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1.发明公开
公开(公告)号：EP2918377A4
公开(公告)日：2017-06-28
申请号：EP12886163
申请日：2012-10-02
Applicant: AVS ADDED VALUE IND ENG SOLUTIONS S L
Inventor： GALIPIENZO HUGUET JULIO , CARRERA ASTIGARRAGA MIGUEL ÁNGEL , FERRER FÁBREGAS SALVADOR , VALVIDARES SUÁREZ SECUNDINO MANUEL
CPC classification number: B25J17/0216 , B25J1/08 , B25J9/0057 , H01J2237/202 , Y10T74/20335
Abstract: Manipulator for an ultra-high vacuum chamber comprising an annular proximal base (1a) that can be securely anchored around an access opening (2a) of a tank (2) of the ultra-high vacuum chamber, a distal base (1b) connected to the proximal base (1 a) by means of a bellows element (3) with an inner space (3a) in communication with the ultra-high vacuum chamber through an access opening (2a), a sample-carrying column (4) attached to the distal base (1 b), that passes through the inner space (3a) to enter into the ultra-high-vacuum chamber, and a movement system for moving the distal base (1b) in relation to the proximal base, wherein the movement system comprises six actuators (5) each one actuated by respective electric motors (6) radially arranged around the bellows element (3) and connected to the proximal base (1 a) in an articulated manner by means of respective proximal ball joints (7) and connected to the distal base (1b) in an articulated manner by means of respective distal ball joints (8), and the bellows element (3) comprises a bellows comprising convolutions.
Abstract translation: 一种用于超高真空腔室的操纵器，其包括能够可靠地锚固在超高真空腔室的罐（2）的进入开口（2a）周围的环形近侧基部（1a），远侧基部（1b） 借助于波纹管元件（3）的近端基部（1a），具有通过进入开口（2a）与超高真空室连通的内部空间（3a）;样本承载柱（4），其连接到 穿过内部空间（3a）进入超高真空室的远侧基部（1b）以及用于使远侧基部（1b）相对于近侧基部运动的运动系统，其中运动 系统包括六个致动器（5），每个致动器通过径向布置在波纹管元件（3）周围且通过各自的近侧球接头（7）以铰接方式连接到近侧基部（1a）的相应电动机（6） 并通过相应的远侧球以铰接的方式连接到远侧基部（1b） 接头（8），并且波纹管元件（3）包括具有卷绕的波纹管。
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公开(公告)号：EP2467798A4
公开(公告)日：2016-10-05
申请号：EP10809631
申请日：2010-08-17
Applicant: MAZOR ROBOTICS LTD
Inventor： SHOHAM MOSHE
CPC classification number: B25J17/0216 , A61B17/1675 , A61B34/30 , A61B2017/00106 , A61B2034/2055 , A61B2034/304 , A61B2090/061 , B25J9/1676
Abstract: A hand held robotic system that remains stiff so long as it is operating within allowed limits, but which become actively controlled once the operator exceeds those limits. The system thus corrects deviations by more than a predetermined amount of the operator's hand motions, so that the tool remains in the allowed region even when the operator's hand deviates from the planned trajectory. The pose and path of the robotic operating head is ascertained by means of a navigation or tracking system, or by means of a proximity device to measure the closeness of the operating head to a damage sensitive feature. As the tool deviates from its predetermined path or pose, or comes too close to the hazardous area, the robot control acts to move the tool back to its predetermined pose or path, or away from the hazardous region, independently of user's hand movement.
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公开(公告)号：EP2928650A1
公开(公告)日：2015-10-14
申请号：EP13789791.4
申请日：2013-11-12
Inventor： REY, Frédéric , ALOUANI, Slim
CPC classification number: B25J9/144 , B25J9/0057 , B25J9/0075 , B25J9/06 , B25J9/08 , B25J17/0216 , B25J19/0091 , Y10S901/22 , Y10S901/28
Abstract: The present invention concerns a hexapod system (1) comprising first (2) and second (3) supports and six linear actuators (10a, 10b, 10c, 10d, 10e, 10f), each linear actuator having two ends articulated respectively at the first (2) and second (3) supports by a ball and socket joint (41, 42, 43, 44), characterised in that it comprises: a force transfer structure (50) embedded on the first support (2) and coupled to the second support (3) by a ball and socket joint (51, 52) of which the centre of rotation (60) is located in the thickness of the second support (3). The invention also concerns an inspection and/or repair robot characterised in that it comprises a poly-articulated arm provided with a plurality of hexapod systems (1) according to the invention and in which the hexapod systems (1) are disposed in series.
Abstract translation: 本发明涉及包括第一（2）和第二（3）支承以及六个线性致动器（10a，10b，10c，10d，10e，10f）的六足式系统（1），每个线性致动器具有两个端部， （2）和第二支撑件（3）通过球窝关节（41,42,43,44）支撑，其特征在于，所述支撑件包括：力传递结构（50），所述力传递结构嵌入所述第一支撑件（2） 通过其旋转中心60位于第二支撑件3的厚度中的球窝关节51,52支撑第二支撑件3。 本发明还涉及一种检查和/或修理机器人，其特征在于它包括设有多个根据本发明的六足系统（1）的多关节臂，并且其中六足系统（1）串联布置。
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公开(公告)号：EP2918377A1
公开(公告)日：2015-09-16
申请号：EP12886163.0
申请日：2012-10-02
Inventor： GALIPIENZO HUGUET, Julio , CARRERA ASTIGARRAGA, Miguel Ángel , FERRER FÁBREGAS, Salvador , VALVIDARES SUÁREZ, Secundino Manuel
CPC classification number: B25J17/0216 , B25J1/08 , B25J9/0057 , H01J2237/202 , Y10T74/20335
Abstract: Manipulator for an ultra-high vacuum chamber comprising an annular proximal base (1a) that can be securely anchored around an access opening (2a) of a tank (2) of the ultra-high vacuum chamber, a distal base (1b) connected to the proximal base (1 a) by means of a bellows element (3) with an inner space (3a) in communication with the ultra-high vacuum chamber through an access opening (2a), a sample-carrying column (4) attached to the distal base (1 b), that passes through the inner space (3a) to enter into the ultra-high-vacuum chamber, and a movement system for moving the distal base (1b) in relation to the proximal base, wherein the movement system comprises six actuators (5) each one actuated by respective electric motors (6) radially arranged around the bellows element (3) and connected to the proximal base (1 a) in an articulated manner by means of respective proximal ball joints (7) and connected to the distal base (1b) in an articulated manner by means of respective distal ball joints (8), and the bellows element (3) comprises a bellows comprising convolutions.
Abstract translation: 一种用于超高真空室的机械手，包括可以牢固地锚固在超高真空室的罐（2）的进入开口（2a）周围的环形近端基座（1a），远端基座（1b） 所述近端基座（1a）通过波纹管元件（3），所述波纹管元件（3）具有通过进入开口（2a）与所述超高真空室连通的内部空间（3a），附着到所述超声波真空室 所述远端基部（1b）穿过所述内部空间（3a）以进入所述超高真空室;以及移动系统，用于相对于所述近侧基座移动所述远端基部（1b），其中所述移动 系统包括六个致动器（5），每个致动器（5）由径向布置在波纹管元件（3）周围的相应电动机（6）致动，并通过相应的近端球接头（7）以铰接的方式连接到近侧基座（1a） 并通过相应的远端球以铰接的方式连接到远端基座（1b） 接头（8）和波纹管元件（3）包括包括卷积的波纹管。
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5.发明公开Vorrichtung, insbesondere zum Positionieren von Objekten 审中-公开Vorrichtung，insbesondere zum Positionieren von Objekten
公开(公告)号：EP1930132A1
公开(公告)日：2008-06-11
申请号：EP07017249.9
申请日：2007-09-04
Applicant: ABB PATENT GmbH
Inventor： Soetebier, Sven , Kock, Soenke , Waldi, Wolfgang
IPC: B25J17/02
CPC classification number: B25J17/0216 , Y10T74/20378
Abstract: Es wird eine Vorrichtung insbesondere zum Positionieren von Objekten (1), mit längeneinstellbaren Stützen (2), mit einem Basisteil (3), mit einer Aufnahme (4) für das Objekt (1), wobei die Stützen (2) zwischen dem Basisteil (3) und der Aufnahme (4) angeordnet und dort jeweils beweglich gelagert sind, und mit Antrieb und Steuerung zur Einstellung der Stützen (2) angegeben. Zumindest ein Stützenpaar (5) aus zwei Stützen (2) ist gebildet so dass sich die beiden Stützen (2) des Stützenpaares (5) parallel erstrecken, wodurch sich die Form eines Parallelogramms ergibt.
Abstract translation: 该装置具有可调节的长度支撑件，基座，用于物体的保持器，由此支撑件可移动地布置在基座和保持器之间，驱动器和用于根据专利10 2006 011823.5调节支撑件的控制器。 至少一对支撑件（5D）由两个支撑件组成，两个支撑件彼此平行地延伸并且一起形成平行四边形。
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Patent Agency Ranking
公开(公告)号：EP1390930A1
公开(公告)日：2004-02-25
申请号：EP02736267.2
申请日：2002-05-02
Applicant: Adse B.V.
Inventor： ADVANI, Sunjoo, Kan
CPC classification number: G09B9/14 , B25J17/0216
Abstract: A motion simulator, comprising a platform carried by at least three pairs of length-adjustable legs, wherein the connection between each leg and the platform comprises a first coupling, wherein the distance between the first coupling of one pair of legs is smaller than the distance between the first coupling of different pairs, wherein, viewed in the top plan view, at least two first couplings are located on a first circle and at least two further first couplings on a second circle, wherein the first and the second circle are concentric and have a different radius.
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公开(公告)号：EP1037557A1
公开(公告)日：2000-09-27
申请号：EP98959921.2
申请日：1998-12-11
Applicant: PLANMECA OY
Inventor： MÜLLER, Timo
CPC classification number: B25J17/0216 , A61B6/4464 , B25J17/0266
Abstract: The invention relates to a medical imaging means including a movement mechanism (10). The movement mechanism (10) comprises a first mounting part (21) and a second mounting part (22) and at least three link arm members. The link arm assemblies of the mechanism include actuator means and a link arm member or a set of link arm members. The movement mechanism is used for moving a medical imaging device or a part thereof.
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公开(公告)号：EP0834383A1
公开(公告)日：1998-04-08
申请号：EP97402228.7
申请日：1997-09-25
Applicant: GEC ALSTHOM SYSTEMES ET SERVICES SA
Inventor： Freinex, Gérard
IPC: B25J17/02
CPC classification number: B25J17/0216
Abstract: Robot à structure parallèle comportant une table inférieure (1) et une table supérieure (2) solidaire d'un organe effecteur, reliées par six vérins motorisés (3 à 8), les vérins étant positionnés de façon à réaliser une triangulation et chacun d'eux étant articulés d'une part à la table inférieure et d'autre part à la table supérieure selon au moins cinq axes d'articulation : trois à une extrémité (10) et au moins deux à l'autre extrémité (9), chaque vérin étant équipé d'un codeur mesurant son élongation, caractérisé en ce que la table inférieure (1) est en outre reliée à la table supérieure (2), au voisinage de leur centre de gravité respectif, par une tige télescopique (12) articulée à ses extrémités à la table inférieure et à la table supérieure selon cinq axes d'articulation : deux à l'une de ses extrémités (18) et trois à l'autre extrémité (13, 16), cette tige télescopique étant équipée de six codeurs : un (21) pour l'élongation de la tige, deux (19, 20) pour l'articulation à deux axes de type cardan et trois (14, 15, 17) pour l'articulation à trois axes de type rotule, ledit robot ayant une chaîne de commande utilisant le modèle mathématique inverse (24) du robot pour déterminer les consignes (25) d'élongation des vérins à partir d'une consigne de position (23) du plateau supérieur et utilisant le modèle mathématique direct (28) de ladite tige télescopique articulée (12), jouant le rôle de robot passif non motorisé, pour calculer la position effective (29) du plateau supérieur à partir des données (27) des six codeurs équipant ladite tige, et effectuer à partir de cette position effective, la correction (30) de position nécessaire.
Abstract translation: 机器人具有由六个线性致动器（3-8）连接的上（2）和下（1）台，形成三角测量。 使用适当的输入使用其操作的逆数学模型来控制机器人。 输入产生每个线性致动器的长度的设定值，以实现上表的所需位置和方向。 每个线性执行器配有一个测量其延伸部分的编码器。 使用来自连接到连接上表和下表的伸缩杆（12）的六个编码器的信号测量顶台的位置。 这些编码器对机器人的六个自由度中的每一个进行测量，以便与设定值进行比较（38）。
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公开(公告)号：EP0344185B1
公开(公告)日：1991-09-25
申请号：EP88901269.6
申请日：1988-01-19
Applicant: LOGABEX S.A.R.L.
Inventor： CH'HAYDER, Ameur , DURAND, Didier , DIAZ, Constantino
CPC classification number: B23Q1/5462 , B25J9/06 , B25J9/08 , B25J9/1623 , B25J17/0216 , B25J19/0029
Abstract: Redundant robot of the modular type for displacing a terminal from an initial situation to a final situation. Such robot comprises a succession of stages (1i-1, 1i), each comprised of a platform and of six actuators arranged according to a closed angled architecture, a system of sensors associated to each stage, and control means for determining a robot configuration corresponding to the final situation to be reached by the terminal and for servo-controlling the actuators in order to arrange the various stages according to such configuration. Said control means comprise particularly means (26) for storing accessible spaces for each platform, means (25) for entering the final situation to be reached, means (27) for computing the robot configuration, means (28) for computing the actuator states and a servo-control interface (30) for the latter.
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公开(公告)号：EP3362765A1
公开(公告)日：2018-08-22
申请号：EP16790664.3
申请日：2016-10-05
Applicant: Micro-Controle - Spectra Physics
Inventor： DURAND, Eric , DUQUENOY, Franck
CPC classification number: G01B21/04 , B25J9/0042 , B25J9/1623 , B25J17/0216 , G01D5/34746 , G05B19/31 , G05B2219/50053
Abstract: The invention relates to a method for compensating for accuracy errors of a hexapod (2), said hexapod (2) comprising a base (3), an actuation assembly (4) having six linear translation actuators (5), a control unit (6), and a movable carriage (7) comprising a platform (8) connected to the base (3) by means of the actuation assembly (4). The method includes a measurement step for determining geometry and positioning errors on the hexapod (2), the measurement step including sub-steps for determining positioning errors of the pivot centers on the carriage (7) and on the base (3), for determining length errors of the actuators (5) and for measuring positioning errors of the actuators (5) along the path thereof, the compensation method also including a step for calculating, from measurements taken, error compensation values and a step for applying said error compensation values to the control unit (6) of the hexapod (2), during subsequent use of said hexapod.
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