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ES2523592T3 - Una máquina de cinemática paralela con soportes de cardán - Google Patents

Una máquina de cinemática paralela con soportes de cardán Download PDF

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Publication number
ES2523592T3
ES2523592T3 ES11796044.3T ES11796044T ES2523592T3 ES 2523592 T3 ES2523592 T3 ES 2523592T3 ES 11796044 T ES11796044 T ES 11796044T ES 2523592 T3 ES2523592 T3 ES 2523592T3
Authority
ES
Spain
Prior art keywords
cardan
rotation
ring
gimbal
common
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
ES11796044.3T
Other languages
English (en)
Inventor
Karl-Erik Neumann
Thomas Andersson
Kristoffer Larsson
Fredrik Palmquist
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
EXECHON EMIRATES AB
Original Assignee
EXECHON EMIRATES 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 EMIRATES AB filed Critical EXECHON EMIRATES AB
Application granted granted Critical
Publication of ES2523592T3 publication Critical patent/ES2523592T3/es
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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)
  • Mounting Of Bearings Or Others (AREA)
  • Supporting Of Heads In Record-Carrier Devices (AREA)
  • Machine Tool Units (AREA)
  • Jigs For Machine Tools (AREA)
  • Motor Or Generator Frames (AREA)
  • Rehabilitation Tools (AREA)

Abstract

Una máquina de cinemática paralela (20, 30, 40) que incluye tres dispositivos de configuración (24.1, 24.2, 24.3), cada uno de los cuales puede alargarse y acortarse individualmente para mover un cabezal de posicionamiento (211), unido en un extremo de cada uno de los dispositivos de configuración, dentro de un rango de trabajo, en el que cada dispositivo de configuración (24.1, 24.2, 24.3) está conectado a un primer, un segundo o un tercer anillo de cardán interior (23.1, 23.2, 23.3) respectivos de juntas de cardán universales (UGJ) y cada anillo de cardán interior (23.1, 23.2, 23.3) está montado en cojinetes (25, 26, 27) para su rotación en los soportes de cardán (21, 22) que están montados de manera giratoria en cojinetes de cardán exteriores (28, 29, 39) en un montaje exterior (290, 390, 490), caracterizada por que el primer anillo de cardán interior (23.1) y el tercer anillo de cardán interior (23.3) están montados para su rotación en un soporte de cardán exterior común (21) que está montado para su rotación alrededor de un eje de cardán común (32, 52) y por que el segundo anillo de cardán interior (23.2) está montado para su rotación en un solo soporte de cardán (22) que está montado en dos cojinetes opuestos (29', 29", 39', 39"; 39', 39'; 39', 49") para su rotación alrededor de un segundo eje de cardán (31, 51) que no está alineado con dicho eje de cardán común (32, 52).

Description

imagen1
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Claims (1)

  1. imagen1
ES11796044.3T 2010-06-17 2011-06-09 Una máquina de cinemática paralela con soportes de cardán Active ES2523592T3 (es)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
SE1050623 2010-06-17
SE1050623A SE535182C2 (sv) 2010-06-17 2010-06-17 En parallellkinematisk maskin med kardanhållare
PCT/SE2011/050709 WO2011159225A1 (en) 2010-06-17 2011-06-09 A parallel-kinematical machine with gimbal holders

Publications (1)

Publication Number Publication Date
ES2523592T3 true ES2523592T3 (es) 2014-11-27

Family

ID=45348423

Family Applications (1)

Application Number Title Priority Date Filing Date
ES11796044.3T Active ES2523592T3 (es) 2010-06-17 2011-06-09 Una máquina de cinemática paralela con soportes de cardán

Country Status (21)

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

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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
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
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
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
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
PL3628439T3 (pl) * 2018-09-28 2022-05-09 Picum Mt Gmbh Obrabiarka
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

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SE452279B (sv) * 1985-05-10 1987-11-23 Neos Products Hb Robot
US5987726A (en) * 1996-03-11 1999-11-23 Fanuc Robotics North America, Inc. Programmable positioner for the stress-free assembly of components
US6240799B1 (en) * 1998-05-26 2001-06-05 Hexel Corporation Triangular gimbal
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FR2780670B1 (fr) 1998-07-01 2000-09-22 Cfcimsi Fondazione Module de travail robotise a cinematique parallele
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Also Published As

Publication number Publication date
EP2582495A4 (en) 2013-12-11
CN102947061B (zh) 2015-09-02
CA2802330C (en) 2017-07-18
KR20130043658A (ko) 2013-04-30
RU2558324C2 (ru) 2015-07-27
CN102947061A (zh) 2013-02-27
PL2582495T3 (pl) 2015-01-30
TW201206613A (en) 2012-02-16
TWI573657B (zh) 2017-03-11
EP2582495A1 (en) 2013-04-24
MX2012014716A (es) 2013-05-20
JP2013528505A (ja) 2013-07-11
EP2582495B1 (en) 2014-08-13
PT2582495E (pt) 2014-11-13
IL223051A0 (en) 2013-02-03
ZA201209097B (en) 2013-08-28
SE1050623A1 (sv) 2011-12-18
US9199381B2 (en) 2015-12-01
CA2802330A1 (en) 2011-12-22
US20130087004A1 (en) 2013-04-11
MY164490A (en) 2017-12-29
WO2011159225A1 (en) 2011-12-22
BR112012032168B1 (pt) 2020-12-08
DK2582495T3 (en) 2014-12-01
RU2013102115A (ru) 2014-08-20
AU2011265794A1 (en) 2012-12-06
JP5676756B2 (ja) 2015-02-25
SE535182C2 (sv) 2012-05-08
AU2011265794B2 (en) 2014-06-05
BR112012032168A2 (pt) 2016-11-16
KR101443545B1 (ko) 2014-09-22
SI2582495T1 (sl) 2015-01-30

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