ES2174138T3 - Dispositivo para el movimiento de un cuerpo en el espacio. - Google Patents

Dispositivo para el movimiento de un cuerpo en el espacio.

Info

Publication number
ES2174138T3
ES2174138T3 ES97101704T ES97101704T ES2174138T3 ES 2174138 T3 ES2174138 T3 ES 2174138T3 ES 97101704 T ES97101704 T ES 97101704T ES 97101704 T ES97101704 T ES 97101704T ES 2174138 T3 ES2174138 T3 ES 2174138T3
Authority
ES
Spain
Prior art keywords
space
union
extreme
movement
arms
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.)
Expired - Lifetime
Application number
ES97101704T
Other languages
English (en)
Inventor
Guenter Pritschow
Karl-Heinz Wurst
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.)
VDW EV
VDW Verein Deutscher Werkzeugmaschinenfabriken eV
Original Assignee
VDW EV
VDW Verein Deutscher Werkzeugmaschinenfabriken eV
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 DE19701830A external-priority patent/DE19701830C2/de
Application filed by VDW EV, VDW Verein Deutscher Werkzeugmaschinenfabriken eV filed Critical VDW EV
Application granted granted Critical
Publication of ES2174138T3 publication Critical patent/ES2174138T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • 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
    • F16H—GEARING
    • F16H21/00—Gearings comprising primarily only links or levers, with or without slides
    • F16H21/46—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions [3D]
    • 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
    • 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
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
    • B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
    • B23Q3/1572—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means
    • B23Q3/15726—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means the storage means rotating or circulating in a plane parallel to the axis of the spindle
    • B23Q3/15733—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means the storage means rotating or circulating in a plane parallel to the axis of the spindle the axis of the stored tools being arranged in the rotating or circulating plane of the storage means
    • 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
    • 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
    • Y10T74/20317—Robotic arm including electric motor
    • 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
    • Y10T74/20329—Joint between elements
    • Y10T74/20335—Wrist

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Transmission Devices (AREA)
  • Manipulator (AREA)
  • Machine Tool Units (AREA)

Abstract

EL DISPOSITIVO SIRVE PARA EL MOVIMIENTO DE UN CUERPO (K) EN FORMA DE BARRA EN EL ESPACIO, ESTANDO UNIDO DE FORMA ARTICULADA CON BRAZOS (VA) DE UNION. TIENEN RESPECTIVAMENTE AL MENOS DOS GRADOS DE LIBERTAD Y ESTAN PREVISTOS DE FORMA RESPECTIVA CON AL MENOS UN ACCIONAMIENTO (A) PARA CONTROL DE UN GRADO DE LIBERTAD ACTIVO. UNO DE LOS PUNTOS (P) EXTREMOS DEL CUERPO (K) DE BARRA DETERMINA LA POSICION EN EL ESPACIO Y EL OTRO PUNTO (P'') EXTREMO EN UNION CON EL PRIMER PUNTO (P) EXTREMO DETERMINA LA ORIENTACION DEL CUERPO DE BARRA. PARA EL AJUSTE DE AMBOS PUNTOS (P,P'') EXTREMOS SIRVEN LOS BRAZOS (VA) DE UNION.
ES97101704T 1996-02-07 1997-02-04 Dispositivo para el movimiento de un cuerpo en el espacio. Expired - Lifetime ES2174138T3 (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19604420 1996-02-07
DE19701830A DE19701830C2 (de) 1996-02-07 1997-01-21 Vorrichtung zur Bewegung eines Körpers im Raum

Publications (1)

Publication Number Publication Date
ES2174138T3 true ES2174138T3 (es) 2002-11-01

Family

ID=26022702

Family Applications (1)

Application Number Title Priority Date Filing Date
ES97101704T Expired - Lifetime ES2174138T3 (es) 1996-02-07 1997-02-04 Dispositivo para el movimiento de un cuerpo en el espacio.

Country Status (4)

Country Link
US (1) US5916328A (es)
EP (1) EP0791438B1 (es)
JP (1) JPH106159A (es)
ES (1) ES2174138T3 (es)

Families Citing this family (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6236451B1 (en) * 1996-11-18 2001-05-22 CONSTRUCTIONS MéCANIQUES DES MARIONI Displacement device with linear guidance, for measuring displacement of the legs of a hexapod
ATE216939T1 (de) 1997-10-20 2002-05-15 Hueller Hille Gmbh Werkzeugmaschine zur 3-achsigen bearbeitung von werkstücken
FR2779080B1 (fr) * 1998-05-27 2000-08-11 Renault Automation Dispositif permettant de mettre en oeuvre une structure logique de machine-outil a architecture parallele et machine-outil adoptant un tel dispositif
DE19836624C1 (de) * 1998-08-13 2000-02-10 Heckert Werkzeugmaschinen Gmbh Werkzeugmaschine mit Koppelführung
AT407356B (de) * 1998-10-21 2001-02-26 Ernst Krause & Co Sicherheitseinrichtung
CA2349579C (en) * 1998-10-21 2005-06-07 Ds Technologie Werkzeugmaschinenbau Gmbh Articulated tool head
DE59809875D1 (de) 1998-11-20 2003-11-13 Mikron Sa Vorrichtung zur Erzeugung einer Relativbewegung
DE19934643A1 (de) * 1999-07-23 2001-05-03 Schaeffler Waelzlager Ohg Kreuzgelenk
JP3635572B2 (ja) * 1999-09-22 2005-04-06 オリンパス株式会社 パラレルメカニズム及び検査装置
US6566834B1 (en) * 1999-09-28 2003-05-20 The United States Of America As Represented By The Secretary Of Commerce Modular suspended manipulator
JP3268357B2 (ja) * 2000-01-13 2002-03-25 独立行政法人産業技術総合研究所 位置と方向を規定するリンク機構
CN1092092C (zh) 2000-04-21 2002-10-09 清华大学 两维移动一维转动空间三轴并联机床结构
JP2003534846A (ja) 2000-05-12 2003-11-25 アルバータ リサーチ カウンシル インコーポレイテッド 移動プラットホームおよびその使用方法
ITMI20010830A1 (it) * 2001-04-19 2002-10-19 Consiglio Nazionale Ricerche Robot modulare e riconfigurabile a cinematica parallela
CZ299124B6 (cs) * 2001-06-18 2008-04-30 Kovosvit Mas A.S. Paralelní polohovací mechanismus, zvlášte pro obrábení a/nebo manipulaci a/nebo merení
JP3811027B2 (ja) * 2001-07-18 2006-08-16 オークマ株式会社 パラレルメカニズム機械の制御装置
US6761518B2 (en) * 2001-09-11 2004-07-13 HüLLER HILLE GMBH Machine tool
US6826452B1 (en) * 2002-03-29 2004-11-30 The Penn State Research Foundation Cable array robot for material handling
US6886639B2 (en) * 2003-08-29 2005-05-03 Hypro Corporation High flow foam system for fire fighting applications
CN100364729C (zh) * 2003-12-16 2008-01-30 广东工业大学 一种二自由度移动平面并联机构
GB0404345D0 (en) * 2004-02-27 2004-03-31 Depuy Int Ltd Surgical jig and methods of use
US7575214B2 (en) * 2005-03-22 2009-08-18 Richard Badalament Omnipositional cable-suspension system
DE102005041496A1 (de) * 2005-09-01 2007-03-08 Index-Werke Gmbh & Co. Kg Hahn & Tessky Werkzeugmaschine
CN100377847C (zh) * 2006-04-30 2008-04-02 天津大学 一种具有两转动和一平动自由度的并联机构
US8104710B2 (en) * 2007-04-25 2012-01-31 Goodrich Actuation Systems Limited Actuator arrangement
WO2014024289A1 (ja) 2012-08-09 2014-02-13 富士通株式会社 ロボット
US10030695B2 (en) 2015-07-30 2018-07-24 Nec Corporation Multi-degree-of-freedom adjustment mechanism
CN107327669B (zh) * 2016-05-01 2019-03-19 西北农林科技大学 一种差动式全平面移动桁架
CN106272462B (zh) * 2016-09-09 2018-08-07 北京工业大学 一种姿态调整机构
HUE055829T2 (hu) * 2017-01-02 2021-12-28 Manz Ag Pozícionálóegység

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IL77654A (en) * 1986-01-20 1991-03-10 Dov Rosenthal Electric positioning apparatus
US4776749A (en) * 1986-03-25 1988-10-11 Northrop Corporation Robotic device
US4806068A (en) * 1986-09-30 1989-02-21 Dilip Kohli Rotary linear actuator for use in robotic manipulators
JPH0236083A (ja) * 1988-07-22 1990-02-06 Kiyouhou Seisakusho:Kk パンタグラフ型ロボットアーム
SE8804305L (sv) * 1988-11-28 1990-05-29 Fredrik Bror Bengt Lagercrantz Anordning foer att kunna inreglera en robotbalks fria aende mot ett paa foerhand bestaemt positionslaege
FR2671505B1 (fr) * 1991-01-11 1995-02-03 Ecole Centrale Arts Manufactur Dispositif pour le deplacement en translation spatiale d'un element dans l'espace, en particulier pour robot mecanique.
US5279176A (en) * 1992-07-20 1994-01-18 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Six-degree-of-freedom parallel "minimanipulator" with three inextensible limbs
US5378282A (en) * 1993-06-28 1995-01-03 Pollard; Willard L. Robotic tool manipulating apparatus
GB9323259D0 (en) * 1993-11-11 1994-01-05 Armstrong Projects Ltd Improvements in or relating to alignment apparatus
DE19525482A1 (de) * 1995-07-13 1997-01-16 Bernold Richerzhagen Vorrichtung zur Verschiebung und Positionierung eines Objektes in einer Ebene

Also Published As

Publication number Publication date
JPH106159A (ja) 1998-01-13
EP0791438B1 (de) 2002-05-29
EP0791438A3 (de) 1997-12-29
EP0791438A2 (de) 1997-08-27
US5916328A (en) 1999-06-29

Similar Documents

Publication Publication Date Title
DE69810500D1 (de) Faltbare kopfbedeckung mit tasche
NO894360L (no) Slange- eller ringformede, elastiske mansjetter med mikrobicide egenskaper for urinroerskatetere.
UY24572A1 (es) Conjugados peg - interferon alfa
ATE359034T1 (de) Steuerbare schlaufenstruktur
FI950860A7 (fi) Polymeerimateriaalikudos varustettuna muotoaan muuttaneilla osilla, jo tka lisäävät huomattavasti kudoksen joustavuutta
ATE113650T1 (de) Ausgewählte stämme von lactobacillus enthaltende pharmazeutische zusammensetzungen.
DE60021208D1 (de) Amorphe, mehrachsige, polymerische initiatoren und nachgiebige kristalline copolymere daraus
MX9207553A (es) Concentrados de bebida complementados con calcio, estables al almacenamiento.
DE59203666D1 (de) Medizinische Zange.
DK0788509T3 (da) Terapeutiske peptidderivater
AU4660789A (en) Polypeptide derivatives
FI913283L (fi) Absorberbar segmentkopolymer.
MX9200361A (es) Nuevo uso del antagonista de adenosina.
DE60023107D1 (de) Zubereitungen mit verbesserter kontrollierter freisetzung
DE60303967D1 (de) 9a-azalide mit entzündungshemmender wirkung
TR199902163T2 (xx) Poli�retan lateksleri, bunlar�n haz�rlanmas� i�in i�lemler ve bunlarla haz�rlanan polimerler.
NO892887D0 (no) Styringsanordning til bruk i forbindelse med borebroenner paa sjoebunnen.
DE68902695D1 (de) Koerperschutzanzug gegen beschleunigungskraefte.
DE50008566D1 (de) Bekleidungsstück und orthopädische Einrichtung dafür
DE68923818D1 (de) Bidirektionaler Puffer mit Verriegelungs- und Paritätsfähigkeiten.
ATE70445T1 (de) Pharmazeutische praeparate.
EP0380989A3 (en) Plaster for transdermal administration
ATE196631T1 (de) Xamonelin-tartrat
NO921563L (no) Terapeutisk aktive aminopyrimidinderivater, fremgangsmaatefor deres fremstilling og anvendelse derav
DK0458587T3 (da) Behandling af okulær hypertension med en synergistisk kombination til ophthalmisk anvendelse

Legal Events

Date Code Title Description
FG2A Definitive protection

Ref document number: 791438

Country of ref document: ES