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31. 发明授权

US09199381B2 Parallel-kinematical machine with gimbal holders 有权
标题翻译：平行运动机与万向架
公开(公告)号：US09199381B2
公开(公告)日：2015-12-01
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 , B25J17/02 , B25J9/00
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，其中每个设置装置（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）。

33. 发明专利

JP2013528505A Parallel exercise apparatus having a gimbal holder 有权
公开(公告)号：JP2013528505A
公开(公告)日：2013-07-11
申请号：JP2013515293
申请日：2011-06-09
申请人：エクセシュンエミレーツアクチボラグExechon Emirates Ab
发明人：ノイマン、カール−エリク , アンデション、トマス , ラーション、クリストファー , パルムクヴィスト、フレードリク
IPC分类号： B25J11/00
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).

34. 发明公开

EP3203179A1 MEASURING MACHINE BASED ON A DELTA ROBOT ASSEMBLY 有权
标题翻译：基于三角形机器人组装的测量机
公开(公告)号：EP3203179A1
公开(公告)日：2017-08-09
申请号：EP16154393.9
申请日：2016-02-05
申请人： Hexagon Technology Center GmbH
发明人： PETTERSSON, Bo , STEFFENS, Norbert , JORDIL, Pascal
IPC分类号： G01B11/00 , G01B5/00 , B25J9/00
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： 1. A coordinate measuring machine (10) based on a delta robot structure (12) comprising: a base plate (42); arms (16, 16', 16"); a movable platform (18) with a probe (4), and a control unit (38) for controlling the movement of the movable platform (18). The base plate (42) is configured for accommodating a first workpiece (50) and the probe (4) is arranged in/at/on the movable platform (18) in a way using the free inside space of the delta robot structure (12) between the arms (16, 16', 16") as measuring volume.
摘要翻译： 1。一种基于三角形机器人结构（12）的坐标测量机（10），包括：基板（42）（16,16'，16“）;具有探针（4）的可移动平台（18）;以及用于控制可移动平台（18）的移动的控制单元（38）。底板（42）（16）之间的三角形机器人结构（12）的自由内部空间的方式设置用于容纳第一工件（50）并且探针（4）布置在可移动平台（18）中/上/ 16'，16“）作为测量体积。

35. 发明公开

EP2582495A1 A PARALLEL-KINEMATICAL MACHINE WITH GIMBAL HOLDERS 有权转让
标题翻译：并行机通用HOLDER
公开(公告)号：EP2582495A1
公开(公告)日：2013-04-24
申请号：EP11796044.3
申请日：2011-06-09
申请人： Exechon Emirates AB
发明人： NEUMANN, Karl-Erik , ANDERSSON, Thomas , LARSSON, Kristoffer , PALMQUIST, Fredrik
IPC分类号： B25J17/02 , B23Q1/54
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).

36. 发明申请

WO2017005015A1 一种含多轴转动支架的五自由度混联机器人审中-公开
公开(公告)号：WO2017005015A1
公开(公告)日：2017-01-12
申请号：PCT/CN2016/077464
申请日：2016-03-28
申请人：天津大学
发明人：黄田 , 董成林 , 刘海涛 , 秦旭达 , 梅江平 , 刘祺 , 汪满新
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：一种含多轴转动支架的五自由度混联机器人，在第一转动支架（12）的两侧端各通过一自由度铰链旋转地连接有第一固定轴座（11），第二转动支架（42）的两侧端各通过一自由度铰链旋转地连接有第二固定轴座（41），第一长度调节装置（13）的一端贯穿第一转动支架与动平台（5）固定连接，第二长度调节装置（23）和第三长度调节装置（33）设置于第一长度调节装置（13）的两侧，且一端分别贯穿第一转动支架（12）与动平台（5）连接，第一长度调节装置（13）、第二长度调节装置（23）和第三长度调节装置（33）的中部分别铰接在第一转动支架（12）上，第四长度调节装置（43）的一端贯穿第二转动支架（42）与动平台（5）连接，第四长度调节装置（43）的中部铰接在第二转动支架（42）上。该机器人减少了构件数目、降低了制造成本，具有良好的制造和装配工艺性。

37. 发明申请

WO2011159225A1 A PARALLEL-KINEMATICAL MACHINE WITH GIMBAL HOLDERS 审中-公开
标题翻译：平行动力机与吉他持有人
公开(公告)号：WO2011159225A1
公开(公告)日：2011-12-22
申请号：PCT/SE2011/050709
申请日：2011-06-09
申请人： EXECHON AB , NEUMANN, Karl-Erik , ANDERSSON, Thomas , LARSSON, Kristoffer , PALMQUIST, Fredrik
发明人： NEUMANN, Karl-Erik , ANDERSSON, Thomas , LARSSON, Kristoffer , PALMQUIST, Fredrik
IPC分类号： B25J17/02 , B23Q1/54
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节环（23.1,23.2,23.3），并且每个内万向节环（23.1,23.2,23.3）安装在用于在万向架托架中旋转的轴承（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）。

38. 发明授权

KR101485999B1 병렬형 5자유도 마이크로 로봇 有权
标题翻译： 5-DOF微机器人并联型
公开(公告)号：KR101485999B1
公开(公告)日：2015-01-27
申请号：KR1020140078864
申请日：2014-06-26
申请人： 주식회사 고영테크놀러지 , 고려대학교 산학협력단
发明人： 김희국 , 김성목 , 정재헌 , 이병주
IPC分类号： A61B19/00 , B25J9/06
CPC分类号： B25J7/00 , B25J9/0063 , B25J9/0072 , Y10T74/20305
摘要： 종래의 병령형 로봇에 비하여 컴팩트하게 제작할 수 있을 뿐만 아니라 보다 정밀한 제어가 가능한 병렬형 5자유도 마이크로 로봇이 개시된다. 이러한 병렬형 5자유도 마이크로 로봇은 베이스 플레이트에 설치되고, 제1 방향으로 슬라이딩 이동될 수 있는 제1 슬라이딩 이동유닛; 상기 제1 방향과 교차하는 제2 방향으로 슬라이딩 이동될 수 있도록 상기 제1 슬라이딩 유닛에 설치되는 제2 슬라이딩 이동유닛; 상기 제2 슬라이딩 이동유닛에 고정 설치되는 상하 이동용 액추에이터; 상기 제1 슬라이딩 이동유닛의 이동 방향 측에 배치되고, 상기 베이스 플레이트에 하단부가 회전 가능하게 연결되는 제1 각도 조절용 액추에이터; 상기 제2 슬라이딩 이동유닛의 이동 방향 측에 배치되고, 상기 베이스 플레이트에 하단부가 회전 가능하게 연결되는 제2 각도 조절용 액추에이터; 및 상기 상하 이동용 액추에이터에 회전 가능하게 연결된 중앙부, 상기 중앙부로부터 상기 제1 방향으로 연장되고 상기 제1 각도 조절용 액추에이터에 회전 가능하게 연결된 제1 연결부, 및 상기 중앙부로부터 상기 제2 방향으로 연장되고 상기 제2 각도 조절용 액추에이터에 회전 가능하게 연결된 제2 연결부를 포함하는 작동판을 포함한다.

39. 发明公开

KR1020140090126A 병렬형 5자유도 마이크로 로봇 有权
标题翻译： 5-DOF微机器人并联型
公开(公告)号：KR1020140090126A
公开(公告)日：2014-07-16
申请号：KR1020140078864
申请日：2014-06-26
申请人： 주식회사 고영테크놀러지 , 고려대학교 산학협력단
发明人： 김희국 , 김성목 , 정재헌 , 이병주
IPC分类号： A61B19/00 , B25J9/06
CPC分类号： B25J7/00 , B25J9/0063 , B25J9/0072 , Y10T74/20305
摘要： Disclosed is a five-degree-of-freedom parallel microrobot that can be manufactured to be more compact and can be more precisely controlled compared with conventional parallel robots. The five-degree-of-freedom parallel microrobot comprises: a first sliding movement unit installed on a base plate and capable of sliding in a first direction; a second sliding movement unit installed on the first sliding unit to be able to slide in a second direction perpendicular to the first direction; an actuator for vertical movement installed and fixed to the second sliding movement unit; an actuator for adjusting a first angle that is arranged at the side of the moving direction of the first sliding movement unit and has a lower part connected to the base plate to be able to rotate; an actuator for adjusting a second angle that is arranged at the side of the moving direction of the second sliding movement unit and has a lower part connected to the base plate to be able to rotate; and an operating plate including a middle part connected to the actuator for vertical movement to be able to rotate, a first connection part extending in the first direction from the middle part and connected to the actuator for adjusting a first angle to be able to rotate, and a second connection part extending in the second direction from the middle part and connected to the actuator for adjusting a second angle to be able to rotate.
摘要翻译：公开了一种与传统的平行机器人相比可以制造得更紧凑并且可以更精确地控制的五自由度平行微型机器人。五自由度平行微型机器人包括：第一滑动单元，其安装在基板上并能够沿第一方向滑动; 第二滑动单元，安装在所述第一滑动单元上，以能够沿与所述第一方向垂直的第二方向滑动; 用于垂直运动的致动器，其安装并固定到所述第二滑动单元; 用于调节第一角度的致动器，所述第一角度布置在所述第一滑动单元的移动方向侧，并且具有连接到所述基板以能够旋转的下部; 用于调节布置在所述第二滑动单元的移动方向侧的第二角度的致动器，并且具有连接到所述基板以能够旋转的下部; 以及操作板，包括连接到致动器的中间部分，用于垂直运动以能够旋转;第一连接部分，其从中间部分沿第一方向延伸并连接到致动器，用于调节第一角度以能够旋转; 以及第二连接部，其从所述中间部分沿所述第二方向延伸并且连接到所述致动器，用于调节能够旋转的第二角度。

40. 发明授权

KR101443545B1 짐벌 홀더를 가지는 평행 운동기 有权
标题翻译：平行动力机与吉他持有人
公开(公告)号：KR101443545B1
公开(公告)日：2014-09-22
申请号：KR1020137001177
申请日：2011-06-09
申请人： 엑천 에미라테스 에이비
发明人： 뉴만,카를-에릭 , 앤더르쏜,토마스 , 라르쏜,크리스토퍼 , 팔므쿠이스트,프레드릭
IPC分类号： B25J17/02 , B23Q1/54
CPC分类号： B25J18/025 , B23C1/12 , B23Q1/5462 , B25J9/0063 , B25J17/0266 , Y10T74/20305 , Y10T409/307672 , Y10T409/309576
摘要： 본 발명에 의한 평행 운동기(20)는 각각이 개별적으로 신장 및 수축할 수 있는 3개의 설정 디바이스(24.1)(24.2)(24.3)를 포함하며,
상기 3개의 설정 디바이스(24.1)(24.2)(24.3)는 유니버설 짐벌 조인트(UGJ)의 제 1, 제 2 및 제 3 내측 짐벌 링(23.1)(23.2)(23.3)에 연결되고,
각각의 내측 짐벌 링들(23.1)(23.2)(23.3)은 회전을 위하여 외측 마운팅(290)의 외측 짐벌 베어링들(28)(29)(39)에 회전 가능하게 설치된 공통 짐벌 홀더(21) 및 단일 짐벌 홀더(22)에 설치된 베어링들(25)(26)(27)에 설치되며,
상기 제 1 내측 짐벌 링(23.1)과 제 3 내측 짐벌 링(23.3)은 공통 짐벌 축(32)(52)에 대하여 회전을 위해 설치되는 공통 외측 짐벌 홀더(21)에 설치되고,
제 2 내측 짐벌 링(23.2)은 상기 공통 짐벌 축(32)(52)에 정렬되지 않는 제 2 짐벌 축(31)(51)에 대하여 회전을 위해 양단에 설치된 베어링들에 마련된 단일 짐벌 홀더(22)에 설치되는 것을 특징으로 한다.

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