公开(公告)号：EP2740567A3

公开(公告)日：2016-01-20

申请号：EP13466016.6

申请日：2013-08-21

申请人： CVUT V Praze, Fakulta Strojní

发明人： Valásek, Michael ,  Svéda, Jiri

IPC分类号： B23Q1/54 ,  B23Q5/10 ,  B23Q5/28 ,  B25J9/00

CPC分类号： B23Q1/5456 ,  B23Q1/5462 ,  B23Q5/10 ,  B23Q5/28 ,  B25J9/003

摘要： The invention concerns a device for reduction of force transfer to a frame (5) consisting of two parts (21, 22) force-interacting on each other, the first part (21) and the second part (22), in particular a tool and a work-piece when machining on a machining machine, connected moveably to a common frame (5) by means of parallel kinematic structures formed by platforms (1, 3) and a system of braces (6, 7, 9, 17) which connect the first part (21) to the frame (5) and the second part (22) to the frame (5) through carriages (11, 12, 14) and/or actuators (13, 15, 16), whereas the first part (21) includes the first platform (1) and the second part (22) includes the second platform (3) and the both parts (21, 22) are connected to the frame (5) by means of linear and/or rotary actuators acting between the parts (21, 22) and the frame (5) for adjustment of a relative position of the platforms (1) and (3), and/or there are linear and/or rotary actuators arranged between the both parts (21, 22) for adjustment of a relative position of the platforms (1) and (3), whereas each of these actuators is connected both to the part (21) and to the part (22).
Each platform (1, 3) is connected moveably to the frame (5) by means of fixed braces (6) and push braces (7), which are connected moveably to the frame (5) through the carriages (11, 12, 14) or the actuators (13, 16) with the linear actuators, or by means of rotational braces (9) which are rotationally connected to the frame (5) through the rotary actuators (15), whereas always one linear or rotary actuator of the first part (21) forms a pair with the linear or rotary actuator of the second part (22) and axes of these pairs of actuators are parallel or coaxial.
Alternatively, between the platforms (1, 3) there are the fixed and push braces (6, 7) and the carriages (11, 12, 14) or the actuators (13, 16) fitted with the linear actuators acting between the platforms (1, 3) and/or the rotational braces (9) fitted with the rotary actuator (15) acting between the platforms (1, 3) arranged.

公开(公告)号：EP2743638A1

公开(公告)日：2014-06-18

申请号：EP13466031.5

申请日：2013-12-04

申请人： CVUT V Praze, Fakulta Strojní

发明人： Valásek, Michael ,  Necas, Martin ,  Benes, Petr ,  Svéda, Jirí

IPC分类号： G01B21/04 ,  G01B11/00 ,  G01B11/245 ,  G01S5/16

CPC分类号： G01B11/002 ,  G01B11/245 ,  G01B21/042 ,  G01S5/163 ,  G01S17/875

摘要： The invention concerns an apparatus for optical measurement and/or optical calibration of a position of an object in space consisting of a platform to be connected to a measured or a calibrated object and of at least one transmitter of an optical beam positioned on the platform and/or on a frame and of at least one receiver of an optical beam positioned on the frame and/or on the platform, the number of the transmitters (4) of optical beams is at least three and the number of receivers (5) of optical beams is at least three.
At least three transmitters (4) of optical beams are represented by the reflectors (7) or by the reference elements (9) or by the sources (10) of a laser beam or by a combination of the reflectors (7) and/or the reference elements (9) and/or the sources (10) of a laser beam positioned on the frame (1) and/or on the platform (2) and at least three receivers (5) of optical beams are represented by the laser sensors (6) or by the optical cameras (8) or by the photosensitive elements (11) and by a combination of the laser sensors (6) and/or the optical cameras (8) and/or the photosensitive elements (11) positioned on the platform (2) and/or on the frame (1).

摘要翻译： 本发明涉及到用于光学测量和/或在空间中的物体包括一个平台的位置的光学校准被连接到一个测量或校准物体和光束的至少一个发射器的定位在平台上，并 /或上的框架和设置在框架和/或在平台上的光束中的至少一个接收器的，光束的（4）的发射器的数目是至少三个和接收器的数量（5）的 光束是至少三个。 至少三个发射器（4）的光束被反射器（7）表示或由参考元件（9）或通过激光束的光源（10）或由所述反射器（7）和/或组合 位于所述框架上的激光束的基准元件（9）和/或所述源（10）（1）和/或平台上（2）和至少三个接收器（5）的光束的通过激光为代表 传感器（6）或通过光学摄像机（8），或通过感光元件（11）和由激光传感器的组合（6）和/或所述光学照相机（8）和/或在感光元件（11）定位 所述平台（2）上和/或在所述框架（1）。

公开(公告)号：EP2732934A2

公开(公告)日：2014-05-21

申请号：EP13466026.5

申请日：2013-11-06

申请人： CVUT V Praze, Fakulta Strojní

发明人： Valásek, Michael

IPC分类号： B25J9/16 ,  B25J19/02

CPC分类号： B25J19/022 ,  B25J9/1694

摘要： The invention concerns a device for measuring a position of an end effector (2), especially of a manipulator or a machining tool, driven by a driving construction (1) with drives positioned between a frame (4) and the end effector (2) of the manipulator in order to control the manipulator, where, parallel to the driving construction (1) with the drives of the manipulator, there is an individual measuring construction (3) positioned between the frame (4) and the end effector (2), with no drives, equipped with movement sensors in a number equal or higher than the number of degrees of freedom of the end effector (2) of the manipulator.
The measuring construction (3) is created by one string with serial positioned arms (5) or with at least two strings with arms (5) positioned in parallel.
Alternatively, the measuring construction (3) consists of at least two optical sensors (11) positioned on the frame (4) or on the end effector (2) and of at least two reflectors (13) of the laser beam positioned on the end effector (2) or on the frame (4) or it consists of at least two cameras (14) positioned on the frame (4) or on the end effector (2) and the reflector (13) of laser beams positioned on the end effector (2) or on the frame (4) or of the source (16) of the laser beam (17) positioned on the end effector (2) or on the frame (4) and of a photosensitive element (18) positioned on the frame (4) or on the end effector (2).

摘要翻译： 本发明涉及一种设备，用于测量的端部执行器的位置（2），爱的特别是与一帧之间定位的驱动器操纵器或加工工具，由驱动结构（1）（4）驱动和端部执行器（2） 为了控制操纵器，其中，在平行于所述驱动结构（1）与所述操纵器的驱动器，有一个单独的测量结构的机械手（3）定位在所述框架（4）和端部执行器（2）之间 ，没有驱动器，在一个数比度机械手的端部执行器（2）的自由的数量相等或更高的配有运动传感器。 测量结构（3）是通过用一个字符串串行定位臂（5）创建的或具有至少两个字符串（5）定位在并联臂。 可替代地，besteht位于所述框架上的至少两个光学传感器（11）的测量结构（3）（4）或在端部执行器（2）和所述激光束的至少两个反射器（13）定位在所述端的 效应器（2）或（4）或它besteht的位于框架上的至少两个照相机（14）在所述框架（4）上或在所述端部执行器（2）和激光束的位于端部的反射器（13） 效应器（2）或所述框架（4）上或定位在端部执行器的激光束（17）的源极（16）的（2）或在所述框架（4）和位于一个光敏元件（18）的 所述框架（4）上或在所述端部执行器（2）。

公开(公告)号：EP2732928A1

公开(公告)日：2014-05-21

申请号：EP13466027.3

申请日：2013-11-06

申请人： CVUT V Praze, Fakulta Strojní

发明人： Valásek, Michael ,  Bauma, Václav

IPC分类号： B25J9/00

CPC分类号： B25J9/0051

摘要： The invention concerns a redundant Delta manipulator with a platform connected to a frame using parallelograms and arms connected to them, while the parallelograms are connected to the platform or to the frame using spherical joints and the arms are rotationally connected to the frame or to the platform using the rotational and spherical joints (4) for connection to the platform (2) of the adjacent parallelograms (3) are positioned in different collateral planes, while the rotational joints (7) of the arms are positioned in the same plane or in different planes.
The spherical joints (4) for connection to the platform (2) of the opposite parallelograms (3) are positioned in the same collateral plane and the rotational joints (7) of the opposite arms are positioned in the same collateral plane.
The collateral planes for positioning of the spherical joints (4) of the parallelograms (3) for connection to the platform (2) are distant from each other the same value as the collateral planes for connection of the rotational arms (6) to the frame (1) using the rotational joints (7).

摘要翻译： 本发明涉及一种冗余的Delta操纵器，其平台与平行四边形连接的平台和连接到它们的臂连接，而平行四边形使用球形接头连接到平台或框架，并且臂可旋转地连接到框架或平台 使用用于连接到相邻平行四边形（3）的平台（2）的旋转和球形接头（4）定位在不同的侧面中，而臂的旋转接头（7）位于同一平面或不同的平面 飞机。 用于连接到相对平行四边形（3）的平台（2）的球形接头（4）定位在相同的侧向平面中，并且相对臂的旋转接头（7）定位在相同的侧面中。 用于定位用于连接到平台（2）的平行四边形（3）的球形接头（4）的侧面平面彼此相距离，与用于将旋转臂（6）连接到框架 （1）使用旋转接头（7）。

公开(公告)号：EP2732928B1

公开(公告)日：2018-04-04

申请号：EP13466027.3

申请日：2013-11-06

申请人： CVUT V Praze, Fakulta Strojní

发明人： Valásek, Michael ,  Bauma, Václav

IPC分类号： B25J9/00

CPC分类号： B25J9/0051

摘要： The invention concerns a redundant Delta manipulator with a platform connected to a frame using parallelograms and arms connected to them, while the parallelograms are connected to the platform or to the frame using spherical joints and the arms are rotationally connected to the frame or to the platform using the rotational and spherical joints (4) for connection to the platform (2) of the adjacent parallelograms (3) are positioned in different collateral planes, while the rotational joints (7) of the arms are positioned in the same plane or in different planes. The spherical joints (4) for connection to the platform (2) of the opposite parallelograms (3) are positioned in the same collateral plane and the rotational joints (7) of the opposite arms are positioned in the same collateral plane. The collateral planes for positioning of the spherical joints (4) of the parallelograms (3) for connection to the platform (2) are distant from each other the same value as the collateral planes for connection of the rotational arms (6) to the frame (1) using the rotational joints (7).

公开(公告)号：EP2705934A3

公开(公告)日：2014-10-29

申请号：EP13466017.4

申请日：2013-09-04

申请人： CVUT V Praze, Fakulta Strojní

发明人： Valásek, Michael ,  Bauma, Václav ,  Sika, Zbynek ,  Svatos, Petr

IPC分类号： B25J9/04 ,  B25J11/00 ,  B25J13/00 ,  B25J17/02 ,  B25J18/00 ,  B25J9/00 ,  B25J9/16 ,  B25J15/00

CPC分类号： B25J9/009 ,  B25J9/1638 ,  B25J9/1682 ,  B25J15/0095 ,  B25J18/002

摘要： The invention concerns a method and a device for change of rigidity of a serial or parallel basic movable mechanism, especially industrial robots and machining machines, where the basic movable mechanism is fixed to the frame and the basis of the method is in creation of at least one auxiliary movable mechanism fixed to the frame and equipped with an auxiliary end effector, the basic end effector and the auxiliary end effector are connected to each other using at least one connecting element, the position of the tool fixed to the basic end effector is determined and according to the deviation of the position of the tool fixed to the basic end effector from the required position the action of force, which is needed to act on the basic end effector of the basic movable mechanism with the help of the connecting element for achievement of the required position of the tool, is determined.
The subject matter of the device is in the fact that the basic end effector (2) or the arm (8) of the basic movable mechanism (1) is connected using at least one connecting element (6) to at least one auxiliary end effector (4) of the serial or the parallel auxiliary movable mechanism (4) connected to the frame (16).

公开(公告)号：EP2732934A3

公开(公告)日：2014-08-06

申请号：EP13466026.5

申请日：2013-11-06

申请人： CVUT V Praze, Fakulta Strojní

发明人： Valásek, Michael

IPC分类号： B25J9/16 ,  B25J19/02

CPC分类号： B25J19/022 ,  B25J9/1694

摘要： The invention concerns a device for measuring a position of an end effector (2), especially of a manipulator or a machining tool, driven by a driving construction (1) with drives positioned between a frame (4) and the end effector (2) of the manipulator in order to control the manipulator, where, parallel to the driving construction (1) with the drives of the manipulator, there is an individual measuring construction (3) positioned between the frame (4) and the end effector (2), with no drives, equipped with movement sensors in a number equal or higher than the number of degrees of freedom of the end effector (2) of the manipulator.
The measuring construction (3) is created by one string with serial positioned arms (5) or with at least two strings with arms (5) positioned in parallel.
Alternatively, the measuring construction (3) consists of at least two optical sensors (11) positioned on the frame (4) or on the end effector (2) and of at least two reflectors (13) of the laser beam positioned on the end effector (2) or on the frame (4) or it consists of at least two cameras (14) positioned on the frame (4) or on the end effector (2) and the reflector (13) of laser beams positioned on the end effector (2) or on the frame (4) or of the source (16) of the laser beam (17) positioned on the end effector (2) or on the frame (4) and of a photosensitive element (18) positioned on the frame (4) or on the end effector (2).

公开(公告)号：EP2740567A2

公开(公告)日：2014-06-11

申请号：EP13466016.6

申请日：2013-08-21

申请人： CVUT V Praze, Fakulta Strojní

发明人： Valásek, Michael ,  Svéda, Jiri

IPC分类号： B23Q1/54 ,  B23Q5/10 ,  B23Q5/28

CPC分类号： B23Q1/5456 ,  B23Q1/5462 ,  B23Q5/10 ,  B23Q5/28 ,  B25J9/003

摘要： The invention concerns a device for reduction of force transfer to a frame (5) consisting of two parts (21, 22) force-interacting on each other, the first part (21) and the second part (22), in particular a tool and a work-piece when machining on a machining machine, connected moveably to a common frame (5) by means of parallel kinematic structures formed by platforms (1, 3) and a system of braces (6, 7, 9, 17) which connect the first part (21) to the frame (5) and the second part (22) to the frame (5) through carriages (11, 12, 14) and/or actuators (13, 15, 16), whereas the first part (21) includes the first platform (1) and the second part (22) includes the second platform (3) and the both parts (21, 22) are connected to the frame (5) by means of linear and/or rotary actuators acting between the parts (21, 22) and the frame (5) for adjustment of a relative position of the platforms (1) and (3), and/or there are linear and/or rotary actuators arranged between the both parts (21, 22) for adjustment of a relative position of the platforms (1) and (3), whereas each of these actuators is connected both to the part (21) and to the part (22).
Each platform (1, 3) is connected moveably to the frame (5) by means of fixed braces (6) and push braces (7), which are connected moveably to the frame (5) through the carriages (11, 12, 14) or the actuators (13, 16) with the linear actuators, or by means of rotational braces (9) which are rotationally connected to the frame (5) through the rotary actuators (15), whereas always one linear or rotary actuator of the first part (21) forms a pair with the linear or rotary actuator of the second part (22) and axes of these pairs of actuators are parallel or coaxial.
Alternatively, between the platforms (1, 3) there are the fixed and push braces (6, 7) and the carriages (11, 12, 14) or the actuators (13, 16) fitted with the linear actuators acting between the platforms (1, 3) and/or the rotational braces (9) fitted with the rotary actuator (15) acting between the platforms (1, 3) arranged.

摘要翻译： 本发明涉及用于还原力传递的装置由两个部分组成（21，22）的力相互作用在彼此的框架（5），所述第一部分（21）和第二部分（22），特别是工具 和工件在加工的加工机上，可移动地连接到由平台形成的平行运动机构的手段共同帧（5）（1，3）和大括号（6,7 9,17）一种系统，其 第一部分（21）连接到通过滑架的框架（5）和第二部分（22）到所述框架（5）（11，12，14）和/或致动器（13，15，16），而第一 部分（21）包括：所述第一平台（1）和所述第二部分（22）包括所述第二平台（3）和所述两个部分（21,22）通过线性和/或旋转的装置被连接到所述框架（5） 为平台（1）和一个相对位置的调节部件（21，22）和所述框架（5）之间作用的致动器（3），和/或有直链和/或这两个部分之间设置旋转致动器（ 21，22）的F 或平台（1）和（3），而每个合成致动器的同时连接到所述部分（21）和所述部分（22）的相对位置的调整。 每个平台（1，3）由固定支架（6）的可移动方式连接到所述框架（5）和推括号（7），其是（5）通过滑架（11，12，14可移动地连接到所述框架 ）或致动器（13，16）与所述线性致动器，或者通过旋转支架的装置（9），其旋转地连接到所述框架（5）通过旋转致动器（15），而总是一个线性或旋转致动器 第一部分（21）形成一对与所述第二部分（22）和致动器的论文对轴的线性或旋转致动器是平行的或同轴的。 可选地，平台之间（1，3）有固定和推括号（6,7）和所述滑架（11，12，14）或安装有平台之间作用的线性致动器的致动器（13，16）（ 1，3）和/或平台（1之间作用的旋转支架（9）配有旋转致动器（15），3），布置。

公开(公告)号：EP2705934A2

公开(公告)日：2014-03-12

申请号：EP13466017.4

申请日：2013-09-04

申请人： CVUT V Praze, Fakulta Strojní

发明人： Valásek, Michael ,  Bauma, Václav ,  Sika, Zbynek ,  Svatos, Petr

IPC分类号： B25J9/04 ,  B25J11/00 ,  B25J13/00 ,  B25J17/02 ,  B25J18/00

CPC分类号： B25J9/009 ,  B25J9/1638 ,  B25J9/1682 ,  B25J15/0095 ,  B25J18/002

摘要： The invention concerns a method and a device for change of rigidity of a serial or parallel basic movable mechanism, especially industrial robots and machining machines, where the basic movable mechanism is fixed to the frame and the basis of the method is in creation of at least one auxiliary movable mechanism fixed to the frame and equipped with an auxiliary end effector, the basic end effector and the auxiliary end effector are connected to each other using at least one connecting element, the position of the tool fixed to the basic end effector is determined and according to the deviation of the position of the tool fixed to the basic end effector from the required position the action of force, which is needed to act on the basic end effector of the basic movable mechanism with the help of the connecting element for achievement of the required position of the tool, is determined.
The subject matter of the device is in the fact that the basic end effector (2) or the arm (8) of the basic movable mechanism (1) is connected using at least one connecting element (6) to at least one auxiliary end effector (4) of the serial or the parallel auxiliary movable mechanism (4) connected to the frame (16).

摘要翻译： 本发明涉及一种方法和一个串行或并行的基本可动机构的刚性的变化的装置，爱尤其是工业机器人和加工机，其中基本可动机构被固定到所述框架，并且该方法的基础是在创建中的至少 固定到框架，并在辅助端部执行器配备有一个辅助的可动机构，基本的端部执行器和所述辅助端部执行器使用的至少一个连接元件，固定于所述基本端部执行器的工具的开采的位置是确定的连接到海誓山盟 而这是需要采取行动的基本可动机构的基本末端执行器与用于实现连接件的帮助雅鼎从所需的位置固定在基末端执行器的力的作用的工具的位置的偏差，所有 所述工具的所要求的位置的，是确定性的开采。 该装置的主题是在factthat基本端部执行器（2）或所述臂（8）的基本可动机构（1）使用至少一个连接元件（6）连接到至少一个辅助端部执行器 （4）串行的或并行的辅助可移动机构（4）连接到所述框架（16）。