WO2006039730A3 - Parallelkinematische vorrichtung - Google Patents

Parallelkinematische vorrichtung Download PDF

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Publication number
WO2006039730A3
WO2006039730A3 PCT/AT2005/000393 AT2005000393W WO2006039730A3 WO 2006039730 A3 WO2006039730 A3 WO 2006039730A3 AT 2005000393 W AT2005000393 W AT 2005000393W WO 2006039730 A3 WO2006039730 A3 WO 2006039730A3
Authority
WO
WIPO (PCT)
Prior art keywords
rods
triple point
connecting elements
robots
lifting
Prior art date
Application number
PCT/AT2005/000393
Other languages
English (en)
French (fr)
Other versions
WO2006039730A2 (de
Inventor
Franz Ehrenleitner
Original Assignee
Franz Ehrenleitner
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
Priority claimed from AT16942004A external-priority patent/AT502426B1/de
Priority claimed from AT16952004A external-priority patent/AT503729B1/de
Priority claimed from AT17022004A external-priority patent/AT502980B1/de
Priority claimed from AT7012005A external-priority patent/AT503730A3/de
Application filed by Franz Ehrenleitner filed Critical Franz Ehrenleitner
Priority to AT05790667T priority Critical patent/ATE467488T1/de
Priority to DE502005009571T priority patent/DE502005009571D1/de
Priority to EP05790667A priority patent/EP1809447B1/de
Priority to US11/665,139 priority patent/US20080093322A1/en
Priority to CN200580041752.1A priority patent/CN101072661B/zh
Publication of WO2006039730A2 publication Critical patent/WO2006039730A2/de
Publication of WO2006039730A3 publication Critical patent/WO2006039730A3/de

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/82—Luffing gear
    • 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
    • B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B66F7/0633—Mechanical arrangements not covered by the following subgroups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B66F7/08—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement hydraulically or pneumatically operated

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
  • Gyroscopes (AREA)
  • Surgical Instruments (AREA)
  • Transplanting Machines (AREA)
  • Massaging Devices (AREA)
  • Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
  • Earth Drilling (AREA)

Abstract

Die Erfindung betrifft eine kinematische Verbindung einer festen Plattform (2) mit einer beweglichen Plattform (3) mit bis zu sechs Freiheitsgraden in geschlossenen kinematischen Ketten, eine sogenannte Parallelkinematik, wobei die Verbindungselemente Stäbe veränderlicher Länge, sogenannte Aktuatoren, gegebenenfalls teilweise Stäbe konstanter Länge, sogenannte passive Stäbe, und gegebenenfalls Seile, sind. Die Erfindung ist dadurch gekennzeichnet, dass drei solcher Verbindungselemente an einem gemeinsamen Punkt einer der Plattformen (2, 3) angreifen und einen sogenannten Tripelpunkt (P3) bilden. In Ausgestaltungen der Erfindung kann dieser Tripelpunkt zur einfacheren mechanischen Ausbildung als „Pseudo-Tripelpunkt' ausgebildet sein, ohne die Vorteile der Erfindung zu verlieren. Diese Kinematik kann auf Hubtische, Gehänge von Hängebahnen, Hubroboter, Knickarmroboter, Bagger, Fräsen, Schneideinrichtungen, etc.. angewandt werden.
PCT/AT2005/000393 2004-10-11 2005-10-04 Parallelkinematische vorrichtung WO2006039730A2 (de)

Priority Applications (5)

Application Number Priority Date Filing Date Title
AT05790667T ATE467488T1 (de) 2004-10-11 2005-10-04 Hubroboter mit parallelkinematischer vorrichtung
DE502005009571T DE502005009571D1 (de) 2004-10-11 2005-10-04 Hubroboter mit parallelkinematischer vorrichtung
EP05790667A EP1809447B1 (de) 2004-10-11 2005-10-04 Hubroboter mit parallelkinematischer vorrichtung
US11/665,139 US20080093322A1 (en) 2004-10-11 2005-10-04 Parallel Kinematic Mechanism
CN200580041752.1A CN101072661B (zh) 2004-10-11 2005-10-04 并联运动装置

Applications Claiming Priority (10)

Application Number Priority Date Filing Date Title
AT16942004A AT502426B1 (de) 2004-10-11 2004-10-11 Parallelkinematik, insbesondere hubtisch
ATA1695/2004 2004-10-11
AT16952004A AT503729B1 (de) 2004-10-11 2004-10-11 Parallelkinematik, insbesondere hubroboter
ATA1694/2004 2004-10-11
ATA1702/2004 2004-10-12
AT17022004A AT502980B1 (de) 2004-10-11 2004-10-12 Parallelkinematik, insbesondere knickarm
ATA701/2005 2005-04-26
AT7012005A AT503730A3 (de) 2004-10-11 2005-04-26 Parallelkinematik, insbesondere roboter
AT0086105A AT502864A3 (de) 2004-10-11 2005-05-19 Parallelkinematischer roboter
ATA861/2005 2005-05-19

Publications (2)

Publication Number Publication Date
WO2006039730A2 WO2006039730A2 (de) 2006-04-20
WO2006039730A3 true WO2006039730A3 (de) 2006-08-03

Family

ID=35447414

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AT2005/000393 WO2006039730A2 (de) 2004-10-11 2005-10-04 Parallelkinematische vorrichtung

Country Status (6)

Country Link
US (1) US20080093322A1 (de)
EP (4) EP2055447B1 (de)
CN (1) CN101072661B (de)
AT (3) AT502864A3 (de)
DE (2) DE502005011203D1 (de)
WO (1) WO2006039730A2 (de)

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CN107350212B (zh) * 2017-08-28 2023-03-14 中信戴卡股份有限公司 一种智能轮毂清洗装置
CN107756378B (zh) * 2017-11-20 2024-06-11 长沙理工大学 一种平面三自由度刚体运动跟踪机构
CN107932482B (zh) * 2017-12-14 2019-12-13 天津理工大学 一种可实现三维转动和两维移动运动的五自由度并联机构
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CN109129411B (zh) * 2018-09-30 2022-03-22 重庆大学 集成夹持力传感器和夹爪位移传感器的微夹钳
DE102018124754B4 (de) * 2018-10-08 2022-03-24 Koenig & Bauer Ag Siebdruckvorrichtung mit einer Siebdruckschablone und mit mindestens zwei am Druckprozess beteiligten Rakelsystemen
CN109278023B (zh) * 2018-10-26 2023-12-05 昆明理工大学 一种三维移动一维转动的并联机构
JP6648246B1 (ja) * 2018-11-29 2020-02-14 Ntn株式会社 リンク作動装置の制御装置
TWI683194B (zh) * 2019-04-22 2020-01-21 公準精密工業股份有限公司 智慧五軸同動多相態水刀加工系統
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CN113334373B (zh) * 2021-05-14 2023-03-14 广西电网有限责任公司电力科学研究院 变电站室内自动巡检机器人系统控制方法
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Also Published As

Publication number Publication date
AT502864A3 (de) 2008-08-15
EP2055447A1 (de) 2009-05-06
EP1809447B1 (de) 2010-05-12
EP2039481A1 (de) 2009-03-25
US20080093322A1 (en) 2008-04-24
DE502005009571D1 (de) 2010-06-24
ATE467488T1 (de) 2010-05-15
AT502864A2 (de) 2007-06-15
EP1809447A2 (de) 2007-07-25
CN101072661B (zh) 2011-07-06
ATE503614T1 (de) 2011-04-15
EP2055448B1 (de) 2011-03-30
DE502005011203D1 (de) 2011-05-12
EP2055448A1 (de) 2009-05-06
EP2055447B1 (de) 2012-02-29
WO2006039730A2 (de) 2006-04-20
CN101072661A (zh) 2007-11-14

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