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21. 发明申请

WO2016149034A1 WORK STATION AND METHOD FOR JOINING METALLIC SHEETS 审中-公开
标题翻译：用于加工金属片的工作站和方法
公开(公告)号：WO2016149034A1
公开(公告)日：2016-09-22
申请号：PCT/US2016/021773
申请日：2016-03-10
申请人： UTICA ENTERPRISES, INC.
发明人： SAVOY, Mark A. , MORGAN, Phillip J.I.
IPC分类号： B21J15/02 , B23P11/00 , B21D39/00 , B21D39/03 , B21J15/10
CPC分类号： B62D65/024 , B21D39/031 , B25J5/04 , B25J9/0063 , B25J9/0084
摘要： A work station (10) and method for joining metallic sheets (12, 14) by a framework (24) that supports and positions a parallel kinematic machine (PKM) (40) including a tripod (46) having struts (48) of adjustable lengths for supporting a punch (52) that cooperates with an anvil (22) to provide clenching or self-piercing riveting that joins the metallic sheets.
摘要翻译：一种工作站（10）和用于通过框架（24）连接金属板（12,14）的方法，所述框架（24）支撑并定位包括三脚架（46）的平行运动机械（40），所述三脚架（46）具有可调节的支柱用于支撑与砧座（22）配合的冲头（52）的长度以提供连接金属板材的咬合或自穿孔铆接。

22. 发明公开

EP3195988A4 FIVE-DEGREE-OF-FREEDOM PARALLEL ROBOT WITH MULTI-SHAFT ROTARY BRACKETS 有权
公开(公告)号：EP3195988A4
公开(公告)日：2018-04-04
申请号：EP16820669
申请日：2016-03-28
申请人： UNIV TIANJIN
发明人： HUANG TIAN , DONG CHENGLIN , LIU HAITAO , QIN XUDA , MEI JIANGPING , LIU QI , WANG MANXIN
IPC分类号： B25J9/08 , B25J9/00 , B25J9/02
CPC分类号： B25J17/0266 , B25J9/0063 , B25J9/0066 , B25J9/0069 , B25J9/0072 , B25J9/026 , G05B2219/39423
摘要： The present invention discloses a five-degree-of-freedom hybrid robot with rotational supports, wherein, a first fixed shaft seat is rotatably connected to each of two ends of a first rotational support through a revolute hinge respectively; a second fixed shaft seat is rotatably connected to each of two ends of a second rotational support through a revolute hinge respectively; one end of a first length adjustment device runs through the first rotational support, and the other end is fixedly connected to a moving platform; one end of each of the second length adjustment device and the third length adjustment device runs through the first rotational support and is then connected to the moving platform respectively; middle portions of all the first length adjustment device, the second length adjustment device and the third length adjustment device are hinged onto the first rotational support respectively; and, one end of a fourth length adjustment device runs through the second rotational support and is then connected to the moving platform, and the middle portion of the fourth length adjustment device is hinged onto the second rotational support. The present invention effectively reduces the number of hinges, save the manufacture cost, and exhibits good manufacturability.

23. 发明公开

EP3195988A1 FIVE-DEGREE-OF-FREEDOM PARALLEL ROBOT WITH MULTI-SHAFT ROTARY BRACKETS 有权
标题翻译：具有多轴旋转支架的五自由度并联机器人
公开(公告)号：EP3195988A1
公开(公告)日：2017-07-26
申请号：EP16820669.6
申请日：2016-03-28
申请人： Tianjin University
发明人： HUANG, Tian , DONG, Chenglin , LIU, Haitao , QIN, Xuda , MEI, Jiangping , LIU, Qi , WANG, Manxin
IPC分类号： B25J9/08
CPC分类号： B25J17/0266 , B25J9/0063 , B25J9/0066 , B25J9/0069 , B25J9/0072 , B25J9/026 , G05B2219/39423
摘要： The present invention discloses a five-degree-of-freedom hybrid robot with rotational supports, wherein, a first fixed shaft seat is rotatably connected to each of two ends of a first rotational support through a revolute hinge respectively; a second fixed shaft seat is rotatably connected to each of two ends of a second rotational support through a revolute hinge respectively; one end of a first length adjustment device runs through the first rotational support, and the other end is fixedly connected to a moving platform; one end of each of the second length adjustment device and the third length adjustment device runs through the first rotational support and is then connected to the moving platform respectively; middle portions of all the first length adjustment device, the second length adjustment device and the third length adjustment device are hinged onto the first rotational support respectively; and, one end of a fourth length adjustment device runs through the second rotational support and is then connected to the moving platform, and the middle portion of the fourth length adjustment device is hinged onto the second rotational support. The present invention effectively reduces the number of hinges, save the manufacture cost, and exhibits good manufacturability.
摘要翻译：本发明公开了一种具有旋转支架的五自由度混合机器人，其中，第一固定轴座分别通过旋转铰链分别与第一旋转支架的两端分别旋转连接; 第二固定轴座分别通过旋转铰链分别与第二旋转支架的两端分别旋转连接; 第一长度调节装置的一端穿过第一旋转支架，另一端与移动平台固定连接; 所述第二长度调节装置和所述第三长度调节装置各自的一端贯穿所述第一旋转支架，然后分别与所述移动平台连接; 所有第一长度调节装置，第二长度调节装置和第三长度调节装置的中间部分分别铰接在第一旋转支架上; 第四长度调节装置的一端穿过第二旋转支架并与移动平台连接，第四长度调节装置的中部铰接在第二旋转支架上。本发明有效地减少了铰链的数量，节省了制造成本，并且具有良好的可制造性。

24. 发明授权

EP4126470B1 TRANSLATIONAL PARALLEL MECHANISM 有权
公开(公告)号：EP4126470B1
公开(公告)日：2024-04-17
申请号：EP21712514.5
申请日：2021-03-18
IPC分类号： B25J9/00
CPC分类号： B25J9/0063

25. 发明申请

US20180236655A1 ROBOT APPARATUS AND PARALLEL ROBOT 审中-公开
公开(公告)号：US20180236655A1
公开(公告)日：2018-08-23
申请号：US15757369
申请日：2016-10-11
申请人： MITSUBA Corporation
发明人： HITOSHI NAKANISHI
IPC分类号： B25J9/10 , B25J9/12
CPC分类号： B25J9/102 , B25J9/0009 , B25J9/0051 , B25J9/0063 , B25J9/1065 , B25J9/126 , B25J9/1623 , F16C19/54 , F16C35/06 , F16D3/385 , F16D3/41 , Y10S901/25
摘要： A robot apparatus includes: a base plate; a rotation-driving motor provided on the base plate; a transmission mechanism that is provided on a bottom surface side of the base plate and to which a rotational force of the rotation-driving motor is transmitted; and a rotation-driving mechanism that is provided on the bottom surface side of the base plate and to which the rotational force of the rotation-driving motor is input via the transmission mechanism. A workpiece is rotated by the rotation-driving mechanism at an end of the rotation-driving mechanism opposite to the base plate.

26. 发明授权

US09943967B2 Five-degree-of-freedom hybrid robot with rotational supports 有权
公开(公告)号：US09943967B2
公开(公告)日：2018-04-17
申请号：US15397793
申请日：2017-01-04
申请人： Tianjin University
发明人： Tian Huang , Chenglin Dong , Haitao Liu , Xuda Qin , Jiangping Mei , Qi Liu , Manxin Wang
IPC分类号： B25J17/02
CPC分类号： B25J17/0266 , B25J9/0063 , B25J9/0066 , B25J9/0069 , B25J9/0072 , B25J9/026 , G05B2219/39423
摘要： The present disclosure discloses a five-degree-of-freedom hybrid robot with rotational supports. A first and a second fixed shaft seats are rotatably connected to a first and a second rotational support through a hinge, respectively. One end of a first length adjustment device runs through the first rotational support, and the other end is fixedly connected to a moving platform. One end of each of the second and third length adjustment devices runs through the first rotational support and is then connected to the moving platform, respectively. Middle portions of the first, second and third length adjustment devices are each hinged onto the first rotational support. One end of a fourth length adjustment device runs through the second rotational support and is connected to the moving platform. Middle portion of the fourth length adjustment device is hinged onto the second rotational support.

27. 发明申请

US20150040711A1 PARALLEL MICRO-ROBOT WITH 5-DEGREES-OF-FREEDOM 审中-公开
标题翻译：平行微机械与5自由度
公开(公告)号：US20150040711A1
公开(公告)日：2015-02-12
申请号：US14372298
申请日：2013-04-24
申请人： KOH YOUNG TECHNOLOGY INC. , KOREA UNIVERSITY RESEARCH AND BUSINESS FOUNDATION
发明人： Whee-Kuk Kim , Sung-Mok Kim , Jae-Heon Chung , Byung-Ju Yi
IPC分类号： B25J7/00 , B25J9/00
CPC分类号： B25J7/00 , B25J9/0063 , B25J9/0072 , Y10T74/20305
摘要： A parallel micro-robot with five degrees of freedom that is capable of manufacturing in compact size as well as capable of controlling more precisely compared with conventional parallel robot is disclosed. The parallel micro-robot with five degrees of freedom is capable of controlling an angle of the operating plate very precisely around two shafts rotating connection means which couples operating plate and up/down height adjusting actuator using a first and second angle adjusting actuator, and therefore, high accuracy is secured.
摘要翻译：公开了具有五个自由度的平行微机器人，其能够制造尺寸紧凑以及能够比传统的并联机器人更精确地进行控制。具有五个自由度的平行微机器人能够非常精确地控制操作板的角度，围绕两个轴旋转连接装置，其使用第一和第二角度调节致动器联接操作板和上/下高度调节致动器，因此，确保了高精度。

28. 发明申请

US20130087004A1 PARALLEL-KINEMATICAL MACHINE WITH GIMBAL HOLDERS 有权
标题翻译：平行动力机与吉他持有人
公开(公告)号：US20130087004A1
公开(公告)日：2013-04-11
申请号：US13704762
申请日：2011-06-09
申请人： Karl-Erik Neumann , Thomas Andersson , Kristoffer Larsson , Fredrik Palmquist
发明人： Karl-Erik Neumann , Thomas Andersson , Kristoffer Larsson , Fredrik Palmquist
IPC分类号： B25J18/02
CPC分类号： B25J18/025 , B23C1/12 , B23Q1/5462 , B25J9/0063 , B25J17/0266 , Y10T74/20305 , Y10T409/307672 , Y10T409/309576
摘要： A parallel-kinematical machine (20) that includes three setting devices (24.1, 24.2, 24.3) each of which can be lengthened and shortened individually, wherein each setting device (24.1, 24.2, 24.3) is connected to a first, a second and a third respective inner gimbal ring (23.1, 23.2, 23.3) of universal gimbal joints (UGJ) and that each inner gimbal ring (23.1, 23.2, 23.3) is mounted in bearings (25, 26, 27) for rotation in gimbal holders (21, 22) which are rotationally mounted in outer gimbal bearings (28, 29, 39) in an outer mounting (290) wherein the first inner gimbal ring (23.1) and the third inner gimbal ring (23.3) are mounted for rotation in a common outer gimbal holder (21) which is mounted for rotation about a common gimbal axis (32, 52) and in that the second inner gimbal ring (23.2) is mounted for rotation in a single gimbal holder (22) which is mounted in two opposite bearings for rotation about a second gimbal axis (31, 51) which is not aligned with said common gimbal axis (32, 52).
摘要翻译：一种并行运动机器（20），其包括三个设置装置（24.1,24.2,24.3），每个设置装置可以单独地延长和缩短，其中每个设定装置（24.1,24.2,24.3）连接到第一，第二和第二通用万向节关节（UGJ）的第三个相应的内万向环（23.1,23.2,23.3），并且每个内万向节环（23.1,23.2,23.3）安装在用于万向架托架中的旋转的轴承（25,26,27）中 21,22），其旋转地安装在外安装件（290）中的外万向架轴承（28,29,39）中，其中第一内万向环（23.1）和第三内万向平环（23.3）安装成在公共外万向支架（21），其安装成围绕共同的万向节轴线（32,52）旋转，并且第二内部万向环（23.2）安装成旋转在单个万向架保持器（22）中，安装在两个围绕不与所述通用万向节轴对准的第二万向轴（31,51）旋转的相对的轴承（32,52）。

29. 发明申请

US20170227355A1 MEASURING MACHINE BASED ON A DELTA ROBOT ASSEMBLY 审中-公开
公开(公告)号：US20170227355A1
公开(公告)日：2017-08-10
申请号：US15424844
申请日：2017-02-04
申请人： HEXAGON TECHNOLOGY CENTER GMBH
发明人： Bo PETTERSSON , Norbert STEFFENS , Pascal JORDIL
IPC分类号： G01B21/04 , F21V21/22 , G01B17/00 , H04N7/18 , H04N5/225 , B25J9/00 , F21V21/26 , G01B11/00
CPC分类号： G01B21/04 , B25J9/0051 , B25J9/0063 , F21V21/22 , F21V21/26 , G01B5/0004 , G01B11/002 , G01B11/005 , G01B17/00 , G01B2210/54 , G01B2210/58 , G05B2219/45061 , H04N5/2253 , H04N7/181
摘要： A coordinate measuring machine based on a delta robot structure comprising a base plate, arms, a movable platform with a probe, and a control unit for controlling the movement of the movable platform. The base plate is configured to accommodate a first workpiece and the probe is arranged the movable platform so as to utilize the free inside space of the delta robot structure between the arms as measuring volume.

30. 发明申请

US20170113356A1 FIVE-DEGREE-OF-FREEDOM HYBRID ROBOT WITH ROTATIONAL SUPPORTS 有权
公开(公告)号：US20170113356A1
公开(公告)日：2017-04-27
申请号：US15397793
申请日：2017-01-04
申请人： Tianjin University
发明人： Tian HUANG , Chenglin DONG , Haitao LIU , Xuda QIN , Jiangping MEI , Qi LIU , Manxin WANG
IPC分类号： B25J17/02
CPC分类号： B25J17/0266 , B25J9/0063 , B25J9/0066 , B25J9/0069 , B25J9/0072 , B25J9/026 , G05B2219/39423
摘要： The present disclosure discloses a five-degree-of-freedom hybrid robot with rotational supports. A first and a second fixed shaft seats are rotatably connected to a first and a second rotational support through a hinge, respectively. One end of a first length adjustment device runs through the first rotational support, and the other end is fixedly connected to a moving platform. One end of each of the second and third length adjustment devices runs through the first rotational support and is then connected to the moving platform, respectively. Middle portions of the first, second and third length adjustment devices are each hinged onto the first rotational support. One end of a fourth length adjustment device runs through the second rotational support and is connected to the moving platform. Middle portion of the fourth length adjustment device is hinged onto the second rotational support.

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