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1. 发明申请

WO2007076731B1 METHOD AND APPARATUS FOR MEASUREMENT AND/OR CALIBRATION OF POSITION OF AN OBJECT IN SPACE 审中-公开
标题翻译：在空间中测量和/或校准物体位置的方法和设备
公开(公告)号：WO2007076731B1
公开(公告)日：2007-12-06
申请号：PCT/CZ2006000093
申请日：2006-12-20
申请人： CESKE VUT V PRAZE FAKULTA STRO , INOMECH S R O , VALASEK MICHAEL , PETRU FRANTISEK , SIKA ZBYNEK , BAUMA VACLAV , SMID ROMAN
发明人： VALASEK MICHAEL , PETRU FRANTISEK , SIKA ZBYNEK , BAUMA VACLAV , SMID ROMAN
IPC分类号： B25J9/16
CPC分类号： B25J9/1623 , B25J9/1692 , G01S17/875 , G05B2219/39018 , G05B2219/39044 , G05B2219/39552
摘要： The invention concerns a method of and apparatus for measurement and/or calibration of the position of an object in space in such embodiment where the apparatus contains at least one moving arm fitted to the frame on one end and on the other end fitted to a platform, where the platform can be attached to the object to be measured or calibrated; during the motion of the object with the platform attached the relative positions of individual members of at least one moving arm, frame and platform are read and the measured data is used for determination of the position of the object or for its calibration. Upon attaching the platform of the measurement and/or calibration apparatus to the measured or calibrated object, these joined parts perform an arbitrary motion within object's operating space actuated by the drives of the object, while the quantities corresponding to relative positions of individual members of the apparatus are collected and used for determination or calibration of position of the object in space. The number of measured quantities during the motion of the platform with the measured or calibrated object is higher than the number of degrees of freedom of the apparatus by at least one
摘要翻译：本发明涉及一种用于测量和/或校准物体在空间中的位置的方法和装置，在该实施例中，该装置包括至少一个移动臂，该移动臂一端装配到框架上，另一端装配到平台，平台可以连接到待测量或校准的物体上; 在平台连接的物体运动期间，读取至少一个移动臂，框架和平台的各个构件的相对位置，并且使用测量的数据来确定物体的位置或其校准。在将测量和/或校准装置的平台附接到测量或校准的物体上时，这些连接的部件在由物体的驱动致动的物体的操作空间内执行任意的运动，而与物体的各个部件的相对位置相对应的量装置被收集并用于确定或校准物体在空间中的位置。平台与测量或校准物体运动期间的测量量的数量比装置的自由度的数量高至少一个

2. 发明申请

WO2007076731A1 METHOD AND APPARATUS FOR MEASUREMENT AND/OR CALIBRATION OF POSITION OF AN OBJECT IN SPACE 审中-公开
标题翻译：用于测量和/或校准空间中对象位置的方法和装置
公开(公告)号：WO2007076731A1
公开(公告)日：2007-07-12
申请号：PCT/CZ2006/000093
申请日：2006-12-20
申请人： CESKE VYSOKE UCENI TECHNICKE V PRAZE, FAKULTA STROJNI , INOMECH S.R.O , VALASEK, Michael , PETRU, Frantisek , SIKA, Zbynek , BAUMA, Václav , SMID, Roman
发明人： VALASEK, Michael , PETRU, Frantisek , SIKA, Zbynek , BAUMA, Václav , SMID, Roman
IPC分类号： B25J9/16
CPC分类号： B25J9/1623 , B25J9/1692 , G01S17/875 , G05B2219/39018 , G05B2219/39044 , G05B2219/39552
摘要： The invention concerns a method of and apparatus for measurement and/or calibration of the position of an object in space in such embodiment where the apparatus contains at least one moving arm fitted to the frame on one end and on the other end fitted to a platform, where the platform can be attached to the object to be measured or calibrated; during the motion of the object with the platform attached the relative positions of individual members of at least one moving arm, frame and platform are read and the measured data is used for determination of the position of the object or for its calibration. Upon attaching the platform of the measurement and/or calibration apparatus to the measured or calibrated object, these joined parts perform an arbitrary motion within object's operating space actuated by the drives of the object, while the quantities corresponding to relative positions of individual members of the apparatus are collected and used for determination or calibration of position of the object in space. The number of measured quantities during the motion of the platform with the measured or calibrated object is higher than the number of degrees of freedom of the apparatus by at least one
摘要翻译：本发明涉及一种用于测量和/或校准物体在空间中的位置的方法和装置，在这种实施例中，该装置包含在一端安装到框架的至少一个移动臂，并且另一端装配到平台，其中平台可以附接到待测量或校准的对象; 在具有平台的对象的运动期间，读取至少一个移动臂，框架和平台的各个构件的相对位置，并且使用测量数据来确定物体的位置或用于其校准。在将测量和/或校准装置的平台附接到测量或校准的对象上时，这些连接的部件在由对象的驱动器驱动的对象的操作空间内执行任意运动，而对应于对象的各个成员的相对位置的量收集装置并用于确定或校准物体在空间中的位置。具有测量或校准对象的平台运动期间的测量量的数量高于装置的至少一个自由度的数量

3. 发明申请

WO02102543B1 PARALLEL POSITIONING MECHANISM, ESPECIALLY FOR MACHINING AND/OR MANIPULATION AND/OR MEASURING 审中-公开
标题翻译：平行定位机构，特别用于加工和/或操纵和/或测量
公开(公告)号：WO02102543B1
公开(公告)日：2004-02-26
申请号：PCT/CZ0200034
申请日：2002-06-14
申请人： KOVOSVIT MAS A S , CESKE VUT V PRAZE , VALASEK MICHAEL , PETRU FRANTISEK , SIKA ZBYNEK , BAUMA VACLAV , VAMPOLA TOMAS
发明人： VALASEK MICHAEL , PETRU FRANTISEK , SIKA ZBYNEK , BAUMA VACLAV , VAMPOLA TOMAS
IPC分类号： B23Q1/25 , B23Q1/00 , B23Q1/44 , B23Q1/54 , B23Q1/56 , B23Q1/60 , B23Q1/62 , B23Q1/64 , F16H21/44
CPC分类号： B23Q1/623 , B23Q1/5481 , B23Q1/56 , B23Q1/60
摘要： The invention relates to a parallel positioning mechanism, especially for machining and/or manipulation and/or measuring, consisting of a platform for the carrying and/or manipulation with, for instance, a tool, a workpiece, a measuring device or the like, wherein the platform is connected with the machine frame by means of at least one positioning arm, characterised in that the platform (3) is joint-connected with at least one sliding guide (4) via at least three rotatable joints (11) of which at least two are arranged on a positioning arm (6) for the connection with the sliding guide (4), wherein the axes of rotation of the rotatable joints are mutually parallel. The direct connection may be replaced by a plurality of positioning arms (6), in which case the connection of the platform (3) with the sliding guide(s) (4) is achieved by means of at least four positioning arms (6).
摘要翻译：本发明涉及一种平行定位机构，特别是用于加工和/或操纵和/或测量，包括用于例如工具，工件，测量装置等的承载和/或操纵的平台，其中所述平台通过至少一个定位臂与所述机架连接，其特征在于，所述平台（3）经由其至少三个可旋转接头（11）与至少一个滑动引导件（4）连接连接，所述至少一个可旋转接头至少两个布置在用于与滑动引导件（4）连接的定位臂（6）上，其中可旋转接头的旋转轴线相互平行。直接连接可以由多个定位臂（6）代替，在这种情况下，平台（3）与滑动导向件（4）的连接通过至少四个定位臂（6）实现，。

4. 发明申请

WO2002102543A1 PARALLEL POSITIONING MECHANISM, ESPECIALLY FOR MACHINING AND/OR MANIPULATION AND/OR MEASURING 审中-公开
标题翻译：平行定位机构，特别用于加工和/或操纵和/或测量
公开(公告)号：WO2002102543A1
公开(公告)日：2002-12-27
申请号：PCT/CZ2002/000034
申请日：2002-06-14
申请人： KOVOSVIT MAS A.S. , CESKÉ VYSOKÉ UCENÍ TECHNICKÉ V PRAZE , VALÁSEK, Michael , PETRU, Frantisek , SIKA, Zbynek , BAUMA, Václav , VAMPOLA, Tomás
发明人： VALÁSEK, Michael , PETRU, Frantisek , SIKA, Zbynek , BAUMA, Václav , VAMPOLA, Tomás
IPC分类号： B23Q1/56
CPC分类号： B23Q1/623 , B23Q1/5481 , B23Q1/56 , B23Q1/60
摘要： The invention relates to a parallel positioning mechanism, especially for machining and/or manipulation and/or measuring, consisting of a platform for the carrying and/or manipulation with, for instance, a tool, a workpiece, a measuring device or the like, wherein the platform is connected with the machine frame by means of at least one positioning arm, characterised in that the platform (3) is joint-connected with at least one sliding guide (4) via at least three rotatable joints (11) of which at least two are arranged on a positioning arm (6) for the connection with the sliding guide (4), wherein the axes of rotation of the rotatable joints are mutually parallel. The direct connection may be replaced by a plurality of positioning arms (6), in which case the connection of the platform (3) with the sliding guide(s) (4) is achieved by means of at least four positioning arms (6).
摘要翻译：本发明涉及一种平行定位机构，特别是用于加工和/或操纵和/或测量，包括用于例如工具，工件，测量装置等的承载和/或操纵的平台，其中所述平台通过至少一个定位臂与所述机架连接，其特征在于，所述平台（3）经由其至少三个可旋转接头（11）与至少一个滑动引导件（4）连接连接，所述至少一个可旋转接头至少两个布置在用于与滑动引导件（4）连接的定位臂（6）上，其中可旋转接头的旋转轴线相互平行。直接连接可以由多个定位臂（6）代替，在这种情况下，平台（3）与滑动导向件（4）的连接通过至少四个定位臂（6）实现，。

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