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

Applicant: CESKE VYSOKE UCENI TECHNICKE V PRAZE, FAKULTA STROJNI ,  INOMECH S.R.O ,  VALASEK, Michael ,  PETRU, Frantisek ,  SIKA, Zbynek ,  BAUMA, Václav ,  SMID, Roman

Inventor： VALASEK, Michael ,  PETRU, Frantisek ,  SIKA, Zbynek ,  BAUMA, Václav ,  SMID, Roman

IPC: B25J9/16

CPC classification number: B25J9/1623 ,  B25J9/1692 ,  G01S17/875 ,  G05B2219/39018 ,  G05B2219/39044 ,  G05B2219/39552

Abstract: 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

Abstract translation: 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

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

Applicant: KOVOSVIT MAS A S ,  CESKE VUT V PRAZE ,  VALASEK MICHAEL ,  PETRU FRANTISEK ,  SIKA ZBYNEK ,  BAUMA VACLAV ,  VAMPOLA TOMAS

Inventor： VALASEK MICHAEL ,  PETRU FRANTISEK ,  SIKA ZBYNEK ,  BAUMA VACLAV ,  VAMPOLA TOMAS

IPC: B23Q1/25 ,  B23Q1/00 ,  B23Q1/44 ,  B23Q1/54 ,  B23Q1/56 ,  B23Q1/60 ,  B23Q1/62 ,  B23Q1/64 ,  F16H21/44

CPC classification number: B23Q1/623 ,  B23Q1/5481 ,  B23Q1/56 ,  B23Q1/60

Abstract: 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).

Abstract translation: 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， 。

公开(公告)号：WO2009062455A3

公开(公告)日：2009-07-02

申请号：PCT/CZ2008000137

申请日：2008-11-05

Applicant: CVUT V PRAZE FAKULTA STROJNI ,  VALASEK MICHAEL ,  MIKULEK MICHAL

Inventor： VALASEK MICHAEL ,  MIKULEK MICHAL

IPC: F16F15/02 ,  F16F15/14

CPC classification number: F16F15/145 ,  F16F15/02 ,  F16F2224/045

Abstract: This invention concerns a device for vibration damping of an object (1) moving along a trajectory arranged on a frame (7), whereas the object (1) involves spaces fllled-in with magnetorheologic fluid which moves towards the object (1) and the device contents at least one control electromagnet (2,12) for achieving magnetorheologic fluid condition change to which a signal for vibration damping is fed from a control unit, whereas the control electromagnet/s (2,12) is/are arranged firmly on the frame on which the object's (1) trajectory is positioned. The control electromagnets (2,12) are arranged evenly with regard to the object's (1,5) trajectory (4,14), in case of need evenly to one another. In case of an object (1) pivoted on a frame (7) and fitted with at least one centrifugal pendulum (6) connected to the object (1) through a damper (11) with magnetorheologic fluid which moves towards the object (1) and the device involves at least one control electromagnet (12) for achieving magnetorheologic fluid condition change, to which a signal is fed from a control unit, at least one control electromagnet (12) regulated by controllable power supply for electromagnetic field intensity control is arranged along the circular trajectory (14) of the dampers (11) on the frame (7).

Abstract translation: 本发明涉及一种用于沿着布置在框架（7）上的轨迹移动的物体（1）的减振装置，而物体（1）涉及与朝向物体（1）移动的磁流变流体相交的空间， 装置内容物，用于实现磁控流体状态变化的至少一个控制电磁体（2,12），用于减振的信号从控制单元馈送到所述控制电磁体（2,12），而所述控制电磁体（2,12）被牢固地布置在所述控制电磁体 物体（1）轨迹所在的框架。 在需要彼此均匀的情况下，控制电磁体（2,12）相对于物体（1,5）轨迹（4,14）均匀布置。 在物体（1）枢转在框架（7）上并装配有通过阻尼器（11）连接到物体（1）的至少一个离心摆锤（6）的情况下，磁流变液朝向物体（1）移动， 并且所述装置包括用于实现磁控流体状态变化的至少一个控制电磁体（12），信号从控制单元馈送到所述控制电磁体（12），布置有用于电磁场强度控制的由可控电源调节的至少一个控制电磁体（12） 沿着框架（7）上的阻尼器（11）的圆形轨迹（14）。

公开(公告)号：WO2009056079A3

公开(公告)日：2009-07-02

申请号：PCT/CZ2008000134

申请日：2008-10-29

Applicant: CVUT V PRAZE FAKULTA STROJNI ,  VALASEK MICHAEL

Inventor： VALASEK MICHAEL

IPC: B23Q1/54 ,  B25J17/02

CPC classification number: B23Q1/545 ,  B23Q1/5462 ,  B25J9/0057 ,  B25J9/0072 ,  B25J17/0266 ,  Y10T74/20348

Abstract: A device for a body's (1) spherical motion control connected with a frame (5) by means of a spherical joint (2) arranged on a shank connecting the body (1) with the frame (5) and through actuating arms (3) with drives (4), where the shank is sectional and the spherical joint (2) is arranged between the first part (9) of the shank which is firmly fixed to the frame (5) and the second part (10) of the shank which is firmly fixed to the body (1), whereas the number of parallel arms (3) with drives (4) is redundant. In order to increase the accuracy of both the self-calibration itself and a follow-up positioning of the body in the work area and to achieve a large range of the body's (1) rotating, the number of parallel arms (3) with drives (4) is five at minimum and the length of the first part of the shank (9) connected to the frame (5) is longer than the distance of the body (1) edge from the point of connection of the shank (10) to the body (1).

Abstract translation: 一种用于通过布置在连接主体（1）与框架（5）并通过致动臂（3）的杆上的球形接头（2）与球体（5）连接的球体（1）球形运动控制装置， 与驱动器（4）连接，其中柄部是截面的并且球形接头（2）布置在牢固地固定到框架（5）的柄部的第一部分（9）和柄部的第二部分（10） 其牢固地固定到主体（1）上，而具有驱动器（4）的并联臂（3）的数量是多余的。 为了增加自我校准本身的准确性和工作区域中身体的后续定位并实现身体的大范围（1）旋转，具有驱动器的并行臂（3）的数量 （4）的长度至少为5，并且与所述框架（5）连接的所述柄（9）的所述第一部分的长度大于所述主体（1）边缘与所述柄（10）的连接点的距离， 到身体（1）。

公开(公告)号：WO2009062455A2

公开(公告)日：2009-05-22

申请号：PCT/CZ2008/000137

申请日：2008-11-05

Applicant: CVUT V PRAZE, FAKULTA STROJNÍ ,  VALASEK, Michael ,  MIKULEK, Michal

Inventor： VALASEK, Michael ,  MIKULEK, Michal

CPC classification number: F16F15/145 ,  F16F15/02 ,  F16F2224/045

Abstract: This invention concerns a device for vibration damping of an object (1) moving along a trajectory arranged on a frame (7), whereas the object (1) involves spaces fllled-in with magnetorheologic fluid which moves towards the object (1) and the device contents at least one control electromagnet (2,12) for achieving magnetorheologic fluid condition change to which a signal for vibration damping is fed from a control unit, whereas the control electromagnet/s (2,12) is/are arranged firmly on the frame on which the object's (1) trajectory is positioned. The control electromagnets (2,12) are arranged evenly with regard to the object's (1,5) trajectory (4,14), in case of need evenly to one another. In case of an object (1) pivoted on a frame (7) and fitted with at least one centrifugal pendulum (6) connected to the object (1) through a damper (11) with magnetorheologic fluid which moves towards the object (1) and the device involves at least one control electromagnet (12) for achieving magnetorheologic fluid condition change, to which a signal is fed from a control unit, at least one control electromagnet (12) regulated by controllable power supply for electromagnetic field intensity control is arranged along the circular trajectory (14) of the dampers (11) on the frame (7).

Abstract translation: 本发明涉及一种用于沿着布置在框架（7）上的轨迹移动的物体（1）的减振装置，而物体（1）包括与磁流变流体一起移动的空间， 朝向物体（1）和装置内装至少一个用于实现磁流变流体状态变化的控制电磁体（2,12），从控制单元向该流体状态变化提供振动阻尼信号，而控制电磁体（2,12 ）牢固地布置在物体（1）轨迹所在的框架上。 控制电磁体（2,12）相对于物体（1,5）的轨迹（4,14）均匀地布置，在需要彼此均匀的情况下。 对于在框架（7）上枢转并且通过具有朝向物体（1）移动的磁流变流体的阻尼器（11）连接至至少一个与物体（1）连接的离心摆（6）的物体（1） 并且该装置包括至少一个用于实现磁流变流体状态变化的控制电磁体（12），从控制单元向该流体状态变化馈送信号，设置由用于电磁场强度控制的可控电源调节的至少一个控制电磁体（12） 沿着框架（7）上的阻尼器（11）的圆形轨迹（14）。

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

Applicant: CESKE VUT V PRAZE FAKULTA STRO ,  INOMECH S R O ,  VALASEK MICHAEL ,  PETRU FRANTISEK ,  SIKA ZBYNEK ,  BAUMA VACLAV ,  SMID ROMAN

Inventor： VALASEK MICHAEL ,  PETRU FRANTISEK ,  SIKA ZBYNEK ,  BAUMA VACLAV ,  SMID ROMAN

IPC: B25J9/16

CPC classification number: B25J9/1623 ,  B25J9/1692 ,  G01S17/875 ,  G05B2219/39018 ,  G05B2219/39044 ,  G05B2219/39552

Abstract: 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

Abstract translation: 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