från en given punkt till en annan fritt vald *Ü *Fi il' W Ci* C; PT t *ß Ft |-- ,..., Uppfinningen avser en/ett i flera riktningar justerbarfjusterbart knutpunkt/fäste för diverse verktyg, etc.According to the invention, a fixed arm for free quick flexible placement and orientation of a bracket for tools, suction cup, gripper, welding rod, guide, welding gun, nozzle, cameras, etc. is meant. The arm can be included as part of a robot crank, jig, lifting hanger, or fixtnr or function as a stand and can include an adjustable link for free direction of arm, beam, etc. from a given point to another freely selected * Ü * Fi il 'W Ci * C; PT t * ß Ft | -, ..., The invention relates to a multi-directionally adjustable node / bracket for various tools, etc.
Knutpunkten har tre fästen for koppling.tlll tre armar vars uppgift är att vara länk mellan stativ och knutpunkten. Ett fjärde fäste utgör interface till verktyg etc.The node has three brackets for connection.tlll three arms whose task is to be a link between the stand and the node. A fourth bracket is an interface to tools etc.
Fördelarna med knntpunktens utformning ar flera. Bl.a. kan justeringen av knutpunkten till ratt läge och orientering gå mycket snabbt och enkelt och knntpnnkten har nog hàllfasthet i förhållande till använd materialmangd.The advantages of the design point of view are several. Bl.a. For example, the adjustment of the node to the right position and orientation can be very quick and easy and the contact point has enough strength in relation to the amount of material used.
Preoiserat innefattar npofinningen en anordning 1 vid förbindning av profilerfbalkar, armar etc 2, 3, 4 och till en infästnin 5 från en robot eller något annat verktyg eller föremål sträcker sig åtminstone tre fästen 6, 7, 8 avsedda for koppling till var sin arm, profil, balk, 2-4 eller liknande. Reso fäste 6-8 bildas av knutpunkter som är svangbart lagrade och som möjliggores att justeras till önskad riktning Qi 10 F: ä. 9, EG, ll och fastlåsning i önskade lagen I, šï, lll. Üarvid är tlera av sagda armar etc 2-4 sammansatta så att i huvudsak endast drag- och tryckkrafter D, T initieras i sagda infast- nings 5 struktur 6-8 och att varje arm etc 2-4 i knutpunkterna är anordnade att riktas i tritt valda vinklar mot intillbelägen knutpunkt och/eller slutpunkt. r~ Infästníngen 3 för en robot etc utgöres av en forsta krans med infiastningar runt om för profiler/balkar 2-4 och att en andra ej visad krans är belägen på avstånd från sagda första krans 5 och med infastninqer runt om för profi- ler/baikar. De båda kransarna är anordnade att låsas till varandra via distanselement i form av profiler/balkar eller en cylinder varvid distanselementen är utförda som ett gemensamt stycke.The invention comprises a device 1 for connecting profile beams, arms, etc. 2, 3, 4 and to a fastening 5 from a robot or other tool or object extends at least three brackets 6, 7, 8 intended for connection to each arm, profile, beam, 2-4 or similar. Reso bracket 6-8 is formed by nodes which are pivotally mounted and which are enabled to be adjusted to the desired direction Qi 10 F: ä. 9, EG, ll and locking in the desired layers I, šï, lll. In this case, several of said arms, etc. 2-4 are composed so that essentially only tensile and compressive forces D, T are initiated in the structure 6-8 of said fastening and that each arm, etc. 2-4 in the nodes are arranged to be directed in steps selected angles towards the adjacent node and / or end point. The attachment 3 for a robot, etc. consists of a first ring with settings around for profiles / beams 2-4 and that a second ring (not shown) is located at a distance from said first ring 5 and with attachments around for profiles / baikar. The two rings are arranged to be locked to each other via spacer elements in the form of profiles / beams or a cylinder, the spacer elements being designed as a common piece.
IJ Företradesvis är de »agda distanselementen I utformade så att avståndet mellan profilerna 2-4 ar anordnade att ökas/minskas dynamiskt varigenom viss förändring av balkens längd är anordnad att åstadkommas samt kontrolleras.IJ Preferably, the said spacer elements I are designed so that the distance between the profiles 2-4 is arranged to be increased / decreased dynamically, whereby some change in the length of the beam is arranged to be effected and controlled.
Sagda distanselement är anordnade så att de in arbetar i huvudsak från aentrum ii av balken etc 2-4. Knutpunk- terna 6-8 uppvisar tre fästen som ar anordnade för sammankopp- ling med var sin arm 2-4 for att nä till ett stativ samt att ett fjärde fäste är anordnat att utgöra s.k. interface till ett ifrågavarande verktyg etc. De sagda knutpunkterna 6-8 bildas lämpligen av vridbara lamellkopplingsdelar.Said spacer elements are arranged so that they act mainly from the center ii of the beam, etc. 2-4. The nodes 6-8 have three brackets which are arranged for connection with their respective arms 2-4 in order to reach a stand and that a fourth bracket is arranged to form a so-called interface to a tool in question, etc. The said nodes 6-8 are suitably formed by rotatable lamella coupling parts.
Anordningen 1 innefattar lämpligen en fast arm, som är avsedd för fri, snabb och flexibel placering och orien- tering av fäste för verktyg eller sngkopp, gripdon, svetstáng, etc, och som ingår styrning, svetspistol, munstycke, kamera, jigg: lyftgaige fixtur eller ett stativ resp som.en justerbar länk för att åstadkomma fri rikt- som en del i en robotgrimma, ning av en arm, profil, balk etc från en given punkt till en annan fritt Vald punkt. 2G (D I Fig 7-9 visas en led 2Û som kan ïillampas för att åstadkomma ledad låsning vid de ifrågavarande knutpunkterna 6~8 mellan ingående infästning 5 resp vinkellagringshållare 21, 22 där lamellkopplingsdelarna 23, Éåm Kopplas samman håït och ovridbart. Sagda led 20 innefattar två med varandra ovridbart sammankopplingsbara delar ZLA, EOB vilka pïessas samman med en gängad skruv 25 och där konqru nta låsklackar 26, 2? kopplas ihop och förhindrar vridning av delarna relativt varandra i låst läge V.The device 1 suitably comprises a fixed arm, which is intended for free, fast and flexible placement and orientation of the bracket for tools or singing cups, grippers, welding rods, etc., and which includes guide, welding gun, nozzle, camera, jig: lifting gear fixture or a stand or as an adjustable link to provide free direction as part of a robot halter, arm, profile, beam, etc. from a given point to another freely selected point. 2G (DI Figs. 7-9 show a hinge 2Û which can be illuminated to effect articulated locking at the respective nodes 6 ~ 8 between incoming attachment 5 and angle bearing brackets 21, 22 where the lamella coupling parts 23, Éåm are connected high and rotatable. two non-rotatably interconnectable parts ZLA, EOB which are fused together with a threaded screw 25 and where concise locking lugs 26, 2 2 are connected together and prevent rotation of the parts relative to each other in locked position V.
Beskaffenheï och funktion av uppfinningen torde ha framgått av det ovan beskrivna och med ledning även av det på ritningarna visade.The nature and function of the invention should have been apparent from what has been described above and from what has been shown in the drawings.
Uppfinningen är naturligtvis inte begränsad tiïl de ovan beskrivna och på de bifogade ritningarna visade uïförandena. Modifieringar är möjliga, särskilt när det galler de olika deíarnas beskaffenhet, eller genom användande av lik~ värdig teknik, utan att man fràngàr skyddsområdet for uppfin~ ningen, såsom den definieras i patentkraven.The invention is of course not limited to the embodiments described above and shown in the accompanying drawings. Modifications are possible, in particular when it comes to the nature of the various parts, or by the use of equivalent technology, without departing from the scope of the invention as defined in the claims.
Claims (10)
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE0950953A SE0950953A1 (en) | 2009-12-11 | 2009-12-11 | A header |
| EP10836293.0A EP2509754A4 (en) | 2009-12-11 | 2010-12-10 | Connecting device for the connection of sections/girders/arms to an attachment |
| PCT/SE2010/051364 WO2011071450A1 (en) | 2009-12-11 | 2010-12-10 | Connecting device for the connection of sections/girders/arms to an attachment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE0950953A SE0950953A1 (en) | 2009-12-11 | 2009-12-11 | A header |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| SE0950953A1 true SE0950953A1 (en) | 2011-06-12 |
Family
ID=44145795
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| SE0950953A SE0950953A1 (en) | 2009-12-11 | 2009-12-11 | A header |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP2509754A4 (en) |
| SE (1) | SE0950953A1 (en) |
| WO (1) | WO2011071450A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103115047B (en) * | 2011-11-17 | 2015-09-30 | 上海航天测控通信研究所 | A kind of space many redundancy backups stewart table support bar |
| CN102699901B (en) * | 2012-06-06 | 2014-12-17 | 天津大学 | Over-constrained five-degree-of-freedom hybrid robot |
| DE102013204124A1 (en) | 2013-03-11 | 2014-09-11 | Evonik Industries Ag | Composite semi-finished products and molded parts made therefrom as well as directly produced molded parts based on hydroxy-functionalized (meth) acrylates and uretdiones, which are thermosettingly crosslinked by means of radiation |
| CN111550491B (en) * | 2020-06-12 | 2024-05-07 | 扬州工业职业技术学院 | Space multi-angle connector |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2518817A (en) * | 1945-11-30 | 1950-08-15 | Park J Ries | Tripod |
| US2442000A (en) * | 1946-09-09 | 1948-05-25 | Jr Thomas C Furnas | Tripod leg |
| US4111574A (en) * | 1973-09-17 | 1978-09-05 | Runyon John F | Hinge joint assembly |
| SE452279B (en) * | 1985-05-10 | 1987-11-23 | Neos Products Hb | ROBOT |
| FR2606097B2 (en) * | 1986-10-31 | 1989-02-03 | Aerospatiale | DEVICE FOR TIGHTENING AT LEAST TWO ADJUSTABLE PARTS TO BE ASSEMBLED |
| US4806068A (en) * | 1986-09-30 | 1989-02-21 | Dilip Kohli | Rotary linear actuator for use in robotic manipulators |
| US5263382A (en) * | 1992-04-13 | 1993-11-23 | Hughes Aircraft Company | Six Degrees of freedom motion device |
| DE10019162A1 (en) * | 2000-04-12 | 2001-10-25 | Kai Anding | Movement system with cylindric glide has three linear drives, and fixed linear guide, work platform fixed to three ball and socket joints each with linear drive |
| US6671975B2 (en) * | 2001-12-10 | 2004-01-06 | C. William Hennessey | Parallel kinematic micromanipulator |
| JP4272077B2 (en) * | 2004-01-20 | 2009-06-03 | 株式会社島津製作所 | Ultrasonic probe fixing apparatus and ultrasonic diagnostic apparatus using the apparatus |
| US20050161560A1 (en) * | 2004-01-23 | 2005-07-28 | Mikael Kjellman | Holder for cameras |
| SE527992C2 (en) * | 2004-12-09 | 2006-08-01 | Exechon Ab | Parallel kinematic machine with active measurement system |
| JP2009002445A (en) * | 2007-06-22 | 2009-01-08 | Toyota Motor Corp | Vibration control washer composed of two washer half bodies |
-
2009
- 2009-12-11 SE SE0950953A patent/SE0950953A1/en not_active Application Discontinuation
-
2010
- 2010-12-10 EP EP10836293.0A patent/EP2509754A4/en not_active Ceased
- 2010-12-10 WO PCT/SE2010/051364 patent/WO2011071450A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| EP2509754A4 (en) | 2014-05-21 |
| EP2509754A1 (en) | 2012-10-17 |
| WO2011071450A1 (en) | 2011-06-16 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| NAV | Patent application has lapsed |