SE535182C2 - En parallellkinematisk maskin med kardanhållare - Google Patents

En parallellkinematisk maskin med kardanhållare Download PDF

Info

Publication number
SE535182C2
SE535182C2 SE1050623A SE1050623A SE535182C2 SE 535182 C2 SE535182 C2 SE 535182C2 SE 1050623 A SE1050623 A SE 1050623A SE 1050623 A SE1050623 A SE 1050623A SE 535182 C2 SE535182 C2 SE 535182C2
Authority
SE
Sweden
Prior art keywords
gimbal
holder
universal joint
common
bearings
Prior art date
Application number
SE1050623A
Other languages
English (en)
Swedish (sv)
Other versions
SE1050623A1 (sv
Inventor
Karl-Erik Neumann
Thomas Andersson
Kristoffer Larsson
Fredrik Palmquist
Original Assignee
Exechon 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 Exechon Ab filed Critical Exechon Ab
Priority to SE1050623A priority Critical patent/SE535182C2/sv
Priority to TW100119339A priority patent/TWI573657B/zh
Priority to KR1020137001177A priority patent/KR101443545B1/ko
Priority to CN201180029385.9A priority patent/CN102947061B/zh
Priority to CA2802330A priority patent/CA2802330C/en
Priority to EP11796044.3A priority patent/EP2582495B1/en
Priority to BR112012032168-4A priority patent/BR112012032168B1/pt
Priority to DK11796044.3T priority patent/DK2582495T3/en
Priority to MYPI2012005153A priority patent/MY164490A/en
Priority to MX2012014716A priority patent/MX2012014716A/es
Priority to JP2013515293A priority patent/JP5676756B2/ja
Priority to PL11796044T priority patent/PL2582495T3/pl
Priority to ES11796044.3T priority patent/ES2523592T3/es
Priority to RU2013102115/02A priority patent/RU2558324C2/ru
Priority to PCT/SE2011/050709 priority patent/WO2011159225A1/en
Priority to AU2011265794A priority patent/AU2011265794B2/en
Priority to PT117960443T priority patent/PT2582495E/pt
Priority to SI201130301T priority patent/SI2582495T1/sl
Priority to US13/704,762 priority patent/US9199381B2/en
Publication of SE1050623A1 publication Critical patent/SE1050623A1/sv
Publication of SE535182C2 publication Critical patent/SE535182C2/sv
Priority to IL223051A priority patent/IL223051A0/en
Priority to ZA2012/09097A priority patent/ZA201209097B/en

Links

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23C—MILLING
    • B23C1/00—Milling machines not designed for particular work or special operations
    • B23C1/12—Milling machines not designed for particular work or special operations with spindle adjustable to different angles, e.g. either horizontal or vertical
    • 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
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Pivots And Pivotal Connections (AREA)
  • Rolling Contact Bearings (AREA)
  • Manipulator (AREA)
  • Machine Tool Units (AREA)
  • Rehabilitation Tools (AREA)
  • Jigs For Machine Tools (AREA)
  • Mounting Of Bearings Or Others (AREA)
  • Supporting Of Heads In Record-Carrier Devices (AREA)
  • Motor Or Generator Frames (AREA)
SE1050623A 2010-06-17 2010-06-17 En parallellkinematisk maskin med kardanhållare SE535182C2 (sv)

Priority Applications (21)

Application Number Priority Date Filing Date Title
SE1050623A SE535182C2 (sv) 2010-06-17 2010-06-17 En parallellkinematisk maskin med kardanhållare
TW100119339A TWI573657B (zh) 2010-06-17 2011-06-02 具有萬向固持件的並聯運動機
PL11796044T PL2582495T3 (pl) 2010-06-17 2011-06-09 Maszyna o kinematyce równoległej z uchwytami przegubowymi
RU2013102115/02A RU2558324C2 (ru) 2010-06-17 2011-06-09 Параллельный кинематический механизм с держателями карданного типа
CA2802330A CA2802330C (en) 2010-06-17 2011-06-09 A parallel-kinematical machine with gimbal holders
EP11796044.3A EP2582495B1 (en) 2010-06-17 2011-06-09 A parallel-kinematical machine with gimbal holders
BR112012032168-4A BR112012032168B1 (pt) 2010-06-17 2011-06-09 uma máquina paralela-cinemática com suportes de cardan
DK11796044.3T DK2582495T3 (en) 2010-06-17 2011-06-09 Parallel-kinematic machine with kardanholdere
MYPI2012005153A MY164490A (en) 2010-06-17 2011-06-09 A parallel-kinematical machine with gimbal holders
MX2012014716A MX2012014716A (es) 2010-06-17 2011-06-09 Maquina de cinematica paralela con sujetadores de cardan.
JP2013515293A JP5676756B2 (ja) 2010-06-17 2011-06-09 ジンバルホルダを備えた平行運動装置
KR1020137001177A KR101443545B1 (ko) 2010-06-17 2011-06-09 짐벌 홀더를 가지는 평행 운동기
ES11796044.3T ES2523592T3 (es) 2010-06-17 2011-06-09 Una máquina de cinemática paralela con soportes de cardán
CN201180029385.9A CN102947061B (zh) 2010-06-17 2011-06-09 具有万向保持器的并联运动机器
PCT/SE2011/050709 WO2011159225A1 (en) 2010-06-17 2011-06-09 A parallel-kinematical machine with gimbal holders
AU2011265794A AU2011265794B2 (en) 2010-06-17 2011-06-09 A parallel-kinematical machine with gimbal holders
PT117960443T PT2582495E (pt) 2010-06-17 2011-06-09 Máquina paralela cinemática com elementos de retenção de cardã
SI201130301T SI2582495T1 (sl) 2010-06-17 2011-06-09 Paralelno kinematična naprava s kardanskimi držali
US13/704,762 US9199381B2 (en) 2010-06-17 2011-06-09 Parallel-kinematical machine with gimbal holders
IL223051A IL223051A0 (en) 2010-06-17 2012-11-15 A parallel- kinematical machine with gimbal holders
ZA2012/09097A ZA201209097B (en) 2010-06-17 2012-11-30 A parallel-kinematical machine with gimbal holders

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1050623A SE535182C2 (sv) 2010-06-17 2010-06-17 En parallellkinematisk maskin med kardanhållare

Publications (2)

Publication Number Publication Date
SE1050623A1 SE1050623A1 (sv) 2011-12-18
SE535182C2 true SE535182C2 (sv) 2012-05-08

Family

ID=45348423

Family Applications (1)

Application Number Title Priority Date Filing Date
SE1050623A SE535182C2 (sv) 2010-06-17 2010-06-17 En parallellkinematisk maskin med kardanhållare

Country Status (21)

Country Link
US (1) US9199381B2 (enExample)
EP (1) EP2582495B1 (enExample)
JP (1) JP5676756B2 (enExample)
KR (1) KR101443545B1 (enExample)
CN (1) CN102947061B (enExample)
AU (1) AU2011265794B2 (enExample)
BR (1) BR112012032168B1 (enExample)
CA (1) CA2802330C (enExample)
DK (1) DK2582495T3 (enExample)
ES (1) ES2523592T3 (enExample)
IL (1) IL223051A0 (enExample)
MX (1) MX2012014716A (enExample)
MY (1) MY164490A (enExample)
PL (1) PL2582495T3 (enExample)
PT (1) PT2582495E (enExample)
RU (1) RU2558324C2 (enExample)
SE (1) SE535182C2 (enExample)
SI (1) SI2582495T1 (enExample)
TW (1) TWI573657B (enExample)
WO (1) WO2011159225A1 (enExample)
ZA (1) ZA201209097B (enExample)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE527873C2 (sv) * 2004-11-18 2006-07-04 Exechon Ab Parallellkinematisk maskin
WO2014185877A2 (en) * 2013-05-13 2014-11-20 Coşkunöz Metal Form Maki̇na Endüstri̇ Ve Ti̇c. A.Ş. A laser processing machine with a movement mechanism
US20160263641A1 (en) * 2015-03-13 2016-09-15 Utica Enterprises, Inc. Work station and method for joining metallic sheets
CN104985596B (zh) * 2015-07-09 2017-01-11 天津大学 一种含多轴转动支架的五自由度混联机器人
CN105690165B (zh) * 2016-02-03 2017-05-10 中北大学 一种大姿态角2r1t三自由度空间并联机构
DE102016219162B4 (de) 2016-10-04 2019-01-17 Siemens Healthcare Gmbh Patientenlagerungsvorrichtung mit sechs Freiheitsgraden und Verfahren zum Neigen einer derartigen Patientenlagerungsvorrichtung
CN106426106B (zh) * 2016-11-09 2018-10-02 南京理工大学 一种四自由度机器人机构
CN106426102B (zh) * 2016-11-09 2018-10-02 南京理工大学 一种具有三平两转的五自由度机器人机构
CN106426103B (zh) * 2016-11-09 2018-10-02 南京理工大学 一种可实现两平两转的四自由度机器人机构
CN106378770B (zh) * 2016-11-09 2018-10-02 南京理工大学 一种可实现两平一转的三自由度机器人机构
CN107671845B (zh) * 2017-11-10 2020-07-28 燕山大学 一种少关节过约束五自由度混联机器人
CN108500953A (zh) * 2018-02-28 2018-09-07 上海大学 一种含有动平台附加约束的五自由度精密串并联机器人
CN109128872B (zh) * 2018-09-26 2019-09-17 燕山大学 一种能够实现多方向定点转动的对称三轴并联主轴头
ES2906909T3 (es) * 2018-09-28 2022-04-20 Picum Mt Gmbh Máquina herramienta
US11254015B2 (en) * 2019-09-24 2022-02-22 Thermo Crs Ltd. Multi-axis gripper for lab automation robot
CN111604883A (zh) * 2020-04-30 2020-09-01 南京理工大学 多自由度高性能混联机器人
CN111941393B (zh) * 2020-07-25 2022-06-28 南京理工大学 一种球坐标型五自由度混联机器人
CN113664809B (zh) * 2021-09-10 2022-08-09 江南大学 一种含圆弧导轨的新型up型两转一移并联机构
EP4659894A1 (en) 2024-06-03 2025-12-10 Neos Robotics Pte. Ltd. Parallel kinematical machine

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Also Published As

Publication number Publication date
JP5676756B2 (ja) 2015-02-25
AU2011265794A1 (en) 2012-12-06
JP2013528505A (ja) 2013-07-11
EP2582495A1 (en) 2013-04-24
MY164490A (en) 2017-12-29
SI2582495T1 (sl) 2015-01-30
DK2582495T3 (en) 2014-12-01
KR101443545B1 (ko) 2014-09-22
BR112012032168B1 (pt) 2020-12-08
CA2802330C (en) 2017-07-18
PL2582495T3 (pl) 2015-01-30
PT2582495E (pt) 2014-11-13
CN102947061B (zh) 2015-09-02
KR20130043658A (ko) 2013-04-30
BR112012032168A2 (pt) 2016-11-16
ZA201209097B (en) 2013-08-28
CA2802330A1 (en) 2011-12-22
CN102947061A (zh) 2013-02-27
EP2582495A4 (en) 2013-12-11
US9199381B2 (en) 2015-12-01
EP2582495B1 (en) 2014-08-13
IL223051A0 (en) 2013-02-03
TW201206613A (en) 2012-02-16
WO2011159225A1 (en) 2011-12-22
ES2523592T3 (es) 2014-11-27
MX2012014716A (es) 2013-05-20
RU2013102115A (ru) 2014-08-20
TWI573657B (zh) 2017-03-11
AU2011265794B2 (en) 2014-06-05
SE1050623A1 (sv) 2011-12-18
US20130087004A1 (en) 2013-04-11
RU2558324C2 (ru) 2015-07-27

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