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1. 发明申请

US20150020365A1 METHOD FOR SETTING POSITIONS OF MANIPULATING ARMS ON A FRAME 有权
标题翻译：在框架上设置操纵杆的位置的方法
公开(公告)号：US20150020365A1
公开(公告)日：2015-01-22
申请号：US14378020
申请日：2013-02-11
申请人： CVUT V PRAZE, FAKULTA STROJNI
发明人： Michael Valasek , Martin Smrz , Petr Svatos , Pavel Kukula
IPC分类号： B23P19/04 , F16M1/00
CPC分类号： B23P19/04 , B25J15/0061 , F16M1/00 , Y10T29/49826
摘要： The invention concerns a method for setting a position of manipulating arms on a supporting frame and a supporting frame (1) for positioning the manipulating arms fitted with tools (11) for attaching technological or measuring members, where the particular manipulating arms get unblocked for relocation in their placement and/or in their mutually moveable parts, they are relocated by means of a robot into a new demanded position where they are blocked in their placement and/or in their mutually moveable parts. The supporting frame for placement of the manipulating arms is fitted at least with one sliding guide (3) and/or spherical joint (16) in which the manipulating arm consisting at least of two mutually moveable parts is placed moveably, whereas the manipulating arm is fitted with blocking elements for blocking and unblocking motion in its placement and motion of its mutually moveable parts. The blocking elements are connected to a source (7) of pneumatic or hydraulic or electrical power.
摘要翻译：本发明涉及一种用于将操纵臂的位置设置在支撑框架和支撑框架（1）上，用于定位装配有用于附接技术或测量构件的工具（11）的操纵臂，其中特定操纵臂被解除封锁用于重新定位在它们的放置和/或其相互可移动的部分中，它们通过机器人被重新定位到新的要求位置，在它们被放置和/或相互移动的部分中被阻挡。用于放置操纵臂的支撑框架至少装配有一个滑动引导件（3）和/或球形接头（16），其中至少由两个可相互移动的部件组成的操纵臂可移动地放置，而操纵臂装配有用于阻止和解除其相对可移动部件的位置和运动的运动的阻挡元件。阻塞元件连接到气动或液压或电力的源（7）。

2. 发明授权

US09364932B2 Device for a body's spherical motion control 有权
标题翻译：用于身体球形运动控制的装置
公开(公告)号：US09364932B2
公开(公告)日：2016-06-14
申请号：US14283535
申请日：2014-05-21
申请人： CVUT v Praze, Fakulta stronjni
发明人： Michael Valasek
IPC分类号： B23Q1/54 , B25J9/00 , B25J17/02
CPC分类号： B23Q1/545 , B23Q1/5462 , B25J9/0057 , B25J9/0072 , B25J17/0266 , Y10T74/20348
摘要： A device for a body's spherical motion control connected with a frame by means of a spherical joint arranged on a shank connecting the body with the frame and through actuating arms with drives, where the shank is sectional and the spherical joint is arranged between the first part of the shank which is firmly fixed to the frame and the second part of the shank which is firmly fixed to the body, whereas the number of parallel arms with drives 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 rotating, the number of parallel arms with drives is five at minimum and the length of the first part of the shank connected to the frame is longer than the distance of the body edge from the point of connection of the shank to the body.
摘要翻译：一种用于身体的球面运动控制的装置，其通过球形接头与框架连接，所述球形接头布置在将主体与框架连接的柄上，并且通过带有驱动器的致动臂，其中柄部为截面，球形接头布置在第一部分之间牢固地固定到框架的柄部和固定到主体上的柄的第二部分，而具有驱动器的平行臂的数量是多余的。为了提高自我校准本身的精度和身体在工作区域中的后续定位并实现身体旋转的大范围，驱动器的平行臂数量至少为5个，连接到框架的柄的第一部分的长度比身体边缘与柄到身体的连接点的距离长。

3. 发明授权

US09358646B2 Supporting structure for repositionable and reconfigurable manipulating arms 有权
标题翻译：可重新定位和可重新配置的手臂的支撑结构
公开(公告)号：US09358646B2
公开(公告)日：2016-06-07
申请号：US14378020
申请日：2013-02-11
申请人： CVUT V PRAZE, FAKULTA STROJNI
发明人： Michael Valasek , Martin Smrz , Petr Svatos , Pavel Kukula , Tereza Kasparkova , Milan Ruzicka , Ondrej Uher
IPC分类号： B23P19/04 , B25J15/00 , F16M1/00
CPC分类号： B23P19/04 , B25J15/0061 , F16M1/00 , Y10T29/49826
摘要： A supporting structure for positioning manipulating arms that may be fitted with tools. The manipulating arms are unblocked for their relocation and/or for relocation of tools or parts held by the manipulating arms. Relocation of the manipulating arms into a new position is by means of a robot. Once relocated, the manipulating arms are again blocked. A supporting frame is fitted with at least one sliding guide and/or spherical joint in which each manipulating arm is movably disposed. Blocking and unblocking of the manipulating arms is achieved through the use of pneumatic or electrical power.
摘要翻译：用于定位可以装配工具的操纵臂的支撑结构。操纵臂被解锁以用于它们的搬迁和/或用于重新定位由操纵臂保持的工具或部件。操纵臂重新定位到新的位置是借助机器人。一旦重新定位，操纵臂再次被阻挡。支撑框架装配有至少一个滑动引导件和/或球形接头，其中每个操纵臂可移动地设置。通过使用气动或电力来实现操纵臂的阻塞和解锁。

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