Parallel-kinematical machine with gimbal holders
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
B25J-018/02
B25J-017/02
B25J-009/00
출원번호
US-0704762
(2011-06-09)
등록번호
US-9199381
(2015-12-01)
우선권정보
SE-1050623 (2010-06-17)
국제출원번호
PCT/SE2011/050709
(2011-06-09)
§371/§102 date
20121217
(20121217)
국제공개번호
WO2011/159225
(2011-12-22)
발명자
/ 주소
Neumann, Karl-Erik
Andersson, Thomas
Larsson, Kristoffer
Palmquist, Fredrik
출원인 / 주소
EXECHON EMIRATES AB
대리인 / 주소
Nixon & Vanderhye P.C.
인용정보
피인용 횟수 :
0인용 특허 :
6
초록▼
A parallel-kinematical machine (20) that includes three setting devices (24.1, 24.2, 24.3) each of which can be lengthened and shortened individually, wherein each setting device (24.1, 24.2, 24.3) is connected to a first, a second and a third respective inner gimbal ring (23.1, 23.2, 23.3) of unive
A parallel-kinematical machine (20) that includes three setting devices (24.1, 24.2, 24.3) each of which can be lengthened and shortened individually, wherein each setting device (24.1, 24.2, 24.3) is connected to a first, a second and a third respective inner gimbal ring (23.1, 23.2, 23.3) of universal gimbal joints (UGJ) and that each inner gimbal ring (23.1, 23.2, 23.3) is mounted in bearings (25, 26, 27) for rotation in gimbal holders (21, 22) which are rotationally mounted in outer gimbal bearings (28, 29, 39) in an outer mounting (290) wherein the first inner gimbal ring (23.1) and the third inner gimbal ring (23.3) are mounted for rotation in a common outer gimbal holder (21) which is mounted for rotation about a common gimbal axis (32, 52) and in that the second inner gimbal ring (23.2) is mounted for rotation in a single gimbal holder (22) which is mounted in two opposite bearings for rotation about a second gimbal axis (31, 51) which is not aligned with said common gimbal axis (32, 52).
대표청구항▼
1. A parallel-kinematical machine comprising: three setting devices, each of which can be lengthened and shortened individually to move a positioning head, which is attached to one end of each of the first, second and third setting devices, within a working range,each setting device being connected
1. A parallel-kinematical machine comprising: three setting devices, each of which can be lengthened and shortened individually to move a positioning head, which is attached to one end of each of the first, second and third setting devices, within a working range,each setting device being connected to a first, a second or a third respective inner gimbal ring of universal gimbal joints (UGJ),each inner gimbal ring being mounted in bearings for rotation in gimbal holders, which are rotationally mounted in outer gimbal bearings in an outer mounting,the first inner gimbal ring and the third inner gimbal ring being mounted for rotation in a common outer gimbal holder, which is mounted for rotation about a common gimbal axis,the second inner gimbal ring being mounted for rotation in a single gimbal holder, which is mounted in two opposite bearings for rotation about a second gimbal axis, which is not aligned with the common gimbal axis, andthe common gimbal axis about which the common outer gimbal holder being either parallel or perpendicular to the second gimbal axis about which the single gimbal holder rotates. 2. The parallel-kinematical machine according to claim 1, wherein the second gimbal axis is oriented parallel or approximately parallel to the common gimbal axis. 3. The parallel-kinematical machine according to claim 1, wherein the second gimbal axis of the single gimbal holder is oriented perpendicular or approximately perpendicular to the common gimbal axis and at least one of the bearings of the single gimbal holder is located in the outer mounting. 4. The parallel-kinematical machine according to claim 3, wherein both bearings of the single outer gimbal holder are located in the outer mounting. 5. A parallel-kinematical machine comprising: three setting devices, each of which can be lengthened and shortened individually,each setting device in one end being connected to a positioning head via a first joint,each setting device being connected to respective one of a first inner gimbal ring, a second inner gimbal ring and a third inner gimbal ring of universal gimbal joints (UGJ),each inner gimbal ring being mounted in bearings for rotation in gimbal holders, which are rotationally mounted in outer gimbal bearings in an outer mounting,the positioning head being movable within a working range in response to manoeuvring of the setting devices, andat least two reinforcing beams, which are each connected to the positioning head via the first joint, each reinforcing beam having solely one degree of freedom,each reinforcing beam being adapted to slide longitudinally in a beam bearing in a respective one of the universal gimbal joints (UGJ), when one or more of the setting devices is/are lengthened or shortened,each beam bearing being connected to a gimbal holder, the beam bearing of at least one reinforcing beam being rotatable about an axis that extends parallel with the longitudinal axis of the reinforcing beam,the first inner gimbal ring and the third inner gimbal ring being mounted for rotation about a parallel axis in the respective gimbal holder,the first inner gimbal ring and the third inner gimbal ring being mounted for rotation in a common outer gimbal holder, which is mounted for rotation about a common gimbal axis,the second inner gimbal ring being mounted for rotation in a single gimbal holder, which is mounted in two opposite bearings for rotation about a second gimbal axis, which is not aligned with the common gimbal axis, andthe common gimbal axis about which the common outer gimbal holder rotates is either parallel or perpendicular to the second gimbal axis about which the single gimbal holder rotates. 6. The parallel-kinematical machine according to claim 5, wherein each reinforcing beam has in a first direction a flexural rigidity which is considerably greater than its flexural rigidity in a direction at right angles to the first direction. 7. The parallel-kinematical machine according to claim 6, wherein each reinforcing beam has a generally rectangular cross-sectional shape. 8. The parallel-kinematical machine according to claim 5, wherein the second gimbal axis is oriented parallel or approximately parallel to the common gimbal axis. 9. The parallel-kinematical machine according to claim 5, wherein the second gimbal axis of the single gimbal holder is oriented perpendicular or approximately perpendicular to the common gimbal axis and at least one of the bearings of the single gimbal holder is located in the outer mounting. 10. A parallel-kinematical machine comprising: three setting devices, each of which can be lengthened and shortened individually to move within a working range a positioning head, which is attached to one end of each of the setting devices,each of the three setting devices being connected to a respective one of a first inner gimbal ring, a second inner gimbal ring and a third inner gimbal ring of universal gimbal joints (UGJ),each inner gimbal ring being mounted in bearings for rotation in respective gimbal holders, which are rotationally mounted in respective outer gimbal bearings in an outer mounting,the first inner gimbal ring and the third inner gimbal ring being mounted for rotation in a common outer gimbal holder, which is mounted for rotation about a common gimbal axis,the second inner gimbal ring being mounted for rotation in a single gimbal holder, which is mounted in two opposite bearings for rotation about a second gimbal axis, which is not aligned with the common gimbal axis,wherein the second gimbal axis of the single gimbal holder is oriented perpendicular or approximately perpendicular to the common gimbal axis and at least one of the bearings of the single gimbal holder is located in the outer mounting, andwherein one bearing of the single outer gimbal holder is located in the outer mounting and the other bearing of the single gimbal holder is located in the common gimbal holder at a location between the bearings of the first inner gimbal ring and the bearings of the third inner gimbal ring. 11. The parallel-kinematical machine according to claim 10, wherein the other bearing of the single gimbal holder is provided as a ball and joint bearing in the common gimbal holder. 12. The parallel-kinematical machine according to claim 10, wherein the other bearing of the single gimbal holder is provided as a universal joint bearing having an inner joint bearing and an outer joint bearing in the common gimbal holder so that the single gimbal holder is mounted to the common gimbal holder with two degrees of freedom between the holders. 13. A parallel-kinematical machine comprising: a positioning head,first, second and third setting devices, each of which can be lengthened and shortened individually to move the positioning head within a working range,each of the first, second and third setting devices being connected at one end to the positioning head at first, second and third locations, respectively,each of the first, second and third setting devices being connected, respectively, to first, second and third inner gimbal rings of universal gimbal joints (UGJ),each inner gimbal rings being mounted in bearings for rotation in gimbal holders, which are rotationally mounted in outer gimbal bearings in an outer mounting,the first inner gimbal ring and the third inner gimbal ring being mounted for rotation in a common outer gimbal holder, which is mounted for rotation about a common gimbal axis,the second inner gimbal ring being mounted for rotation in a single gimbal holder, which is mounted in two opposite bearings for rotation about a second gimbal axis, which is not aligned with the common gimbal axis, andwherein the second gimbal axis is oriented parallel or approximately parallel to the common gimbal axis. 14. A parallel-kinematical machine comprising: a positioning head,first, second and third setting devices, each of which can be lengthened and shortened individually to move the positioning head within a working range,each of the first, second and third setting devices being connected at one end to the positioning head at first, second and third locations, respectively,each of the first, second and third setting devices being connected, respectively, to first, second and third inner gimbal rings of universal gimbal joints (UGJ),each inner gimbal ring being mounted in bearings for rotation in gimbal holders, which are rotationally mounted in outer gimbal bearings in an outer mounting,the first inner gimbal ring and the third inner gimbal ring being mounted for rotation in a common outer gimbal holder, which is mounted for rotation about a common gimbal axis,the second inner gimbal ring being mounted for rotation in a single gimbal holder which is mounted in two opposite bearings for rotation about a second gimbal axis, which is not aligned with the common gimbal axis, andwherein the second gimbal axis of the single gimbal holder is oriented perpendicular or approximately perpendicular to the common gimbal axis and at least one of the bearings of the single gimbal holder is located in the outer mounting.
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