WO2005118217A1 - Flexible module for a device, using parallel kinematics - Google Patents
Flexible module for a device, using parallel kinematics Download PDFInfo
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- WO2005118217A1 WO2005118217A1 PCT/AT2005/000197 AT2005000197W WO2005118217A1 WO 2005118217 A1 WO2005118217 A1 WO 2005118217A1 AT 2005000197 W AT2005000197 W AT 2005000197W WO 2005118217 A1 WO2005118217 A1 WO 2005118217A1
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Classifications
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- 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
- B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
- B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
- B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
- B23Q1/5462—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair
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- 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
- B23Q1/03—Stationary work or tool supports
- B23Q1/037—Stationary work or tool supports comprising series of support elements whose relative distance is adjustable
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
- B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal
Definitions
- the invention relates to a module for a device for setting a predeterminable position of a workpiece during a manufacturing process.
- the invention relates to a device for setting a predeterminable position of a workpiece during a manufacturing process
- Devices of the type mentioned are special manufacturing resources. With you, workpieces and tools are brought into a certain position with each other, or they carry out this process automatically. The position between a joining part or tool and base part can be maintained during assembly by means of the device.
- the basic structure of such a device recognizes elements for fixing and positioning objects, such as clamping means, stops and a base body.
- parallel kinematics is understood to mean a movement mechanism with a closed kinematic chain.
- the axes of movement are not one behind the other as in a serial structure, but side by side, with all axes of movement simultaneously, i.e. H. be moved in parallel.
- parallel kinematics can implement movements in several directions. These movements are related to the degrees of freedom of the kinematics.
- An effector is a subsystem of the module which is provided for positioning, holding or clamping the workpiece or for guiding one or more tools.
- any component i can be brought into a defined spatial position essentially independently of its shape.
- the module has a frame base and struts articulated to this and the end effector, supporting the end effector, the struts being of variable length. Furthermore, the struts are connected to the frame base and the end effector so that multi-axis rotations can be carried out for the struts.
- the struts can be connected to the gesture base and / or the end effector, for example via ball joints or universal or universal joints.
- the struts can be hydraulically clamped, and in principle the struts can also be clamped mechanically, pneumatically or electromagnetically.
- a device of the type mentioned at the outset which has at least one module according to the invention, the module advantageously being displaceably mounted.
- FIG. 3 shows a second variant of a module according to the invention
- FIG. 6 shows the construction of a device system according to the invention from several modules
- Fig. 7 shows a further variant of a device according to the invention.
- FIG. 8 shows the device from FIG. 7 with a workpiece.
- an inventive module MOD of a device has a frame base GBA and a ParaEeEdnematik PKI with an end effector EEF.
- the parallel kinematics can be realized by means of struts STR which can be adjusted in length and which are connected to the gesture base GBA and the end effector EEF via joints GEL, the joints GEL being able to perform multi-axis rotations.
- the end effector EEF although shown here in the form of a plate, can have any shape depending on the requirements.
- the end effector EDF for example also conical, hemispherical, etc., can be flattened.
- the end effector EEF can also have receptacles for various different device elements, such as supports, stops, clamping elements, which position and clamp the desired workpiece.
- FIG. 2 shows a ParaEelkinematik PKI in the form of a tripod.
- a tripod meets the requirement for a three-dimensional workspace and great rigidity.
- a work space is understood to be the space in which aEe can perform the movements necessary for the fulfillment of a task.
- the struts STR of the tripod preferably consist of passively insertable elements which can either be inserted manually or by machine. In this embodiment, no complex and expensive controls are necessary.
- the module MOD can also be designed as a hexapod, ie as a para-kinematics PKI with a degree of freedom of six.
- This embodiment of the invention differs from the above only in another arrangement and number of struts STR.
- the desired properties of the device can be implemented with various variations of ParaEeEdnematik, such as tripod, hexapod, hexaglide or linapod.
- the joints GEL with which the strut STR is connected to the end effector EEF and to the gesture base GBA, can be designed as a WeEen joint.
- different joint shapes or their combinations can be used to implement the GEL joints, for example cardan or universal joints, ball joints, etc.
- the strut STR can have a ground, cylindrical, preferably circular-cylindrical tube ROH, which can be actuated via an actuating element BET in order to change the length of the strut STR.
- the actuating element BET is designed in the form shown here as a hydraulic tensioning element, in which an air-oil pressure intensifier LUF can be actuated by means of compressed air DRU in order to generate the working pressure required in the tensioning element to change the length of the strut.
- an air-oil pressure intensifier LUF can be actuated by means of compressed air DRU in order to generate the working pressure required in the tensioning element to change the length of the strut.
- other strut drives can also be used.
- the module MOD can be arranged on an MTI machine table, a clamping pallet, etc.
- modules MOD can, for example, be arranged on a clamping pallet ASP of the device VOR.
- the device VOR can also be realized by combining the modules MOD according to the invention with other device elements, such as, for example, linear units.
- linear units consisting of a rail SCH, carriage LAW and associated braking elements are attached to a base plate GPL.
- Tripods or other modules MOD according to the invention are arranged on the carriage LAW.
- Carrier modules consisting of carriages and tripods, can be infinitely brought to the desired position and fixed by industrial robots. A flexible workpiece adjustment, which can also be automated, can thus be guaranteed.
- the overall structure of the VOR device remains unchanged, only the positions of the individual modules are changed by the industrial robot when converting.
- the substructure of the base plate GPL not shown here, can be made very rigid in order to be able to absorb large weights and clamping forces.
- a rotatable mounting of the device VOR is possible to ensure better accessibility for individual work steps.
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Abstract
Description
FLEXIBLES VORRICHTUNGSMODUL MITTELS PARALLELKINEMATIK FLEXIBLE DEVICE MODULE BY MEANS OF PARALLEL KINEMATICS
Die Erfindung betrifft ein Modul für eine Vorrichtung zur Einstellung einer vorgebbaren Lage eines Werkstückes während eines Fertigungsprozesses.The invention relates to a module for a device for setting a predeterminable position of a workpiece during a manufacturing process.
Weiters bezieht sich die Erfindung auf eine Vorrichtung zur Einstellung einer vorgebbaren Lage eines Werkstückes während eines FertigungsprozessesFurthermore, the invention relates to a device for setting a predeterminable position of a workpiece during a manufacturing process
Vorrichtungen der eingangs genannten Art sind spezielle Fertigungsmittel. Mit Ihnen werden Werkstücke und Werkzeuge in eine bestimmte Lage zueinander gebracht, oder sie führen diesen Vorgang selbsttätig durch. Während einer Montage kann mittels der Vorrichtung die Lage zwischen einem Fügeteil oder Werkzeug und Basisteil aufrechterhalten werden. Im grundsätzlichen Aufbau einer derartigen Vorrichtung erkennt man Elemente zum Fixieren und Positionieren von Objekten, wie Spannrnittel, Anschläge und einen Grundkörper.Devices of the type mentioned are special manufacturing resources. With you, workpieces and tools are brought into a certain position with each other, or they carry out this process automatically. The position between a joining part or tool and base part can be maintained during assembly by means of the device. The basic structure of such a device recognizes elements for fixing and positioning objects, such as clamping means, stops and a base body.
In diesem Dokument wird anstelle von „Vorrichtung zur Einstellung einer vorgebbaren Lage eines Werkstückes während eines Fertigungsprozesses" aus Gründen der einfacheren Schreibweise nur „Vorrichtung" geschrieben.In this document, instead of "device for setting a predeterminable position of a workpiece during a production process", only "device" is written for reasons of simpler spelling.
Unterschiedliche Anforderungen an die einzelnen Produkte (z.B. Schienenfahrzeug- Drehgestell-Rahmen, Komponenten für den Automobil- und allgemeinen Maschinenbau) führen zu konstruktiv unterschiedlich ausgeführten Baugruppen, die eine Vielzahl an produktspezifischen Vorrichtungen bedingen, was besonders bei der Klein- und Mittelserienfertigung zu erhöhten Stück-Kosten führt.Different requirements for the individual products (e.g. rail vehicle bogie frames, components for automotive and general mechanical engineering) lead to structurally differently designed assemblies which require a large number of product-specific devices, which in particular in small and medium series production increases the number of pieces. Costs.
Aus den unterschiedlichen Formen und Gestalten der einzelnen Bauteile A, B bzw. Baugruppen unterschiedlicher Fahrwerke ergeben sich notwendigerweise konstruktive Unterschiede bei den benötigten Vorrichtungen VOR', VOR" (Fig. la, 1b).From the different shapes and shapes of the individual components A, B or assemblies of different undercarriages, there are necessarily constructive differences in the required devices VOR ', VOR "(Fig. La, 1b).
Üblicherweise werden für nicht standardmäßige Bauteile im Einzelfall eigene Vorrichtungen konstruiert (Fig. la, lb). Durch die daraus resultierenden, unterschiedlichen konstruktiven Lösungen der Vorrichtungen können sich auch unterschiedliche Fertigungsabläufe bei der Herstellung "von Fahrwerken ergeben, wodurch sich die Fertigungskosten wesentlich erhöhen können.Usually, individual devices are designed for non-standard components in individual cases (Fig. La, lb). The resulting different constructional solutions of the devices can also result in different production processes in the manufacture of " bogies " , which can significantly increase the production costs.
Eine andere ebenfalls kostenintensive Möglichkeit der Fertigung besteht darin, die verwendeten Bauteile konstruktiv so zu ändern, dass bereits vorhandene Vorrichtungen bei der Fertigung verwendet werden können. Jedoch ist eine Neukonstruktion der Bauteile in den meisten Fällen nicht sinnvoll, da dies zu tief in bereits funktionierende Systeme eingreift und viele und große bauliche Veränderungen mit sich bringt.Another likewise cost-intensive possibility of manufacturing is to constructively change the components used in such a way that existing devices are used in the Manufacturing can be used. However, in most cases, it is not sensible to redesign the components, as this interferes too deeply with systems that are already functioning and involves many and large structural changes.
Es ist daher eine Auf abe der Erfindung, eine Vorrichtung zu schaffen, welche für eine große Zahl unterschiedlicher Bauteile bzw. Baugruppen verwendet werden kann, ohne dabei bestehende Bauteilkonstruktionen zu verändern.It is therefore an object of the invention to provide a device which can be used for a large number of different components or assemblies without changing existing component designs.
Diese Aufgabe wird mit einem Modul der eingangs genannten Art erfindungsgemäß dadurch gelöst, dass es eine Parallelkinematik mit einem Endeffektor für das Werkstück aufweist.This object is achieved according to the invention with a module of the type mentioned at the outset in that it has parallel kinematics with an end effector for the workpiece.
Unter einer Parallelkinematik wird hierbei ein Bewegungsmechanismus mit einer geschlossenen kinematischen Kette verstanden. Die Bewegungsachsen sind nicht hintereinander wie bei einer seriellen Struktur, sondern nebeneinander, wobei alle Bewegungsachsen gleichzeitig, d. h. parallel bewegt werden. Je nach konstruktiver Ausführung können Parallelkinematiken Bewegungen in mehreren Richtungen realisieren. Diese Bewegungen stehen im Zusammenhang mit den Freiheitsgraden der Kinematik. Parallelkinematiken mit dem Freiheitsgrad F = 2 lassen Bewegungen in der Ebene zu. Kinematiken mit dem Freiheitsgrad F - 3 ermöglichen räumliche Orientierungen oder kombinierte räumliche Bewegungen (Rotation, Tanslation). Letztere Bewegungen lassen auch Kinematiken mit F = 4; 5 zu. Alle räumlichen Bewegungen sind mit dem Freiheitsgrad F = 6 möglich.In this context, parallel kinematics is understood to mean a movement mechanism with a closed kinematic chain. The axes of movement are not one behind the other as in a serial structure, but side by side, with all axes of movement simultaneously, i.e. H. be moved in parallel. Depending on the design, parallel kinematics can implement movements in several directions. These movements are related to the degrees of freedom of the kinematics. Parallel kinematics with the degree of freedom F = 2 allow movements in the plane. Kinematics with the degree of freedom F - 3 enable spatial orientations or combined spatial movements (rotation, translation). The latter movements also leave kinematics with F = 4; 5 to. All spatial movements are possible with the degree of freedom F = 6.
Als Effektor wird ein Teilsystem des Moduls bezeichnet, welches zur Positionierung, Halten oder Spannen des Werkstückes bzw. zur Führung eines oder mehrerer Werkzeuge vorgesehen ist.An effector is a subsystem of the module which is provided for positioning, holding or clamping the workpiece or for guiding one or more tools.
Es ist ein Vorteil der Erfindung, dass durch die Parallelkinematik ein beliebiges Bauteil i wesentlichen unabhängig von seiner Form einfach in eine definierte räumliche Lage gebracht werden kann.It is an advantage of the invention that, due to the parallel kinematics, any component i can be brought into a defined spatial position essentially independently of its shape.
Eine bevorzugte Variante der Erfindung sieht vor, dass das Modul eine Gestellbasis und gelenkig mit dieser und dem Endeffektor verbundene, den Endeffektor stützende Streben aufweist, wobei die Streben längenveränderlich ausgeführt sind. Weiters sind die Streben mit der Gestellbasis und dem Endeffektor so verbunden, dass für die Streben mehrachsige Rotationen ausführbar sind. Hierzu können die Streben beispielsweise über Kugelgelenke bzw. über Kreuz- oder Kardangelenke mit der GesteEbasis und/ oder dem Endeffektor verbunden sein.A preferred variant of the invention provides that the module has a frame base and struts articulated to this and the end effector, supporting the end effector, the struts being of variable length. Furthermore, the struts are connected to the frame base and the end effector so that multi-axis rotations can be carried out for the struts. For this purpose, the struts can be connected to the gesture base and / or the end effector, for example via ball joints or universal or universal joints.
Gemäß einer vorteilhaften Ausführungsform sind die Streben hydraulisch klemmbar, wobei eine Klemmung der Streben prinzipiell auch mechanisch, pneumatisch oder elektromagnetisch erfolgen kann.According to an advantageous embodiment, the struts can be hydraulically clamped, and in principle the struts can also be clamped mechanically, pneumatically or electromagnetically.
Die oben erwähnten Aufgaben werden auch mit einer Vorrichtung der eingangs genannten Art gelöst werden, welche zumindest ein erfindungsgemäßes Modul aufweist, wobei das Modul günstigerweise verschiebbar gelagert ist.The above-mentioned objects will also be achieved with a device of the type mentioned at the outset, which has at least one module according to the invention, the module advantageously being displaceably mounted.
Die Erfindung samt weiterer Vorteile wird im Folgenden anhand einiger nicht einschränkender Ausführungsbeispiele näher erläutert, welche in der Zeichnung dargestellt sind. In dieser zeigen schematisch:The invention and further advantages are explained in more detail below with the aid of a few non-restrictive exemplary embodiments, which are shown in the drawing. This shows schematically:
Fig. 2 eine erste Variante eines erfindungsgemäßen Moduls;2 shows a first variant of a module according to the invention;
Fig. 3 eine zweite Variante eines erfindungsgemäßen Moduls;3 shows a second variant of a module according to the invention;
Fig.4 eine Strebe im näheren Detail;4 shows a strut in more detail;
Fig.5a und 5b die Verwendung eines erfindungsgemäßen Moduls;5a and 5b the use of a module according to the invention;
Fig. 6 den Aufbau einer erfindungsgemäßen Vorrichtungssystems aus mehreren Modulen;6 shows the construction of a device system according to the invention from several modules;
Fig. 7 eine weitere Variante einer erfindungsgemäßen Vorrichtung undFig. 7 shows a further variant of a device according to the invention and
Fig. 8 die Vorrichtung aus Fig. 7 mit einem Werkstück.8 shows the device from FIG. 7 with a workpiece.
Gemäß Fig. 2 weist ein erfindungsgemäßes Modul MOD einer Vorrichtung eine Gestellbasis GBA und eine ParaEeEdnematik PKI mit einem Endeffektor EEF auf. Die Parallekinematik kann mittels in ihrer Länge versteEbare Streben STR, die über Gelenke GEL mit der GesteEbasis GBA und dem Endeffektor EEF verbunden sind, realisiert werden, wobei die Gelenke GEL mehrachsige Rotationen dur uuhren können. Der Endeffektor EEF kann, obwohl hier plattenförmig dargesteEt, je nach Anforderung jede beliebige Form aufweisen. So kann der Endeffektor EEF, beispielsweise auch kegelförmig, halbkugelförmig, usw., ausgebüdet sein.2, an inventive module MOD of a device has a frame base GBA and a ParaEeEdnematik PKI with an end effector EEF. The parallel kinematics can be realized by means of struts STR which can be adjusted in length and which are connected to the gesture base GBA and the end effector EEF via joints GEL, the joints GEL being able to perform multi-axis rotations. The end effector EEF, although shown here in the form of a plate, can have any shape depending on the requirements. For example, the end effector EDF, for example also conical, hemispherical, etc., can be flattened.
Weiters kann der Endeffektor EEF auch Aufnahmen für diverse verschiedene Vorrichtungselemente, wie Auflagen, Anschläge, Spannelemente, die das gewünschte Werkstück positionieren und spannen, aufweisen.Furthermore, the end effector EEF can also have receptacles for various different device elements, such as supports, stops, clamping elements, which position and clamp the desired workpiece.
Die in Fig. 2 dargesteEte Ausführungsform zeigt eine ParaEelkinematik PKI in Form eines Tripods. Ein Tripod erfüEt vor aEem die Forderung nach einem dreidimensionalen Arbeitsraum und großer Steifigkeit. Als Arbeitsraum wird in dem vorHegenden Zusammenhang der Raum verstanden, in dem aEe für die Erfüllung einer Aufgabe notwendigen Bewegungen durchgeführt werden können.The embodiment shown in FIG. 2 shows a ParaEelkinematik PKI in the form of a tripod. A tripod meets the requirement for a three-dimensional workspace and great rigidity. In the present context, a work space is understood to be the space in which aEe can perform the movements necessary for the fulfillment of a task.
Bevorzugterweise bestehen die Streben STR des Tripods aus passiv einsteEbaren Elementen, die entweder manueE oder maschineE eingesteEt werden können. Bei dieser Ausführungsform sind somit keine aufwendigen und teuren Steuerungen notwendig.The struts STR of the tripod preferably consist of passively insertable elements which can either be inserted manually or by machine. In this embodiment, no complex and expensive controls are necessary.
Gemäß Fig. 3 kann das Modul MOD auch als Hexapod, also als eine ParaEekinematik PKI mit dem Freü eitsgrad sechs, ausgeführt sein. Diese Ausführungsform der Erfindung unterscheidet sich von der oben genannten lediglich durch eine andere Anordnung und Anzahl der Streben STR.According to FIG. 3, the module MOD can also be designed as a hexapod, ie as a para-kinematics PKI with a degree of freedom of six. This embodiment of the invention differs from the above only in another arrangement and number of struts STR.
Durch die ParaEelkinematik und durch eine vorzugsweise Belastung der Streben in Zugbzw. Druckrichtung eröffnen sich auch neue MögUchkeiten hinsichtHch des Leichfbaus. PrinzipieE sind jedoch auch andere Anordnungen der Streben STR zueinander mögEch.Due to the ParaEelkinematik and by preferably loading the struts in Zugbzw. Printing direction also opens up new possibilities with regard to lightweight construction. In principle, other arrangements of the struts STR to one another are also possible.
Je nach Anforderungsprofü lassen sich die gewünschten Eigenschaften der Vorrichtung mit verschiedensten Variationen von ParaEeEdnematiken, wie beispielsweise Tripod, Hexapod, Hexaglide oder Linapod reaHsieren.Depending on the requirement profile, the desired properties of the device can be implemented with various variations of ParaEeEdnematik, such as tripod, hexapod, hexaglide or linapod.
Wie in Fig. 4 dargesteEt können die Gelenke GEL, mit welchen die Strebe STR mit dem Endeffektor EEF und mit der GesteEbasis GBA verbunden ist, als WeEengelenk ausgeführt sein. Zur Realisierung der Gelenke GEL können prinzipieE unterschiedHche Gelenksformen bzw. deren Kombinationen zum Einsatz kommen, beispielsweise Kardan- oder Kreuzgelenke, Kugelgelenke, etc. Die Strebe STR kann ein geschliffenes zyEnderförmiges, bevorzugterweise kreiszylinderför- iges, Rohr ROH aufweisen, welches über ein Betätigungselement BET betätigt werden kann, um die Länge der Strebe STR zu verändern. Das Betätigungselement BET ist in der hier dargesteEten Form als hydrauEsches Spannelement ausgeführt, bei welchem mittels Druckluft DRU ein Luft- Öldruckübersetzer LUF betätigt werden kann, um den Längenveränderung der Strebe erforderlichen Arbeitsdruck in dem Spannelement zu erzeugen. Es können aber auch andere Strebenantriebe zum Einsatz kommen.As shown in FIG. 4, the joints GEL, with which the strut STR is connected to the end effector EEF and to the gesture base GBA, can be designed as a WeEen joint. In principle, different joint shapes or their combinations can be used to implement the GEL joints, for example cardan or universal joints, ball joints, etc. The strut STR can have a ground, cylindrical, preferably circular-cylindrical tube ROH, which can be actuated via an actuating element BET in order to change the length of the strut STR. The actuating element BET is designed in the form shown here as a hydraulic tensioning element, in which an air-oil pressure intensifier LUF can be actuated by means of compressed air DRU in order to generate the working pressure required in the tensioning element to change the length of the strut. However, other strut drives can also be used.
Wie in den Fig. 5a und 5b gezeigt ist es mit dem erfindungsgemäßen Modul MOD mögEch, für unterschiedEche BauteÜe A, B eine Positionierung wahrend eines Fertigungsprozesses durchzuführen. Das Modul MOD kann hierbei auf einem Maschinentisch MTI, einer Aufspannpalette usw. angeordnet sein.As shown in FIGS. 5a and 5b, it is possible with the module MOD according to the invention to carry out positioning for different types A, B during a manufacturing process. The MOD module can be arranged on an MTI machine table, a clamping pallet, etc.
Nach Fig. 6 können mehrere der oben beschriebenen Module MOD zur einer erfindungsgemäßen Vorrichtung VOR zusammengesetzt werden. Hierzu können die Module MOD beispielsweise auf einer Aufspannpalette ASP der Vorrichtung VOR angeordnet werden.6, several of the modules MOD described above can be put together to form a device VOR according to the invention. For this purpose, the modules MOD can, for example, be arranged on a clamping pallet ASP of the device VOR.
Gemäß Fig. 7 und 8 lässt sich die Vorrichtung VOR auch durch Kombination der erfindungsgemäßen Module MOD mit anderen Vorrichtungselementen, wie beispielsweise Lineareinheiten realisieren.7 and 8, the device VOR can also be realized by combining the modules MOD according to the invention with other device elements, such as, for example, linear units.
Bei der dargesteEten Vorrichtung VOR werden auf einer Grundplatte GPL Lineareinheiten, , bestehend aus einer Schiene SCH, Laufwagen LAW und dazugehörigen Bremselementen, befestigt. Auf den Laufwagen LAW sind Tripods oder auch andere erfindungsgemäße Module MOD angeordnet.In the illustrated device VOR, linear units consisting of a rail SCH, carriage LAW and associated braking elements are attached to a base plate GPL. Tripods or other modules MOD according to the invention are arranged on the carriage LAW.
NachteEe der ParaEeE nematik, wie kleiner translatorischer Arbeitsraum und kleine Schwenkwinkel, werden mit Hufe einer zusätzEchen translatorischen Achse, in Form der Lineareinheit, kompensiert. Dadurch können auch lange BauteEe BAU, beispielsweise Stege, positioniert werden.Nights of the ParaEeE nematics, such as a small translatory work area and small swivel angles, are compensated with hooves on an additional translatory axis in the form of the linear unit. This means that long BauteEe BAU, such as piers, can also be positioned.
Trägermodule, bestehend aus Laufwagen und Tripod, können mithEfe von Industrierobotern stufenlos an die gewünschte Position gebracht und fixiert werden. Eine flexible Werkstückanpassung, die auch automatisiert erfolgen kann, ist somit gewährleistbar. Der Gesamtaufbau der Vorrichtung VOR bleibt dabei erhalten, ledigEch die Positionen der einzelnen Module werden beim Umrüsten durch den Industrieroboter verändert. Der hier nicht dargesteEte Unterbau der Grundplatte GPL kann sehr starr ausgeführt sein, um große Gewichte und Spannkräfte aufnehmen zu können. ZusätzEch ist eine drehbare Lagerung der Vorrichtung VOR, um eine bessere ZugängEchkeit für einzelne Arbeitsschritte zu gewährleisten, mögEch. Carrier modules, consisting of carriages and tripods, can be infinitely brought to the desired position and fixed by industrial robots. A flexible workpiece adjustment, which can also be automated, can thus be guaranteed. The overall structure of the VOR device remains unchanged, only the positions of the individual modules are changed by the industrial robot when converting. The substructure of the base plate GPL, not shown here, can be made very rigid in order to be able to absorb large weights and clamping forces. In addition, a rotatable mounting of the device VOR is possible to ensure better accessibility for individual work steps.
Claims
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AT9732004 | 2004-06-04 | ||
| ATA973/2004 | 2004-06-04 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2005118217A1 true WO2005118217A1 (en) | 2005-12-15 |
Family
ID=34970644
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/AT2005/000197 Ceased WO2005118217A1 (en) | 2004-06-04 | 2005-06-06 | Flexible module for a device, using parallel kinematics |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2005118217A1 (en) |
Cited By (8)
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| GB2444910A (en) * | 2006-12-20 | 2008-06-25 | Rolls Royce Plc | A work support |
| CN103465044A (en) * | 2013-09-13 | 2013-12-25 | 常州大学 | Single-input three-translational three-rotational output parallel mechanism |
| WO2018045463A1 (en) | 2016-09-08 | 2018-03-15 | Fives Line Machines Inc. | Machining station, workpiece holding system, and method of machining a workpiece |
| CN110202547A (en) * | 2019-06-24 | 2019-09-06 | 中国科学院自动化研究所 | Six-degree-of-freedom parallel connection mechanism |
| WO2020077945A1 (en) * | 2018-10-16 | 2020-04-23 | 中国矿业大学 | Multi-parallel tri-co processing apparatus and processing method for parts having large-curved surface |
| DE102019135471A1 (en) * | 2019-12-20 | 2021-06-24 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Effector for a robot, robot and method for positioning, orienting, picking up, handling and / or depositing an object |
| CN114310844A (en) * | 2021-12-17 | 2022-04-12 | 中国计量科学研究院 | Metering integrated parallel robot device for precise operation |
| CN120095787A (en) * | 2025-05-08 | 2025-06-06 | 中国科学院长春光学精密机械与物理研究所 | Force-position compliant control platform with hybrid offset hinges |
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| US6648583B1 (en) * | 1999-08-05 | 2003-11-18 | Shambhu Nath Roy | Parallel kinematics mechanism with a concentric spherical joint |
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| US4536690A (en) * | 1982-10-19 | 1985-08-20 | Calspan Corporation | Tool-supporting self-propelled robot platform |
| US6648583B1 (en) * | 1999-08-05 | 2003-11-18 | Shambhu Nath Roy | Parallel kinematics mechanism with a concentric spherical joint |
| DE10011804A1 (en) * | 2000-03-14 | 2001-09-20 | Inst Innovative Technologien T | Measurement device for determining the position and orientation of moving platform on parallel kinematic linkage employs reference object and laser beams |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2444910A (en) * | 2006-12-20 | 2008-06-25 | Rolls Royce Plc | A work support |
| CN103465044A (en) * | 2013-09-13 | 2013-12-25 | 常州大学 | Single-input three-translational three-rotational output parallel mechanism |
| WO2018045463A1 (en) | 2016-09-08 | 2018-03-15 | Fives Line Machines Inc. | Machining station, workpiece holding system, and method of machining a workpiece |
| EP3510454A4 (en) * | 2016-09-08 | 2020-10-07 | Fives Line Machines Inc. | PROCESSING STATION, HOLDING SYSTEM FOR WORKPIECE AND METHOD FOR PROCESSING A WORKPIECE |
| US11052536B2 (en) | 2016-09-08 | 2021-07-06 | Fives Liné Machines Inc. | Machining station, workpiece holding system, and method of machining a workpiece |
| US11667030B2 (en) | 2016-09-08 | 2023-06-06 | Fives Line Machines Inc. | Machining station, workpiece holding system, and method of machining a workpiece |
| WO2020077945A1 (en) * | 2018-10-16 | 2020-04-23 | 中国矿业大学 | Multi-parallel tri-co processing apparatus and processing method for parts having large-curved surface |
| CN110202547A (en) * | 2019-06-24 | 2019-09-06 | 中国科学院自动化研究所 | Six-degree-of-freedom parallel connection mechanism |
| DE102019135471A1 (en) * | 2019-12-20 | 2021-06-24 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Effector for a robot, robot and method for positioning, orienting, picking up, handling and / or depositing an object |
| CN114310844A (en) * | 2021-12-17 | 2022-04-12 | 中国计量科学研究院 | Metering integrated parallel robot device for precise operation |
| CN120095787A (en) * | 2025-05-08 | 2025-06-06 | 中国科学院长春光学精密机械与物理研究所 | Force-position compliant control platform with hybrid offset hinges |
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