DE19923612A1 - Parallel kinematic arrangement for moving platforms, with arms able to be turned by extra linear drive about their foot points - Google Patents
Parallel kinematic arrangement for moving platforms, with arms able to be turned by extra linear drive about their foot pointsInfo
- Publication number
- DE19923612A1 DE19923612A1 DE1999123612 DE19923612A DE19923612A1 DE 19923612 A1 DE19923612 A1 DE 19923612A1 DE 1999123612 DE1999123612 DE 1999123612 DE 19923612 A DE19923612 A DE 19923612A DE 19923612 A1 DE19923612 A1 DE 19923612A1
- Authority
- DE
- Germany
- Prior art keywords
- arms
- arm
- turned
- linear drive
- foot points
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/02—Gearings comprising primarily only links or levers, with or without slides the movements of two or more independently-moving members being combined into a single movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
- B23Q1/60—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism
- B23Q1/601—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism a single sliding pair followed parallelly by a single sliding pair
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Transmission Devices (AREA)
Abstract
Description
Aus der technischen Literatur über Parallelkinematiken zur Bewegung von Plattformen im Bereich von Montage- und Bearbeitungsmaschinen ist be kannt, daß bei Kinematiken mit Teleskoparmen oder Armen mit beweglichen Fußpunkten die Orientierung der Plattform i. a. über den Winkel ±30° nicht hinausgeht. Der Grund hierfür ist aus Fig. 1 leicht einsichtig, wo in einer zweidimensionalen Darstellung x, z für eine Parallelkinematik mit den Armen konstanter Länge L1, L2 und den linearen Fußpunktantrieben A1, A2 für den Winkel α die singuläre Stelle L1, P zu erkennen ist, bei der der Arm L1 in Flucht mit der Plattform P liegt, so daß die Veränderung der Position des Antriebs A1 in negativer z-Richtung keine eindeutige Zuordnung zu einer Winkelveränderung in positiver oder negativer Richtung erlaubt. Zur Abhilfe dient der vorliegende Erfindungsgedanke.From the technical literature on parallel kinematics for moving platforms in the area of assembly and processing machines is known that the orientation of the platform generally does not go beyond the angle ± 30 ° with kinematics with telescopic arms or arms with movable base points. The reason for this is easily understood from FIG. 1, where in a two-dimensional representation x, z for parallel kinematics with arms of constant length L1, L2 and linear base point drives A1, A2 for angle α, the singular point L1, P can be seen , in which the arm L1 is in alignment with the platform P, so that the change in the position of the drive A1 in the negative z direction does not allow a clear assignment to a change in angle in the positive or negative direction. The present inventive concept serves to remedy this.
Die Grundüberlegung des vorliegenden Erfindungsgedankens gemäß An spruch 1 geht davon aus, daß der motorische Freiheitsgrad eines Armes um einen weiteren linearen motorischen Freiheitsgrad gemäß Fig. 2 erhöht wird, wobei die Wirkung des zweiten linearen Antriebs über einen Kniehebelme chanismus zu einer Drehung des Armes L um das Drehgelenk des Fuß punktes führt und ein Arm des Kniehebels L/2 in einer festen Winkelbezie hung z. B. von 90° gegenüber dem Arm L gehalten wird. Dies kann erfolgen über einen Hilfsarm H, der die Endpunkte der Arme L und L/2 verbindet. An der Verbindungsstelle der Arme L/2, H greift gelenkig der zweite Kniehebel L/2' an, der von einem Antrieb A1' im Fußpunkt angetrieben wird. Der Diffe renzweg der beiden Antriebe A1, A1' bestimmt nun den Winkel α, d. h. die Einstellung des Winkels ist nicht mehr von der Orientierung der Plattform P abhängig und der Winkel α kann beliebig zwischen 0 und 90° eingestellt werden.The basic idea of the present inventive concept according to claim 1 is based on the fact that the motor degree of freedom of an arm is increased by a further linear motor degree of freedom according to FIG. 2, the effect of the second linear drive mechanism via a toggle lever mechanism for a rotation of the arm L. the pivot of the foot point leads and an arm of the toggle lever L / 2 in a fixed angle relationship z. B. of 90 ° relative to the arm L. This can be done via an auxiliary arm H, which connects the end points of the arms L and L / 2. At the junction of the arms L / 2, H the second toggle lever L / 2 ', which is driven by a drive A1' at the base, articulates. The difference path of the two drives A1, A1 'now determines the angle α, ie the setting of the angle is no longer dependent on the orientation of the platform P and the angle α can be set as desired between 0 and 90 °.
Eine weitere Variante entsteht, wenn die Anlenkung des Kniehebels mit sei nem Hebel L/2 gemäß Fig. 3 um 180° versetzt mit dem Arm L verbunden wird und damit der Antrieb A1' zwischen dem Arm L und der Führungsbahn F angeordnet werden kann. Das Armsystem baut damit entsprechend kür zer. Nachteilig ist jedoch, daß der Kniehebel nunmehr außerhalb des Ar beitsraumes der Parallelkinematik arbeitet. Um diesen Nachteil zu vermei den, zeigt Fig. 4 eine weitere Variante des Erfindungsgedankens, wobei der Kniehebel nach innen wirkt, die vorteilhafte Anlenkung von 90° zwischen L und L/2 jedoch aufgegeben wird zugunsten eines Vorhaltewinkels, der in Fig. 4 45° beträgt und damit eine freie Winkelverstellung von α in gewissen Grenzen erlaubt.A further variant arises when the articulation of the toggle lever with its lever L / 2 according to FIG. 3 is connected to the arm L by 180 ° and thus the drive A1 'can be arranged between the arm L and the guideway F. The arm system thus builds shorter accordingly. A disadvantage, however, is that the toggle lever now works outside the ar beitsraumes of the parallel kinematics. In order to avoid this disadvantage, FIG. 4 shows a further variant of the inventive concept, the toggle lever acting inwards, but the advantageous articulation of 90 ° between L and L / 2 is given up in favor of a lead angle which in FIG. 4 is 45 ° is and thus allows a free angle adjustment of α within certain limits.
Claims (3)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE1999123612 DE19923612A1 (en) | 1999-05-25 | 1999-05-25 | Parallel kinematic arrangement for moving platforms, with arms able to be turned by extra linear drive about their foot points |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE1999123612 DE19923612A1 (en) | 1999-05-25 | 1999-05-25 | Parallel kinematic arrangement for moving platforms, with arms able to be turned by extra linear drive about their foot points |
Publications (1)
Publication Number | Publication Date |
---|---|
DE19923612A1 true DE19923612A1 (en) | 2001-02-08 |
Family
ID=7908915
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE1999123612 Withdrawn DE19923612A1 (en) | 1999-05-25 | 1999-05-25 | Parallel kinematic arrangement for moving platforms, with arms able to be turned by extra linear drive about their foot points |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE19923612A1 (en) |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DD242855A1 (en) * | 1985-11-21 | 1987-02-11 | Babelsberg Masch Veb | LEVEL GUIDE GEAR TO CHANGE THE POSITIONING ANGLE OF A WORKER AT A CONSTANT ENDING POINT |
CH672089A5 (en) * | 1985-12-16 | 1989-10-31 | Sogeva Sa | |
DE19701830A1 (en) * | 1996-02-07 | 1997-08-14 | Vdw Ev | Device for moving a body in space |
-
1999
- 1999-05-25 DE DE1999123612 patent/DE19923612A1/en not_active Withdrawn
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DD242855A1 (en) * | 1985-11-21 | 1987-02-11 | Babelsberg Masch Veb | LEVEL GUIDE GEAR TO CHANGE THE POSITIONING ANGLE OF A WORKER AT A CONSTANT ENDING POINT |
CH672089A5 (en) * | 1985-12-16 | 1989-10-31 | Sogeva Sa | |
DE19701830A1 (en) * | 1996-02-07 | 1997-08-14 | Vdw Ev | Device for moving a body in space |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
OP8 | Request for examination as to paragraph 44 patent law | ||
8139 | Disposal/non-payment of the annual fee | ||
8170 | Reinstatement of the former position | ||
8139 | Disposal/non-payment of the annual fee |