The present invention relates to parallel-kinematical machines, for example tripods and hexapods, and then particularly to the joints that connect the setting devices of such machines to the machines themselves.
Respective setting devices of a parallel-kinematical machines are comprised, for instance, of a piston which is movable axially in a cylinder and which is fastened at one end to a positioning head via a first joint and to a frame structure via a second joint both of said joints having the form of universal joints. See for instance SE 452 279 and its corresponding European Patent specification 0202206. These joints require two degrees of freedom with respect to movement of the positioning head. Because the setting device is normally in the form of a screw-nut mechanism, there is also obtained a third degree of freedom in the form of a rotary movement of a setting device component. It is necessary to eliminate this degree of freedom, in order to achieve axial displacement. Earlier known joints and their setting device mounts have the form of spherical ball joints which have three degrees of freedom, comprising two angular movements and a rotational movement, wherein one degree of freedom (the rotational movement generated by the setting device) is locked either in the joint itself or in the setting device.
Another known joint has the form of a cardan universal joint which although having only two degrees of freedom (two angular movements) is too large and complicated to provide sufficient rigidity.
The drawback with these earlier known joints resides in insufficient rigidity in the joint and in the joint mounts, or in the complication of the joint construction, wherewith both of these factors result in impaired tolerances with respect to movement of the positioning head.
Another drawback with known joints is that they tend to become excessively large when given sufficient rigidity, a factor which has a limiting effect on the mobility of the positioning head.
The object of the present invention is to provide a solution to these problems and to provide a setting device joint of the aforesaid kind that has a sufficient number of degrees of freedom for movement of the positioning head in a construction that is highly rigid and that, at the same time, is stinting with respect to space.
A third object is to utilise a third degree of freedom that derives from rotation in the setting device as a joint function, instead of eliminating this degree of freedom through the construction of the joint.
Another object of the invention is to provide a joint which allows high tolerances in respect of movement of the positioning head.
Yet another object of the invention is to provide such a joint that is simple and cost effective from a production/technical aspect.
These objects are fulfilled by the present invention, as defined in the independent claim. Convenient embodiments of the invention will be apparent form the accompanying dependent claims.
A setting device is, for instance, designed as a screw-nut mechanism, where either the screw or the nut is designated as a piston that is able to move axially within a cylinder. In this regard, the invention relates to a joint between the setting device and a positioning head and/or frame in a parallel-kinematical machine. One end of the piston is mounted rotatably about a so-called wobbler which is pivotal about a wobbler axis extending therethrough. In turn, the wobbler is mounted for rotation relative to the positioning head and/or the frame about a main axis, wherein the two axes mutually intersect at a fixed angle α, where 1°≦α≦45° and where α is preferably 5°≦α≦20°. The angle thus means that the wobbler axis will wobble about the axle as the wobbler rotates about said main axis.
According to a first embodiment, the wobbler has the form of a supporting shaft which rotates about said main axis and which has two ends that are each rotatably mounted in a respective bearing housing fixedly connected to the positioning head and/or the frame. In this case, the wobbler is comprised of the supporting shaft. By way of an alternative to the first embodiment, the wobbler has the form of a part which is firmly fitted to said supporting shaft, but detachable therefrom.
According to a second embodiment, the wobbler is rotatably mounted on a supporting shaft which is clamped firmly to the positioning head and/or to the frame.
The wobbler also includes an external bearing mounting surface or an external bearing surface around which the setting device is mounted.
Furthermore, when the setting device is mounted to the positioning head and/or to the frame, the fixed angle α is orientated in relation to the supporting shaft such as to allow tilting between the setting device and the supporting shaft in response to rotation of the wobbler around the main axis.
Thus, rotation about said main axis occurs either when the supporting shaft, to which the wobbler is firmly connected, rotates or when the wobbler rotates on the supporting shaft.
A further result achieved by means of the present invention is that the relatively large rotary movement of the wobbler that takes place as the setting device tilts in the joint causes effective lubricant transportation.
Although the joint is primarily aimed at movably connecting the setting device to the positioning head, the joint may also constitute a second setting device joint, by providing a movable connection between the setting device and the machine frame or stand, as earlier mentioned.
The present invention will now be described in more detail with reference to exemplifying embodiments thereof and also with reference to the accompanying drawings, in which
One end of the piston 7 that is displaceable axially in the cylinder 9 of the setting device 5 is connected to a positioning head 16 via an arm joint 17, which is shown encircled in the figure. Furthermore, the positioning head 16 is connected to the end of an arm which is mounted on the frame 3 via a universal joint 19 which includes an outer ring that is mounted on the frame 3 through the medium of two pivot pins, and an inner ring which is mounted in the outer ring through the medium of two shaft journals. The arm 18 extends from the positioning head 16 symmetrically between the setting devices 5 and through the universal joint 19. The setting devices 5 are disposed along the side edges of an imaginary triangular pyramid and the positioning head 16 can be brought precisely to a desired position in space, by displacing the pistons 7 in respective cylinders 9. In this respect, the arm 18 can be displaced axially in relation to the frame 3 and the universal joint 19.
The sectional view A-A in
For the sake of completeness, reference is made to
Thus, this second embodiment of the invention has the same function as the earlier described first embodiment, i.e. tilting of the piston and its end 31 permits rotation of the wobbler 106.
Embodiments other than those described above are protected within the scope of the accompanying claims. This applies, for instance, to internal journaling of the supporting shaft in the first embodiment or a completely separate supporting shaft in relation to the joint mounting means in the case of the second embodiment.
Number | Date | Country | Kind |
---|---|---|---|
200302610 | Oct 2003 | SE | national |
Filing Document | Filing Date | Country | Kind | 371c Date |
---|---|---|---|---|
PCT/EP2004/011002 | 10/1/2004 | WO | 00 | 3/27/2006 |
Publishing Document | Publishing Date | Country | Kind |
---|---|---|---|
WO2005/036000 | 4/21/2005 | WO | A |
Number | Name | Date | Kind |
---|---|---|---|
4732525 | Neumann | Mar 1988 | A |
4785528 | Soderberg | Nov 1988 | A |
4852418 | Armstrong | Aug 1989 | A |
5486174 | Fournet-Fayard et al. | Jan 1996 | A |
5823906 | Ashburn et al. | Oct 1998 | A |
5865063 | Sheldon | Feb 1999 | A |
5964664 | Cook et al. | Oct 1999 | A |
5987726 | Akeel | Nov 1999 | A |
6014909 | Fiora | Jan 2000 | A |
6035733 | Yoshizawa | Mar 2000 | A |
6099217 | Wiegand et al. | Aug 2000 | A |
6658962 | Rosheim | Dec 2003 | B1 |
6719506 | Chang et al. | Apr 2004 | B2 |
6729202 | Gosselin et al. | May 2004 | B2 |
20030121351 | Gosselin et al. | Jul 2003 | A1 |
Number | Date | Country |
---|---|---|
3400679 | Jul 1985 | DE |
19904702 | Aug 2000 | DE |
252499 | Jun 1926 | GB |
Number | Date | Country | |
---|---|---|---|
20070137476 A1 | Jun 2007 | US |