Compact 6-Axis Positioning System

Abstract

The present invention relates to a six-axis positioning system, comprising a base, a movable unit, and six variable-length actuators. One end of each actuator is connected to the base, and the other end of each actuator is connected to the movable unit. The six actuators are divided into two groups, each group having three actuators. The actuators of the first group are arranged within the area defined by the actuators of the second group on the base, and the actuators of the first group are arranged within the area defined by the actuators of the second group on the movable unit. The lower end and the upper end of each of the three actuators of the second group are respectively connected to the base and the movable unit through corresponding pivot fastening systems. The upper end of each of the three actuators of the first group is connected to the movable unit through a pivot fastening system. The lower end of each of the three actuators of the first group is connected to the base through a pivot fastening system that can pivot during the adjustment operation of the six-axis positioning system.

Description

Technical Field

[0001] The present invention relates to a six-axis positioning system, including a base, a movable unit, and six variable-length actuators. One end of each actuator is connected to the base, and the other end of each actuator is connected to the movable unit. The six actuators are divided into two groups, each group having three actuators. The actuators of the first group are arranged within the area defined by the actuators of the second group on the base, and the actuators of the first group are arranged within the area defined by the actuators of the second group on the movable unit. The lower end and the upper end of each of the three actuators of the second group are respectively connected to the base and the movable unit through corresponding pivot fastening systems. The upper end of each of the three actuators of the first group is connected to the movable unit through a pivot fastening system. Background Art

[0002] Such a six-axis positioning system is also known as a hexapod displacement stage, providing six degrees of freedom of movement in a compact space. The movable unit typically consists of a platform (movable unit) connected to the upper ends of the actuators, and the element or attachment to be positioned is arranged on the platform. The six-axis positioning system can be obtained in different sizes and has a wide range of applications. As a component in the industrial production process, the hexapod displacement stage can position high loads with sub-micron accuracy. For industrial applications, there is a combination of an absolute measurement position sensor, suitable software, and a motion controller that allows even complex motion curves to be conveniently executed. A preferred driver for the actuators is a brushless DC motor with a brake. The working space of such a six-axis positioning system is highly dependent on the deployed ("extended and retracted") length of the actuators. In particular, for heavy-duty six-axis positioning systems, limitations arise in this regard, and efforts are being made to provide a compact six-axis positioning system with an extended working space for heavy-duty applications.

[0003] CN107134209A describes a general positioning system. The positioning system is designed as a heavy-duty positioning system and includes a base plate, a load platform, six external actuators, and three central load balancing devices. The load balancing device includes a hydraulically actuated cylinder arranged obliquely, the hydraulically actuated cylinder is indirectly connected to the base plate at its lower end, a sliding member is provided at its upper end, and a roller block is arranged on the sliding member. A pair of ropes fixed at one end are guided on the pulley block and attached to another sliding member at the other end. The two sliding members move along the obliquely arranged slide rails. The lower end of a support arm is hingedly arranged on the lower sliding member, and the upper end of the support arm is connected to the load platform. By contracting or extending the hydraulically actuated cylinder, the upper sliding member and the lower sliding member move together with the support arm via a cable pulling member. Due to the cable pulling member, deceleration is possible.

[0004] DE10060032B4 relates to a six-degree-of-freedom parallel mechanism for microlocation work. The mechanism includes a base platform, a movable platform, and three outer linkages and inner linkages arranged therebetween. The linkages are designed as actuators. As can be seen in particular from Figure 4 of DE10060032B4, the lower ends of the outer linkages are arranged in the region defined by the lower ends of the inner linkages. The upper ends of the inner linkages are connected to each other centrally at a distance below the platform by a common spherical joint. The inner part of the spherical joint is connected to the platform. Due to this arrangement, the outer linkages have a more upright basic position than the inner linkages.

[0005] CN107538231A relates to a multi-axis positioning device, including a lower platform, an upper platform, six obliquely arranged actuators, and three support columns arranged in the center. The load is mainly borne by the support columns. The support columns are shown in more detail in Figure 3 of CN107538231A, which includes a linear guide, and at the upper end of the linear guide is a hinge device connected to the upper platform. The linear bearing is supported on the base by a compression spring. The six actuators provide precise control. Therefore, the problem of the present invention is to provide a 6-axis positioning system of the above type for a compact design, especially a flatter design. Summary of the Invention

[0006] In a six-axis positioning system according to the present invention, in this regard, the six actuators are divided into two groups, each group having three actuators. Preferably, the actuators of different groups are also configured differently. The actuators of the first group are arranged within the area defined by the actuators of the second group on the base, and the actuators of the first group are arranged within the area defined by the actuators of the second group on the movable unit. The lower end and the upper end of each of the three actuators of the second group are respectively connected to the base and the movable unit through corresponding pivot fastening systems (preferably having at least two pivot axes). The upper end of each of the three actuators of the first group is connected to the movable unit through a pivot fastening system (preferably having at least two pivot axes). The lower end of each of the three actuators of the first group is respectively connected to the base through a pivot fastening system (preferably having at least two pivot axes) that can pivot during the adjustment operation of the six-axis positioning system. In addition, the movable unit having an extended working space can move around the ends of the actuators of the first group attached to the movable unit. In this way, it is possible to configure these three actuators of the first group to be shorter than the three actuators of the second group, and if necessary, to provide them with greater lifting force. Therefore, a division of labor between the actuators of the first group and the second group is feasible, which generally results in a more compact, especially flatter design with an extended working space. This means that the actuators of both groups actively and jointly participate in the precise adjustment and accurate positioning of the movable unit. In contrast, in both CN107134209A and CN107538231A, six external actuators for more precise operation are responsible for precise adjustment and accurate positioning, while the internal load balancing device or support columns are only used to support the load. Therefore, in a preferred variant of the present invention, there are also exactly three actuators of the first group and exactly three actuators of the second group, and their precision is especially equally good.

[0007] In the present context, an actuator also means converting an electrical signal into a mechanical movement or a change in a physical quantity, and thus actively intervening in a controlled or regulated process.

[0008] Preferably, the pivot fastening systems of the three actuators of the first group on the movable unit and / or the pivot fastening systems of the three actuators of the first group on the base can each be configured separately from each other, that is, each actuator in the first group has a separate pivot fastening system located on the movable unit and / or on the base, spaced apart from other pivot fastening systems. In addition, the pivot fastening systems of the three actuators of the second group on the movable unit and / or the pivot fastening systems of the three actuators of the second group on the base can each be configured separately from each other, that is, each actuator of the second group has a separate pivot fastening system located on the movable unit and / or on the base, spaced apart from other rotary mounts.

[0009] In order for the three actuators of the first group to absorb the highest possible stroke load, according to one embodiment, they are configured to be variable in length and pivotally connected to the base and the moving unit such that each of the three actuators of the first group is arranged to be movable within an angular range of at most ±30°, preferably at most ±15°, relative to the vertical line or the vertical line of the plane spanned by the base. In the basic position, the base and the moving unit are typically arranged horizontally, respectively, such that an angular reference relative to the vertical line is generated. However, in principle, the 6-axis positioning system itself can assume different angular positions, i.e., for example, the base can be tilted away from the horizontal, which is why it is advantageous to refer to the vertical line. The plane spanned by the base is given, for example, by the plane containing the center of the joint of the three actuators of the group.

[0010] Preferably, the three actuators of the second group can be variable in length and pivotally connected to the base and the moving unit such that each of the three actuators of the second group is arranged within an angular range of ≥0° to a maximum of 45°, preferably ≥0° to a maximum of 30°, relative to the horizontal line or the parallel line of the plane spanned by the base. Thus, the three actuators of the second group are generally arranged much flatter than the three actuators of the first group. In this arrangement, the three actuators of the second group require a higher positioning path. This is only possible when these three actuators move laterally past the three actuators of the first group.

[0011] The three actuators of the first group can be configured as main load-bearing actuators, especially if, according to one embodiment, they have the same length in the basic position, in which the main axes of the three actuators in the first group are arranged parallel to the vertical line or the vertical line of the plane spanned by the base. In this basic position, these three actuators of the first group can bear almost all of the load, while the three actuators of the second group are mainly used for positioning. With the corresponding change in the length of the actuators, the ratio then changes, and the main lifting load is still borne by the three actuators of the first group.

[0012] According to another embodiment, it is provided that the three actuators of the second group are variable in length and pivotally connected to the base and the moving unit such that, while maintaining the basic position, during the stroke movement of the three actuators of the first group from the minimum stroke position to the maximum stroke position, each of the three actuators of the second group is arranged to be movable within an angular range of ≥0° to at least 15°, preferably ≥0° to at least 30°, relative to the horizontal line or the parallel line of the plane spanned by the base. In its extreme case, thus, the three actuators of the second group can be positioned flat or horizontally in the minimum stroke position and at an acute angle in the maximum stroke position. Overall, this results in a very flat and compact design.

[0013] Although standard and identical components can also be used, it is preferred that the three actuators of the first group and the three actuators of the second group are configured differently. According to a preferred embodiment, the three actuators of the first group are designed as heavy-duty actuators with a greater load capacity than the three actuators of the second group. Preferably, the three actuators of the first group have a load capacity that is at least twice that of the actuators of the second group. Especially for eccentric loads, it is advantageous that the actuators of the first group can carry at least five times the load of the actuators of the second group.

[0014] Furthermore, since the three actuators of the first group are arranged within the area defined by the actuators of the second group on the base and the moving unit, this is preferred when this is achieved in a certain predictable manner, so that a better load distribution can also be obtained if necessary. According to one embodiment, it is provided that the centers of the pivot fastening systems of the three actuators of the first group are located on a first circular line on the base and / or the moving unit, and the centers of the pivot fastening systems of the three actuators of the second group are located on a corresponding second circular line on the base and / or the moving unit, and the first circular line is located within the corresponding associated second circular line on the base and / or the moving unit. Preferably, the first circular line is concentrically positioned with the corresponding associated second circular line on the base and / or the moving unit. Only compare the two circular lines on the base or the two circular lines on the moving unit.

[0015] In this context, it can further be provided that the area defined by the first circular line on the base and / or the moving unit is at least twice as small, preferably at least three times as small, and further preferably at least four times as small as the area defined by the corresponding associated second circular line on the base and / or the moving unit. In this way, it is ensured that the three actuators of the first group are grouped as compactly and centrally as possible on the 6-axis positioning system, and sufficient space is available for the corresponding configuration of these three centrally arranged actuators and the further outwardly positioned actuators.

[0016] According to the working distribution of the actuators, in another embodiment, it is provided that when the actuators of the first group are in the central position, the length of the three actuators of the second group is at least 1.5 times greater, preferably at least 2 times greater, than the length of the three actuators of the first group.

[0017] Furthermore, the 6-axis positioning system according to another embodiment can be configured such that the moving unit has a recess or window into which at least one component or accessory of the three actuators of the second group is inserted in the fully retracted position of the three actuators of the first group. Despite the possible components (e.g., brushless DC motor or gearbox) or accessories, for example, a fully horizontal arrangement of the actuators of the second group is feasible in this position because any blocking components do not collide with the moving unit but can be accommodated in the recess or window. This contributes significantly to further compactness.

[0018] The grouping of the actuators enables other arrangements. Preferably, it is provided that the connecting lines of the center points of the pivoting fastening systems of the three actuators of the first group span triangles on the base and on the movable unit respectively, and the connecting lines of the center points of the pivoting fastening systems of the three actuators of the second group span triangles on the base and on the movable unit respectively, and the corresponding associated triangles on the base and on the movable unit have the same corner orientation or a maximum angle of rotation of 45° with respect to each other. Only compare the two triangles on the base or the two triangles on the movable unit.

[0019] The grouping of the actuators also allows for different configurations of the base and / or the movable unit. According to an advantageous embodiment, the base and / or the movable unit may or may not have a triangular shape with preferably rounded corners. Then, these elements only have the required dimensions.

[0020] In particular, the embodiment using standard components is advantageously configured such that, in the fully retracted position of the three actuators of the first group, each main axis of the three actuators of the second group is inclined by at most ±15°, preferably parallel, with respect to the adjacent sides of the corresponding associated spanned triangle and / or the adjacent sides of the triangular shape of the base and / or the movable unit. In particular, when the three actuators of the second group are arranged in parallel, the triangular shapes of the base and the movable unit are aligned in the same way, and in the best case, they coincide with each other and are aligned in parallel.

[0021] In another embodiment, it is advantageously provided that, in the fully retracted positions of the three actuators of the first group and the second group, the main axes of the three actuators of the second group are all arranged to be inclined within the range of 15° to 45°, preferably about 30°, with respect to the adjacent sides of the associated spanned triangle and / or the adjacent sides of the triangle of the base and / or the movable unit. This results in the fact that the adjustment effect of the three actuators of the second group is increased, and more space is also achieved for the arrangement of the three actuators of the first group. This provides space for specifically configured actuators. In the preferred embodiment, a 30° angle is used, and the triangular shapes of the base and the movable unit can then be rotated relative to each other by 30° accordingly. Here, then, the attachment points for the actuators of the second group can be correspondingly further moved outwards, in particular to the corners of the associated triangular shape.

[0022] In this example, the actuator for the first group and / or the second group is a drive unit having a receiving device, and a movable adjusting device (e.g., an adjusting piston) can extend or retract telescopically from the receiving device into the receiving device. The receiving device is attached to the base and the movable adjusting device is attached to the movable unit, or the receiving device is attached to the movable unit and the movable adjusting device is attached to the base. The actually controlled or adjusted drive unit is preferably located in and / or on the receiving device. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Hereinafter, embodiments of the present invention will be described in more detail with reference to the drawings. The following is shown:

[0024] Figure 1 is a perspective view of a first embodiment of a 6-axis positioning system according to the present invention;

[0025] Figure 2 is Figure 1 a top view of the 6-axis positioning system shown, and for clarity, the movable unit is omitted;

[0026] Figure 3 is a perspective view of a second embodiment of a 6-axis positioning system according to the present invention; and

[0027] Figure 4 is Figure 3 a top view of the 6-axis positioning system of DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] Figure 1 and Figure 2The first embodiment of the 6-axis positioning system 1 shown has a base 2 in the form of a triangular platform and a moving unit 3 also in the form of a triangular platform, as well as actuators arranged therebetween, which will be described in more detail below. Each of the base 2 and the moving unit 3 is formed by a plate of substantially uniform thickness, preferably made of metal (such as steel). The actuators arranged between the base 2 and the moving unit 3 are grouped into a first group 4 including actuators 5.1, 5.2 and 5.3 and a second group 6 including actuators 7.1, 7.2 and 7.3. The actuators 5.1, 5.2 and 5.3 are different in function and construction from the actuators 7.1, 7.2 and 7.3, while the actuators of the corresponding group 4 or 6 have the same construction. The actuators 5.1, 5.2 and 5.3 of the first group 4 are pivotally arranged on the base 2 at their lower ends 8, and their upper ends 9 are pivotally arranged on the moving unit 3. The pivotal arrangement is in the form of a universal joint (cardan joint) such that pivotal movement about two axes is feasible. For a more compact arrangement, the base 2 has window recesses 10 for mounting the lower ends 8 of each of the actuators 5.1, 5.2 and 5.3 such that the axes of the universal joints are mounted within the window recesses 10. Similarly, the moving unit 3 is provided with three window recesses 11 for the pivotal arrangement of the upper ends 9 of the actuators 5.1, 5.2 and 5.3. In addition, the shafts of the corresponding universal joints are fixed in the window recesses 11.

[0029] The lower ends of the actuators 7.1, 7.2 and 7.3 are pivotally arranged on corresponding bearing blocks 13 which are arranged on the base 2. For the pivotal arrangement, a universal joint is again used for pivoting about two axes. In a similar manner, the upper ends 14 of the actuators 7.1, 7.2 and 7.3 are arranged by bearing blocks 15 attached to the moving unit 3. Also at the upper ends 14, the pivotal arrangement is formed by a universal joint for pivoting about two axes.

[0030] Due to the selected arrangement, the actuators 5.1, 5.2, and 5.3 of the first group 4 are arranged more upright than the actuators 7.1, 7.2, and 7.3 of the second group 6. Also helpful for this arrangement are the window recesses 10 and 11 and the two bearing seats 13 and 15. Each of the window recesses 10 and 11 is located more internally in the base 2 or the movable unit 3 compared to the corresponding bearing seat 13 or 15. Thereby, the actuators 5.1, 5.2, 5.3 of the first group 4 are arranged within the area defined by the actuators 7.1, 7.2, 7.3 of the second group 6 on the base 2 or the movable unit 3. Since the load is applied from above via the movable unit 3, it is also possible that the main load is borne by the actuators 5.1, 5.2, 5.3. These actuators are therefore configured as heavy-duty actuators, having a much higher load capacity than the three actuators 7.1, 7.2, 7.3 of the second group 6. The length of all 6 actuators is adjustable (telescopic) and is driven by brushless DC motors. This control is performed via the connector platform 16 and the connector 17. In this way, the current and voltage supply is provided. Sensors (such as displacement sensors) are not shown in the figure. However, the basic operation and control of the 6-axis positioning system itself are known, which is why they will not be discussed in detail here. In any case, the movable unit 3 can be raised, lowered, or moved relative to the base 2 and tilted about all three spatial axes. The adjustability of the actuators 5.1, 5.2, 5.3 and 7.1, 7.2, and 7.3 and their arrangement determine the possible working space. Due to the drive technology used, there is very precise control and positioning even in the current heavy-load area.

[0031] In Figure 1 and Figure 2 the 6-axis positioning system is shown in the basic position, in which the base 2 and the movable unit 3 are aligned parallel to each other, i.e., the actuators 5.1, 5.2, and 5.3 of the first group 4 have the same length, and the actuators 7.1, 7.2, and 7.3 of the second group 6 have the same length. Additionally, the actuators 5.1, 5.2, and 5.3 are in their central positions, which is why the actuators 7.1, 7.2, and 7.3 also assume their central positions. In this basic position, the actuators 5.1, 5.2, and 5.3 are precisely vertically aligned with their main axes A i i.e., they are perpendicular to the plane spanned by the base 2. In this position, the actuators 7.1, 7.2, and 7.3 have an angle α, approximately 20°, with respect to the horizontal line or the parallel line P to the plane spanned by the base 2.

[0032] Figure 1 and Figure 2 The advantage of the illustrated embodiment is that known actuators can be used here without any construction. Nevertheless, this results in a very compact and flat design of the 6-axis positioning system.

[0033] From Figure 2 It can be seen that the connection centers (intersection points of the universal joints) of the actuators 5.1, 5.2, and 5.3 on the movable unit 3 are arranged on the circular line 18. The same applies to the arrangement of the connection centers at the lower end 8 on the base 2. The connection centers (e.g., intersection points of the universal joints) of the actuators 7.1, 7.2, and 7.3 are located on the circular line 19 on the movable unit 3. Similarly, the connection points at the lower end 12 are also located on the circular line 19. The circular lines 18 and 19 belonging to the base 2 and the circular lines 18 and 19 belonging to the movable unit 3 are arranged concentrically with each other. The area enclosed by the circular line 18 is substantially smaller than the area enclosed by the circular line 19 (at least 2 times smaller, preferably 3 times smaller, further preferably 4 times smaller). This results in a compact combination, which in particular ensures that a relatively large pivot can be performed even if the stroke of the actuators 5.1, 5.2, and 5.3 is small. However, precise positioning is feasible in the interaction of the actuators 5.1, 5.2, and 5.3 and 7.1, 7.2, and 7.3.

[0034] In Figure 1 and Figure 2 In the central positions of the actuators 5.1, 5.2, and 5.3 shown, the actuators 7.1, 7.2, and 7.3 of the second group 6 are much longer (at least 1.5 times larger, preferably at least 2 times larger) than the actuators of the first group 4. Therefore, the maximum adjustment path of the actuators 7.1, 7.2, and 7.3 of the second group 6 is substantially larger than the maximum adjustment path of the actuators 5.1, 5.2, and 5.3 of the first group 4 (at least 1.5 times larger, preferably at least 2 times larger).

[0035] Furthermore, from Figure 2 it can be seen that each center of the pivot fastening system of the three actuators 5.1, 5.2, and 5.3 of the first group 4 spans the triangle 20 on the base 2 as well as on the movable unit 3. Each connecting line of the centers of the pivot fastening system of the three actuators 7.1, 7.2, and 7.3 of the second group 6 also spans the triangle 21 on the base 2 and on the movable unit 3. In the shown basic position, the triangles 20 and 21 have the same orientation, which incidentally also corresponds to the orientation of the triangles of the base 2 and the movable unit 3. Therefore, in the basic position, the main axes A A of the three actuators 7.1, 7.2, and 7.3 of the second group 6 each extend parallel to the sides of these spanned triangles 20, 21 or the triangular shape in the base 2 and the movable unit 3.

[0036] In the following, the functions and operating modes of the foregoing embodiments are explained in more detail.

[0037] The target control of the drives of the actuators 5.1, 5.2 and 5.3 and 7.1, 7.2 and 7.3 results in the target positioning of the movable unit 3 relative to the base 2. The desired 6-axis positioning within the given working space is feasible. The main load is carried by the actuators 5.1, 5.2 and 5.3 of the first group 4 during lifting. Therefore, these actuators are configured as corresponding heavy-load actuators so that a relatively large load can be moved. The actuators 5.1, 5.2 and 5.3 of the first group 4 pivot only within a limited angular range (maximum ±30°, preferably maximum ±15°) relative to the vertical line or the vertical line of the plane spanned by the base 2. The actuators 7.1, 7.2 and 7.3 are also adapted to pivot only within a limited angular range (from about 20° to a maximum of 45°, preferably from about 20° to a maximum of 30°) relative to the horizontal line or the parallel line P of the plane spanned by the base 2.

[0038] For example, by shortening or lengthening the actuators 7.1, 7.2 and 7.3 of the second group 6 and correspondingly pivoting and extending the actuators 5.1, 5.2 and 5.3 of the first group 4, the movable unit 3 can be rotated relative to the base 2 without even changing the distance. Generally, the required path of the actuators 7.1, 7.2 and 7.3 is greater than the required path of the actuators 5.1, 5.2 and 5.3.

[0039] All in all, the result is that the 6-axis positioning system is compact, especially flat, and can carry heavy loads. This is achieved by correspondingly grouping and dividing the functions of the two groups of actuators.

[0040] Referring to Figure 3 and Figure 4 , a second embodiment of the 6-axis positioning system 1 according to the present invention will now be explained in more detail. Hereinafter, only the main differences from the previous embodiment will be discussed. Therefore, the same reference numerals are used for similar components, and reference is made to the above description as a supplement, focusing only on the essential differences.

[0041] Figure 3 and Figure 4 The 6-axis positioning system 1 shown again uses specially adapted actuators configured specifically. The actuators 5.1, 5.2 and 5.3 are even more compact in the retracted position, i.e., shorter. In the fully retracted position of the actuators 5.1, 5.2 and 5.3, the actuators 7.1, 7.2 and 7.3 can be arranged such that their main axes A A are horizontal or parallel to the plane spanned by the base 2 (especially see Figure 3 ). This results in an even more compact, especially flatter configuration of the 6-axis positioning system 1.

[0042] Another significant difference is the positioning (i.e., grouping) of the actuator groups 4 and 6 relative to each other. From Figure 4It can first be seen that the triangular base 2 and the triangular movable unit 3 are arranged to rotate 30° relative to each other in the basic position. For this purpose, the bearing seats 13 and 15 and the corresponding actuators 7.1, 7.2 and 7.3 are placed on the base 2 at an angle and also at an angle relative to the movable unit 3 in the basic position. That is, in the fully retracted position of the three actuators 5.1, 5.2 and 5.3 of the first group 4 and the second group 6, the main axes A of the three actuators 7.1, 7.2 and 7.3 of the second group 6 A are respectively arranged at an angle of about 30° relative to the side of the corresponding spanned triangle 21 and / or the side of the triangular shape of the base 2 and the movable unit 3. This also means that the main axes A of the actuators 7.1, 7.2 and 7.3 A are parallel to the side of the triangle 20 in the shown basic position ( Figure 4 ). Therefore, the window recesses 10 and 11 or the attachment points on the base 2 and the movable unit 3 are also placed to rotate 30° relative to the corresponding triangular shape of the base 2 or the movable unit 3. Therefore, the corresponding bearing seats 13 and 15 can also be made more stable and have an inverted U shape.

[0043] The actuators 7.1, 7.2 and 7.3 have attachments 22. This can be, for example, a brushless DC motor, which moves more towards the center of the actuators 7.1, 7.2 and 7.3. The attachment 22 protrudes in the direction of the movable unit 3. In Figure 3 the shown lying position of the actuators 7.1, 7.2 and 7.3, each actuator will collide with the movable unit 3. Therefore, the movable unit 3 has recesses 23 in each of these areas, and the attachments 22 are received in the recesses. The recesses 23 are selected to be large enough to allow proper movement of the movable unit 3, that is, including rotation relative to the base 2, without causing collision between the attachment 22 and the movable unit 3.

[0044] In Figure 3 and Figure 4 the shown basic position, the actuators 7.1, 7.2 and 7.3 are also in their central positions. Starting from this basic position, they can pivot within an angular range of an acute angle α (from ≥0° to a maximum of 45°, preferably ≥0° to a maximum of 30°) relative to the horizontal line or the parallel line P of the plane spanned by the base 2.

[0045] Due to the grouping and specialization of the actuator groups 4 and 6, the flat and very compact configuration of the high-load 6-axis positioning system is achieved. Loads up to 2t and more can be moved in this way with a properly sized 6-axis positioning system and accurately positioned within the provided workspace.

[0046] It should also be noted that, for the sake of clarity, Figure 3 and Figure 4The connector platform 16 and the connector 17 are not shown. According to the previously mentioned embodiments, the shown 6-axis positioning system 1 is actuated and controlled by the interaction of 6 actuators.

[0047] List of Reference Numerals

[0048] 1 6-axis positioning system

[0049] 2 Base

[0050] 3 Moving unit

[0051] 4 First group

[0052] 5.1, 5.2, 5.3 Actuators

[0053] 6 Second group

[0054] 7.1, 7.2, 7.3 Actuators

[0055] 8 Lower end

[0056] 9 Upper end

[0057] 10 Window recess

[0058] 11 Window recess

[0059] 12 Lower end

[0060] 13 Bearing housing

[0061] 14 Upper end

[0062] 15 Bearing housing

[0063] 16 Connector platform

[0064] 17 Connector

[0065] 18 Circular wire

[0066] 19 Circular wire

[0067] 20 Triangle

[0068] 21 Triangle

[0069] 22 Attachment

[0070] 23 Recess

[0071] α Angle

[0072] A A Main axis 7.1, 7.2, 7.3

[0073] A i Main axis 5.1, 5.2, 5.3

[0074] P Parallel lines

Claims

1. A six-axis positioning system (1) comprising a base (2), a movable unit (3), and six variable-length actuators (5.1, 5.2, 5.3; 7.1, 7.2, 7.3), one end (8, 12) of each actuator being connected to said base (2), and the other end (9, 14) of each actuator being connected to said movable unit (3), wherein, The six actuators (5.1, 5.2, 5.3; 7.1, 7.2, 7.3) are divided into two groups (4, 6), each group having three actuators (5.1, 5.2, 5.3; 7.1, 7.2, 7.3). The actuators (5.1, 5.2, 5.3) of the first group (4) are arranged within the area defined by the actuators (7.1, 7.2, 7.3) of the second group (6) on the base (2), and the actuators (5.1, 5.2, 5.3) of the first group (4) are arranged within the area defined by the actuators (7.1, 7.2, 7.3) of the second group (6) on the movable unit (3); wherein, the lower end and the upper end of each of the three actuators (7.1, 7.2, 7.3) of the second group (6) are respectively connected to the base (2) and the movable unit (3) through corresponding pivot fastening systems; and wherein, the upper end of each of the three actuators (5.1, 5.2, 5.3) of the first group is connected to the movable unit (3) through a pivot fastening system, and wherein, the lower end of each of the three actuators (5.1, 5.2, 5.3) of the first group is connected to the base (2) through a pivot fastening system that can pivot during the adjustment operation of the 6-axis positioning system (1). Wherein, the three actuators (5.1, 5.2, 5.3) of the first group (4) are variable in length and are pivotally connected to the base (2) and the movable unit (3) such that each of the three actuators (5.1, 5.2, 5.3) of the first group (4) is movably arranged within an angular range of up to ±30° relative to the vertical line or the perpendicular line to the plane spanned by the base (2). And wherein, the three actuators (7.1, 7.2, and 7.3) of the second group (6) are variable in length and are pivotally connected to the base (2) and the movable unit (3) such that each of the three actuators (7.1, 7.2, and 7.3) of the second group (6) is arranged to be movable within an angular range of 0 to 45° relative to the horizontal line or the parallel line (P) to the plane spanned by the base (2).

2. The 6-axis positioning system (1) according to claim 1, characterized in that, The three actuators (5.1, 5.2, 5.3) of the first group (4) have the same length in the basic position, in which the main axes (A i ) of the three actuators (5.1, 5.2, 5.3) of the first group (4) are arranged parallel to the vertical line or the vertical line of the plane spanned by the base (2).

3. The 6-axis positioning system (1) according to claim 2, characterized in that, The three actuators (7.1, 7.2, and 7.3) of the second group (6) are variable in length and are pivotally connected to the base (2) and the movable unit (3) such that during the stroke movement of the three actuators (5.1, 5.2, 5.3) of the first group from the minimum stroke position to the maximum stroke position while maintaining the basic position, each of the three actuators (7.1, 7.2, and 7.3) of the second group (6) is arranged to be movable within an angular range of 0° to 15° relative to the horizontal line or the parallel line (P) to the plane spanned by the base (2).

4. The 6-axis positioning system (1) according to claim 1, wherein The three actuators (5.1, 5.2, 5.3) of the first group (4) are configured as heavy-duty actuators and have a higher load capacity than the three actuators (7.1, 7.2, 7.3) of the second group (6).

5. The 6-axis positioning system (1) according to claim 1, characterized in that, The centers of the pivot fastening systems of the three actuators (5.1, 5.2, 5.3) of the first group (4) are located on the first circular line (18) on the base (2) and / or on the movable unit (3), and the centers of the pivot fastening systems of the three actuators (7.1, 7.2, 7.3) of the second group (6) are located on the corresponding second circular line (19) on the base (2) and / or on the movable unit (3), and the first circular line (18) is located within the corresponding associated second circular line (19) on the base (2) and / or on the movable unit (3).

6. The 6-axis positioning system (1) according to claim 5, wherein, The area defined by the first circular line (18) on the base (2) and / or on the movable unit (3) is at least less than 1 / 2 of the area defined by the corresponding associated second circular line (19) on the base (2) and / or on the movable unit (3).

7. The 6-axis positioning system (1) according to claim 1, characterized in that, When the three actuators (5.1, 5.2, 5.3) of the first group (4) are in the central position, the length of the three actuators (7.1, 7.2, 7.3) of the second group (6) is greater than 1.5 times the length of the three actuators (5.1, 5.2, 5.3) of the first group (4).

8. The 6-axis positioning system (1) according to claim 1, wherein, The movable unit (3) has a recess (23) or a window, and at the central position of the three actuators (5.1, 5.2, 5.3) of the first group (4), at least one component or accessory of the three actuators (7.1, 7.2, 7.3) of the second group (6) is inserted into the recess (23) or the window.

9. The 6-axis positioning system (1) according to claim 1, characterized in that, The maximum adjustment path of the actuators (7.1, 7.2, 7.3) of the second group (6) is greater than 1.5 times the maximum adjustment path of the actuators (5.1, 5.2, 5.3) of the first group (4).

10. The 6-axis positioning system (1) according to claim 2, characterized in that, Each of the connecting lines of the centers of the pivot fastening systems of the three actuators (5.1, 5.2, 5.3) of the first group (4) forms a triangle (20) on the base (2) and the movable unit (3), and each of the connecting lines of the centers of the pivot fastening systems of the three actuators (7.1, 7.2, 7.3) of the second group (6) forms a triangle (21) on the base (2) and the movable unit (3), where at the basic position of the three actuators (5.1, 5.2, 5.3) of the first group (4), the corners of the triangles (20, 21) on the base (2) and the triangles (20, 21) on the movable unit (3) have the same orientation or a maximum relative rotation angle of 45° with respect to each other.

11. The 6-axis positioning system (1) according to claim 1, characterized in that, The base (2) and / or the movable unit (3) has a triangular shape.

12. The 6-axis positioning system (1) according to claim 10 or claim 11, characterized in that, At the central position of the three actuators (5.1, 5.2, 5.3) of the first group (4), each main axis (A A ) of the three actuators (7.1, 7.2, 7.3) of the second group (6) is inclined by at most ±15° with respect to the adjacent sides of the triangle (20, 21) and / or each main axis (A A ) of the three actuators (7.1, 7.2, 7.3) of the second group (6) is inclined by at most ±15° with respect to the adjacent sides of the triangle of the base (2) and / or each main axis (A A ) of the three actuators (7.1, 7.2, 7.3) of the second group (6) is inclined by at most ±15° with respect to the adjacent sides of the triangular shape of the movable unit (3).

13. The 6-axis positioning system (1) according to claim 10 or claim 11, characterized in that, At the central position of the three actuators (5.1, 5.2, 5.3) of the first group (4), each main axis (A A ) of the three actuators (7.1, 7.2, 7.3) of the second group (6) is arranged obliquely with respect to the adjacent sides of the corresponding spanned triangle (21) within the range of 15° to 45° and / or each main axis (A A ) of the three actuators (7.1, 7.2, 7.3) of the second group (6) is arranged obliquely with respect to the adjacent sides of the triangular shape of the base (2) within the range of 15° to 45° and / or each main axis (A A ) of the three actuators (7.1, 7.2, 7.3) of the second group (6) is arranged obliquely with respect to the adjacent sides of the triangular shape of the movable unit (3) within the range of 15° to 45°.

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