ES2276577B1 - COLUMN OF VARIABLE STRUCTURE AND OF PNEUMATIC OR HYDRAULIC SUSTAINATION. - Google Patents
COLUMN OF VARIABLE STRUCTURE AND OF PNEUMATIC OR HYDRAULIC SUSTAINATION. Download PDFInfo
- Publication number
- ES2276577B1 ES2276577B1 ES200500175A ES200500175A ES2276577B1 ES 2276577 B1 ES2276577 B1 ES 2276577B1 ES 200500175 A ES200500175 A ES 200500175A ES 200500175 A ES200500175 A ES 200500175A ES 2276577 B1 ES2276577 B1 ES 2276577B1
- Authority
- ES
- Spain
- Prior art keywords
- spheres
- column
- planes
- pneumatic
- hydraulic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
- 239000000463 material Substances 0.000 claims abstract description 4
- 230000007246 mechanism Effects 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims 1
- 230000008844 regulatory mechanism Effects 0.000 claims 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
- F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Tents Or Canopies (AREA)
Abstract
La columna objeto de esta invención está ideada para el soporte y manejo de materiales, útiles y herramientas. La columna está construida por un conjunto de esferas que permiten el llenado neumático o hidráulico, con su correspondiente control de volumen y presión. Las esferas van formando planos en número de tres, cuatro o más unidades y van dotadas de unas arandelas laterales. Los planos de esferas, van encajados entre dos planos rígidos. Estos planos van unidos por un eje tensor flexible. Este eje va fijado a uno de los planos rígidos, pasa por dentro de las arandelas fijadas a las esferas, pasa por el centro del otro plano rígido y es tensado por un cabestrante. Mediante el llenado de las esferas, tensado del eje y variando la presión de algunas esferas, se modifican la rigidez, longitud y forma de la columna. Es aplicable en robótica.The column object of this invention is designed for the support and handling of materials, tools and tools. The column is built by a set of spheres that allow pneumatic or hydraulic filling, with its corresponding volume and pressure control. The spheres are forming planes in the number of three, four or more units and are equipped with side washers. The sphere planes are fitted between two rigid planes. These planes are joined by a flexible tensioning shaft. This axis is fixed to one of the rigid planes, passes inside the washers fixed to the spheres, passes through the center of the other rigid plane and is tensioned by a winch. By filling the spheres, tensioning the shaft and varying the pressure of some spheres, the rigidity, length and shape of the column are modified. It is applicable in robotics.
Description
Columna de estructura variable y de sustentación neumática o hidráulica.Variable structure and support column pneumatic or hydraulic
La invención se encuadra en la sustentación y manejo de aparatos, equipos o cualquier elemento que necesiten una rápida instalación o movilidad.The invention fits into the lift and handling of devices, equipment or any item that needs a Quick installation or mobility.
Se encuadra también en el campo de la robótica.It is also framed in the field of robotics
Actualmente el uso de la columna está generalizado como elemento de sustentación, tanto en estructuras fijas como en estructuras y máquinas móviles.Currently the use of the column is generalized as a support element, both in structures fixed as in structures and mobile machines.
Tanto en estructuras fijas como móviles se recurre a elementos rígidos generalmente de hierro, aluminio, plásticos, etc.Both fixed and mobile structures are it uses rigid elements generally of iron, aluminum, plastics, etc.
Para las estructuras móviles se recurre a columnas unidas por articulaciones dotándolas de cilindros hidráulicos, neumáticos o cabrestantes.For mobile structures, use is made of columns joined by joints providing them with cylinders hydraulic, pneumatic or winches.
Si bien se ha avanzado y mucho en el campo de
las estructuras fijas, tanto en materiales como en formas, como en
montajes. No ha sido tanto el desarrollo en el campo de las
estructuras móviles, puesto que se siguen utilizando los mismos
sistemas de
siempre.Although much progress has been made in the field of fixed structures, both in materials and shapes, as in assemblies. It has not been so much the development in the field of mobile structures, since the same systems are still used
forever.
Es notorio que las grúas torre de construcción
siguen teniendo la misma estructura y el montaje de las mismas no
ha variado significativamente. Las escaleras de bomberos tampoco
tienen demasiada variación en el concepto. Así como en otros campos
de la técnica como es la robótica, se siguen utilizando modelos
estructurales similares a los de
siempre.It is notorious that construction tower cranes still have the same structure and their assembly has not changed significantly. Firefighters' stairs don't have too much variation in the concept either. As in other fields of technology such as robotics, structural models similar to those of
forever.
Se trata pues con esta invención, de un nuevo concepto de columna o brazo articulado, que con unas dimensiones apropiadas para cada utilidad, nos facilite las tareas de uso y montaje de cualquier máquina o herramienta. E incluso en algunas tareas de riesgo para operarios, podamos suplir a éstos por una columna dotada de herramientas apropiadas y mediante mando a distancia o monitorización, realizar dichas tareas. Por ejemplo dirigir una manguera de agua contra incendios a la base del fuego sin que sea necesario que el operario se acerque físicamente.It is therefore with this invention, a new concept of articulated column or arm, which with dimensions appropriate for each utility, facilitate us the tasks of use and assembly of any machine or tool. And even in some risk tasks for operators, we can supply these for a column equipped with appropriate tools and by command to distance or monitoring, perform these tasks. For example direct a fire water hose to the fire base without it being necessary for the operator to physically approach.
La columna motivo de esta invención, representada en los dibujos con el número (1) Fig 1 y Fig 7, está constituida por un conjunto de esferas o receptáculos de material flexible (2) que permitan el llenado neumático o hidráulico. Pudiendo controlar tanto el llenado cómo el vaciado, mediante válvulas, electro-válvulas o mecanismos apropiados. Utilizando incluso la monitorización electrónica para su manejo.The reason column of this invention, represented in the drawings with the number (1) Fig 1 and Fig 7, it is constituted by a set of spheres or receptacles of material flexible (2) that allow pneumatic or hydraulic filling. Being able to control both the filling and the emptying, by valves, electro-valves or appropriate mechanisms. Even using electronic monitoring for your driving.
Las esferas (2) van unidas a unos anillos o arandelas (3) Fig 3.The spheres (2) are attached to rings or washers (3) Fig 3.
Las esferas (2) van conjugadas en planos de tres, cuatro, o más unidades Fig 5 y Fig 6, y superpuestos dichos planos forman la columna (1).The spheres (2) are conjugated in planes of three, four, or more units Fig 5 and Fig 6, and said superimposed planes form the column (1).
La columna de esferas va encajada entre dos planos (5) y (6), unidos por un eje tensor flexible (4), que permite darle rigidez al conjunto. Este eje tensor puede ser un cable de acero, una cuerda especial, un tubo flexible, etcétera. Este eje va fijado al plano (5) y pasante por las arandelas (3) de las esferas y pasa a través del centro del plano (6), siendo tensado por el mecanismo de tensión o cabrestante (7).The column of spheres is embedded between two planes (5) and (6), joined by a flexible tensioning shaft (4), which allows to stiffen the whole. This tensioning shaft can be a steel cable, a special rope, a flexible tube, and so on. This axis is fixed to the plane (5) and through the washers (3) of the spheres and passes through the center of the plane (6), being tensioned by the tension mechanism or winch (7).
Los planos de esferas pueden ir conjugados de
dos formas posibles; una, colocando las esferas una sobre otra
coincidiendo sus polos, para lo cual habría que unirlas en estos
puntos (Fig 6), o dos, conjugando los planos de tal forma que cada
una de las esferas quedara encajada entre dos esferas del plano
siguiente
(Fig 5).Sphere planes can be conjugated in two possible ways; one, placing the spheres one on top of the other coinciding with their poles, for which they would have to be joined at these points (Fig 6), or two, combining the planes so that each of the spheres would fit between two spheres of the following plane
(Fig 5).
Una vez configurada la columna (1), nos permite regular la longitud, alargando o acortando el eje (4) mediante el cabrestante (7) Figs. (8, 9 y 10) y darle la rigidez apropiada aumentando o disminuyendo la presión de las esferas (2).Once column (1) is configured, it allows us adjust the length, lengthening or shortening the shaft (4) by winch (7) Figs. (8, 9 and 10) and give it proper rigidity increasing or decreasing the pressure of the spheres (2).
Si variamos la presión de unas esferas concretas, se va a modificar la forma de la columna (Fig 11). Así podemos conseguir distintas formas como torres (Fig 7), arcos (Fig 12), enfrentando dos columnas, construiremos pinzas (Fig 13), e incluso podemos acoplar unas columnas sobre otras (Fig 14).If we vary the pressure of some spheres concrete, the shape of the column will be modified (Fig 11). So we can get different shapes such as towers (Fig 7), arches (Fig 12), facing two columns, we will build clamps (Fig 13), and we can even couple some columns over others (Fig 14).
Este conjunto de maniobras, de variación de longitud, forma y rigidez de la columna, junto con las herramientas que se le pueden acoplar, va a suponer un uso muy amplio en bastantes campos de la técnica.This set of maneuvers, of variation of length, shape and stiffness of the spine, together with the tools that can be attached to it, it will be very widely used in enough fields of technique.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ES200500175A ES2276577B1 (en) | 2005-01-31 | 2005-01-31 | COLUMN OF VARIABLE STRUCTURE AND OF PNEUMATIC OR HYDRAULIC SUSTAINATION. |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ES200500175A ES2276577B1 (en) | 2005-01-31 | 2005-01-31 | COLUMN OF VARIABLE STRUCTURE AND OF PNEUMATIC OR HYDRAULIC SUSTAINATION. |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| ES2276577A1 ES2276577A1 (en) | 2007-06-16 |
| ES2276577B1 true ES2276577B1 (en) | 2008-05-16 |
Family
ID=38330287
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| ES200500175A Withdrawn - After Issue ES2276577B1 (en) | 2005-01-31 | 2005-01-31 | COLUMN OF VARIABLE STRUCTURE AND OF PNEUMATIC OR HYDRAULIC SUSTAINATION. |
Country Status (1)
| Country | Link |
|---|---|
| ES (1) | ES2276577B1 (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8323675D0 (en) * | 1983-09-03 | 1983-10-05 | Snell T B | Lifting devices |
| GB8714441D0 (en) * | 1987-06-19 | 1987-07-22 | Mcniven T | Vehicle lift |
| US5317952A (en) * | 1991-11-22 | 1994-06-07 | Kinetic Sciences Inc. | Tentacle-like manipulators with adjustable tension lines |
| AU677306B2 (en) * | 1993-05-26 | 1997-04-17 | Zumro B.V. | Inflatable body |
| DE19833340A1 (en) * | 1998-07-24 | 2000-02-10 | Karlsruhe Forschzent | Worm-shaped working mechanism |
-
2005
- 2005-01-31 ES ES200500175A patent/ES2276577B1/en not_active Withdrawn - After Issue
Also Published As
| Publication number | Publication date |
|---|---|
| ES2276577A1 (en) | 2007-06-16 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EC2A | Search report published |
Date of ref document: 20070616 Kind code of ref document: A1 |
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| FG2A | Definitive protection |
Ref document number: 2276577B1 Country of ref document: ES |
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| FA2A | Application withdrawn |
Effective date: 20091116 |