US20070023235A1 - Supporting body for scaffold poles of a position scaffolding - Google Patents

Supporting body for scaffold poles of a position scaffolding Download PDF

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Publication number
US20070023235A1
US20070023235A1 US10/570,284 US57028406A US2007023235A1 US 20070023235 A1 US20070023235 A1 US 20070023235A1 US 57028406 A US57028406 A US 57028406A US 2007023235 A1 US2007023235 A1 US 2007023235A1
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US
United States
Prior art keywords
support body
accordance
webs
scaffold
base plate
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.)
Abandoned
Application number
US10/570,284
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English (en)
Inventor
Elmar Nuchter
Botho Kikut
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Systems GmbH
Original Assignee
KUKA Schweissanlagen GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by KUKA Schweissanlagen GmbH filed Critical KUKA Schweissanlagen GmbH
Assigned to KUKA SCHWEISSANLAGEN GMBH reassignment KUKA SCHWEISSANLAGEN GMBH ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: KIKUT, BOTHO, NUCHTER, ELMAR
Publication of US20070023235A1 publication Critical patent/US20070023235A1/en
Assigned to KUKA SYSTEMS GMBH reassignment KUKA SYSTEMS GMBH CHANGE OF NAME (SEE DOCUMENT FOR DETAILS). Assignors: KUKA SCHWEISSANLAGEN GMBH
Abandoned legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure

Definitions

  • the present invention pertains to a support body for scaffold poles for forming a positioning scaffold with support body for the scaffold poles of a positioning scaffold for positioning individual working elements or a plurality of working elements, especially tensioners or other functional elements, wherein the support body has a junction for connection to a manipulator and a plurality of clamped fastenings for the scaffold poles.
  • the central support body can be connected to a robot or the like.
  • the positioning scaffold comprises one or more, preferably tubular scaffold poles, which form a three-dimensional rod assembly, carry a plurality of working elements and are connected to the support body.
  • the scaffold poles extend continuously beyond the support body and are fastened to the support body in a centered manner with clamping fastenings located far apart from one another.
  • the basic object of the present invention is to show a better support body and to reduce the repair effort in case of damage.
  • the present invention accomplishes the object with a double clamping means with the individual scaffold poles arranged floatingly on the support body, so that only the individual scaffold pole arranged floatingly must be repaired or replaced in case of a crash of the robot, which can be carried out especially easily when connecting the individual scaffold pole to the support body.
  • two parallel webs arranged adjacent to one another can be used to fasten a scaffold pole. Only one of these webs is equipped here with positive-locking connection means for receiving and axially positioning the scaffold pole.
  • the positive-locking connection means are known from DE 200 00 645. They comprise a centering bolt, which is inserted into fitting centering holes of the parts to be connected to one another, and it is necessary in terms of function that only one of these webs be connected to these positive-locking connection means.
  • a constellation is thus obtained in which an individual scaffold pole is anchored in two adjacent webs of the support body, and one of these webs has the positive-locking connection means and the other only secures the dimensional stability of the scaffold pole.
  • the individual scaffold pole can be fastened floatingly at the edge area of the support body.
  • the webs of the support body are advantageously provided with preferably semicircular recesses, in which the scaffold poles are guided and fixed by the clamping elements.
  • An individual support body which preferably consists of a light metal casting part, can thus be used in a modular manner by milling out the recess for the scaffold pole on a case-by-case basis, deciding in the particular case only whether the milling is to be carried out corresponding to the cross section of the scaffold pole in a semicircular or prismatic pattern.
  • the individual web is arranged in a frame-like manner on a top side of the support body only, from which follows that the position of the scaffold poles is parallel to the top side of the support body.
  • at least two webs are arranged on the two opposite top sides of the support body, as a consequence of which a bi-level arrangement of the scaffold poles is possible.
  • this measure also offers the possibility of arranging parallel scaffold poles, which have a stabilizing effect, on one top side and the underside of the support body, which may happen especially in case of widely projecting structures.
  • this possibility of bilateral arrangements of webs on the top sides of the support body offers the possibility of arranging scaffold poles in opposite directions.
  • recesses may be provided in the base plate of the support body between the outer web pairs. This helps reduce the weight of the support body.
  • outwardly extending web pairs may also be provided on the circumference of the support body in order to arrange additional scaffold poles at right angles to the scaffold poles mentioned in the introduction.
  • the webs are reinforced with ribs among each other, which enhances the stability of the support body.
  • a junction for connection to a robot is preferably provided in the central area of the support body. It is recommended that the flange plate used for this purpose be thickened at the base plate of the support body in order to bring about increased rigidity of the connection. At the same time, it is recommended that the flange plate be reinforced by radial ribs against the inner webs.
  • the support body has flange surfaces for fastening other, separate double clamping means with clamping elements, which make it possible to arrange scaffold poles at right angles to the position of the scaffold poles anchored in the webs.
  • clamping elements may have a molding, which has a base plate for fastening on the support body as well as two parallel webs, which are arranged at spaced locations from one another and in which recesses, which are open on one side, are present for receiving a scaffold pole, the molding being connected to the scaffold pole by clip fastening in conjunction with a positive-locking centering point on one of the webs.
  • Such an arrangement can enhance the stability of the support body, so that the latter only needs to be designed as a metal plate.
  • the positive-locking connection means may also comprise a straight pin and a fitting hole, the straight pin passing at least partly through the base plate, optionally the web of the lower part of the clamping element as well as the associated scaffold pole to form the positive-locking connection.
  • FIG. 1 is a cross sectional view through a support body with webs extending on one side for receiving a scaffold pole;
  • FIG. 2 is a cross sectional view along line II-II through the support body according to FIG. 1 ;
  • FIG. 3 is a vertical sectional view through a support body with webs arranged on both sides;
  • FIG. 4 is a top view of a support body with webs arranged in parallel to one another;
  • FIG. 5 is a cross sectional view through a clamping element flanged to the support body along line V-V in FIG. 4 ;
  • FIG. 6 is a longitudinal sectional view through a support body with a molding made integrally on one side;
  • FIG. 7 is a top view of a support body with optionally longitudinally and transversely extending webs and a flange plate;
  • FIG. 8 is a cross sectional view through the support body according to FIG. 7 along line VIII-VIII;
  • FIG. 9 is a top view of a support body with intersecting webs and diagonal ribs
  • FIG. 10 is a partial sectional view through a support body with webs arranged at right angles to one another;
  • FIG. 11 is a view showing a robot with a positioning scaffold
  • FIG. 12 is a bottom view of the positioning scaffold with a support body and floatingly mounted scaffold poles according to arrow XII in FIG. 11 ;
  • FIG. 13 is a perspective view of the top side of a support body.
  • FIG. 14 is a perspective view of the underside of the support body from FIG. 13 .
  • the present invention pertains to a positioning scaffold ( 1 ), which is guided by a manipulator ( 30 ), preferably a multiaxial industrial robot, and comprises a plurality of scaffold poles ( 3 ) and a support body ( 2 ).
  • Working elements ( 29 ) which may be, e.g., grippers, tensioners, suction devices or other functional elements, may be mounted on the scaffold poles ( 3 ).
  • Such a positioning scaffold ( 1 ) is preferably used as a gripping means ( 28 ) for components ( 33 ), especially body parts of vehicles, and its general design is known from DE 200 00 645 U1.
  • FIGS. 11 and 12 show the positioning scaffold ( 1 ) and its connection to the robot hand ( 31 ) of a six-axis articulated arm robot ( 30 ).
  • the positioning scaffold ( 1 ) has a three-dimensional rod assembly, which is known per se and comprises intersecting or longer scaffold poles ( 3 ), which are connected to a central support body ( 2 ).
  • the scaffold poles ( 3 ) are anchored floatingly at webs ( 5 ), which are located at the central support body ( 2 ).
  • the central support body ( 2 ) is therefore formed from lightweight material, especially manufactured from a light metal casting part.
  • the webs ( 5 ) extend on one side from the base plate ( 9 ) of the support body ( 2 ). As is clearly shown in FIG. 2 , the webs ( 5 ) have rod mounts ( 8 ), whose circumference is adapted to the cross section of the scaffold pole to be connected.
  • the webs ( 5 ) thus form the lower, stationary part of a clamping element ( 4 ), which comprises the said lower part and a clip ( 11 ), between which the scaffold pole ( 3 ) is firmly clamped.
  • Another scaffold pole ( 3 ), in which a web ( 5 ) is used as a base plate for the screw ( 23 ) connection of a clip ( 11 ) for bracing a scaffold pole ( 3 ), may be arranged in parallel hereto according to FIG. 1 .
  • Two webs ( 5 ), which are arranged in parallel to one another and of which only one has a centering ( 6 , 7 ), are provided in this case as well.
  • Outwardly projecting webs ( 5 , 14 ) are provided on both outer sides ( 12 , 13 ) of the central support body ( 2 ) in the example according to FIG. 3 .
  • the outwardly projecting webs ( 14 ) are provided for mounting a connecting rod ( 15 ), which has causally the task of fixing the position of a projecting scaffold pole ( 3 ).
  • What is not shown in FIG. 3 shows that the connection rod ( 15 ) is fixed in the right-hand part of the figure, which is not shown, by an outer web ( 14 ).
  • outer webs ( 14 ) may also be provided to mount floating scaffold poles ( 3 ), without these having to be used to stabilize the original scaffold pole ( 3 ).
  • FIGS. 13 and 14 show such an arrangement.
  • a clamping element ( 4 ) for receiving a transversely positioned scaffold pole ( 3 ) can be arranged at right angles to the scaffold pole ( 3 ).
  • the outline of a central support body ( 2 ) may consist of webs ( 5 ) arranged in parallel to one another and that scaffold poles ( 3 ) arranged three-dimensionally can be connected to the support body ( 2 ).
  • Perforations ( 21 ) may be present between the individual webs ( 5 ) in order to reduce the weight of the individual support body ( 2 ).
  • FIG. 5 shows a clamping element ( 4 ), whose base plate ( 22 ) is fastened by means of a screw ( 25 ) to a machined surface ( 26 ) of the support body ( 2 ).
  • the base plate ( 22 ) of the clamping element ( 4 ) has a central centering hole ( 7 ), through which extends a centering pin ( 6 ), which connects, on the one hand, the base plate ( 9 ) of the support body ( 2 ) to the scaffold pole ( 3 ) via the base plate ( 22 ) of the clamping element ( 4 ).
  • the axial mounting of the scaffold pole ( 3 ) at the support body ( 2 ) is thus centered.
  • FIG. 6 shows, in addition to FIG. 3 , an arrangement of the central support body ( 2 ), to the machined surface ( 26 ) of which a molding ( 24 ) is fastened by means of a screw connection ( 25 ), which molding has upright webs ( 5 ).
  • An individual scaffold pole ( 3 ) is fastened in these webs ( 5 ) in the manner described in the introduction.
  • the molding ( 24 ) preferably consists of a light metal casting, into which the rod mounts ( 8 ) according to FIG. 2 are introduced.
  • the molding ( 24 ) may also be manufactured by machining.
  • FIG. 7 shows the top view of a support body ( 2 ), in the center of which a flange plate ( 19 ) with the screw connections ( 20 ) for fastening to an industrial robot is located.
  • FIG. 8 shows in a cross section herefor that the flange plate ( 19 ) may be thickened and reinforced with ribs ( 27 ) opposite the webs ( 5 ).
  • the partial section of a support body ( 2 ) according to FIG. 10 shows a transverse arrangement of different webs ( 5 ) with their rod mounts ( 8 ), which represents another variant to the arrangement of a three-dimensional rod assembly.
  • the parallel webs ( 5 ) are arranged at a short distance from one another, which is substantially smaller than the extension of the support body ( 2 ) in the direction of the distance.
  • the distance between the webs is selected to be such that it corresponds to the necessary span for the floating mounting of the scaffold poles ( 3 ). This applies to both the webs ( 5 ) of the support body ( 2 ) formed integrally at the base plate ( 9 ) and the webs ( 5 ) of the separate molding ( 24 ), which is screwed or connected in any other desired manner to the support body ( 2 ) or the base plate ( 9 ) thereof.
  • the parallel webs ( 5 ) form a double clamping means ( 32 ) with the correspondingly narrow clips ( 11 ) with a pair of spaced clamping points ( 4 ) for the floating mounting of the rods.
  • the double clamping means ( 32 ) are preferably arranged at the edge ( 18 ) of the support body ( 2 ) or in the area adjacent to the said support body ( 2 ).
  • FIGS. 4, 6 and 13 , 14 show this arrangement.
  • the support body ( 2 ) is designed as a web plate with the said base plate ( 9 ) and preferably webs ( 5 ) extending away therefrom at right angles.
  • the drawings show different exemplary embodiments herefor.
  • FIGS. 13 and 14 show such a web plate with view of the top side and the underside in a perspective view.
  • the webs ( 5 ) may be located on one or both outer sides or surfaces ( 12 , 13 ) of the base plate ( 9 ).
  • a web ( 16 ) located on the outside which is arranged on the circumference or the edge ( 18 ) of the preferably rectangular base plate ( 9 ) in a circular pattern and forms a kind of frame.
  • the webs ( 17 ) located on the inner side which are arranged in parallel thereto, preferably have all the same distance from the outer web ( 16 ) and are arranged in the pattern of a latticework, which mutually intersect each other. As is illustrated especially in FIGS.
  • the distance between the outer and inner webs ( 16 , 17 ) is selected to be such that at least one rod mount ( 8 ) and a scaffold pole ( 3 ) that can be fastened there can be accommodated between them. Due to the intersecting inner webs ( 17 ), the support body ( 2 ) is additionally reinforced.
  • the rectangular elongated support body ( 2 ) shows, analogously to FIG. 8 , inner webs ( 17 ) extending longitudinally and transversely on the top side ( 12 ). Only transversely extending inner webs ( 17 ) are present on the underside ( 13 ) on the narrow sides of the support body ( 2 ). Scaffold poles ( 3 ) may be fastened floatingly on the top side ( 12 ) on all four sides of the support body ( 2 ). Floating mounting of additional scaffold poles ( 3 ) extending along the support body ( 2 ) is possible on the underside ( 13 ). Rod mounts ( 8 ) that are flush in height at the top and at the bottom are present at the webs ( 5 , 16 , 17 ) at the front sides or narrow sides of the support body ( 2 ).
  • the support body ( 2 ) may be used when needed.
  • the base plate ( 9 ) has a plurality of perforations ( 21 ) on the entire surface, the remaining plate areas having reinforcing ribs ( 27 ).
  • FIGS. 13 and 14 illustrate, furthermore, that the webs ( 5 , 16 , 17 ) may have a plurality of prefabricated rod mounts ( 8 ) with screw holes ( 10 ) and partly with prepared insertion holes for centering pins ( 6 ).
  • the scaffold poles ( 3 ) may be fastened with clips ( 11 ) here when needed and at the desired site.
  • the rod mounts ( 8 ) and the holes may be machined from the material of the web or formed there integrally during the manufacture of the support body ( 2 ). As an alternative, they may be in the form of prepared inserts, which optionally consist of another material and are mounted into fitting recesses of the web.
  • the webs ( 16 ), which are located on the outside and project away from the base plate ( 9 ) in one direction or two directions, are, furthermore, advantageous for the arrangement of scaffold poles ( 3 ), which extend at right angles to the direction of the plate, as this is shown in FIGS. 8 and 10 .
  • Webs ( 5 ) located at mutually spaced locations from one another, which receive the transversely located scaffold pole ( 3 ), may extend at mutually spaced locations from the ends of these outer webs ( 16 ) at right angles thereto.
  • such a web ( 16 ) may form a fastening surface for a molding ( 24 ) provided with webs ( 5 ) or for a so-called clamping element ( 4 );
  • the clips ( 11 ) are fastened in threaded holes ( 10 ) at the webs ( 5 ) by means of screw connections ( 23 ) in these and in other cases as well.
  • the clips ( 11 ) preferably have essentially the same width as the webs ( 5 , 14 , 16 , 17 ) and have the same shell shape as the rod mounts ( 8 ). Their length may optionally be reduced, so that a gap and a clamping action develop at the connection point.
  • positive-locking connection means ( 6 , 7 ) may likewise be used here for determining and fixing the position of the transversely located scaffold poles ( 3 ). The arrangement is similar to that in FIG. 5 .

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Mutual Connection Of Rods And Tubes (AREA)
US10/570,284 2003-08-29 2004-08-20 Supporting body for scaffold poles of a position scaffolding Abandoned US20070023235A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE20313551.2 2003-08-29
DE20313551U DE20313551U1 (de) 2003-08-29 2003-08-29 Bausatz zur Bildung eines räumlichen Gestänges für das Positionieren von Arbeitselementen
PCT/EP2004/009343 WO2005028167A1 (de) 2003-08-29 2004-08-20 Tragkörper für gerüststangen eines positioniergerüsts

Publications (1)

Publication Number Publication Date
US20070023235A1 true US20070023235A1 (en) 2007-02-01

Family

ID=34042335

Family Applications (1)

Application Number Title Priority Date Filing Date
US10/570,284 Abandoned US20070023235A1 (en) 2003-08-29 2004-08-20 Supporting body for scaffold poles of a position scaffolding

Country Status (4)

Country Link
US (1) US20070023235A1 (de)
EP (1) EP1677952A1 (de)
DE (1) DE20313551U1 (de)
WO (1) WO2005028167A1 (de)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013131081A1 (en) * 2012-03-02 2013-09-06 Magna International Inc. Robotic end effector tool with one piece fixed frame system
TWI656004B (zh) * 2018-08-16 2019-04-11 聯毅科技股份有限公司 夾取機構
CN114278070A (zh) * 2021-12-22 2022-04-05 上海建工五建集团有限公司 悬挑梁定位装置及其使用方法

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202007004183U1 (de) 2007-03-16 2008-08-07 Kuka Systems Gmbh Rahmungseinrichtung
EP2292381A1 (de) 2009-09-02 2011-03-09 System 3R Schweiz AG Spannsystem für Werkstücke

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2233901A (en) * 1939-09-12 1941-03-04 Scacchetti John System of adaptable elements for temporary or permanent structural framing
US2906551A (en) * 1958-08-04 1959-09-29 Tubular Structures Corp Of Ame Clamping devices
US4214841A (en) * 1977-06-20 1980-07-29 Hayashi Henry T Clamp-connector for joining three tubular members at corners
US4566819A (en) * 1982-03-01 1986-01-28 Aluma Systems, Incorporated Clamp for shoring and scaffolding frames
US5090839A (en) * 1989-03-03 1992-02-25 Aktiebolaget Electrolux Supporting device for a steering mechanism
US20030034602A1 (en) * 2001-08-18 2003-02-20 Kavanaugh Chris J. Universal holding fixture

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BE526473A (de) * 1953-02-13
DE20000645U1 (de) * 2000-01-15 2001-05-17 Kuka Schweissanlagen Gmbh Positioniergerüst
DE20004369U1 (de) * 2000-03-10 2001-07-19 Kuka Schweissanlagen Gmbh Positioniergerüst
DE10014785C1 (de) * 2000-03-24 2001-09-20 Rieger Dieter Heinz Modular aufbaubare Tragvorrichtung zum Tragen von Werkzeugen, Werkstücken oder dgl.
DE20017129U1 (de) * 2000-10-05 2000-12-28 Tuenkers Maschinenbau Gmbh Modular aufgebautes Greifersystem zur Verwendung im Karosseriebau der Kfz-Industrie
DE10064974A1 (de) * 2000-12-23 2002-07-25 Thyssenkrupp Technologies Ag Vorrichtung zur Verbindung von Trägerrohren und modulares Greifersystem unter Anwendung dieser Vorrichtung
DE20317208U1 (de) * 2003-11-05 2004-02-12 Horst Witte, Entwicklungs- Und Vertriebs Kg Vorrichtung zur Aufnahme von Werkstücken

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2233901A (en) * 1939-09-12 1941-03-04 Scacchetti John System of adaptable elements for temporary or permanent structural framing
US2906551A (en) * 1958-08-04 1959-09-29 Tubular Structures Corp Of Ame Clamping devices
US4214841A (en) * 1977-06-20 1980-07-29 Hayashi Henry T Clamp-connector for joining three tubular members at corners
US4566819A (en) * 1982-03-01 1986-01-28 Aluma Systems, Incorporated Clamp for shoring and scaffolding frames
US5090839A (en) * 1989-03-03 1992-02-25 Aktiebolaget Electrolux Supporting device for a steering mechanism
US20030034602A1 (en) * 2001-08-18 2003-02-20 Kavanaugh Chris J. Universal holding fixture

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013131081A1 (en) * 2012-03-02 2013-09-06 Magna International Inc. Robotic end effector tool with one piece fixed frame system
US9802325B2 (en) 2012-03-02 2017-10-31 Magna International Inc. Robotic end effector tool with one piece fixed frame system
TWI656004B (zh) * 2018-08-16 2019-04-11 聯毅科技股份有限公司 夾取機構
CN114278070A (zh) * 2021-12-22 2022-04-05 上海建工五建集团有限公司 悬挑梁定位装置及其使用方法

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Publication number Publication date
WO2005028167A1 (de) 2005-03-31
DE20313551U1 (de) 2005-01-05
EP1677952A1 (de) 2006-07-12

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AS Assignment

Owner name: KUKA SCHWEISSANLAGEN GMBH, GERMANY

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:NUCHTER, ELMAR;KIKUT, BOTHO;REEL/FRAME:017637/0585

Effective date: 20060217

AS Assignment

Owner name: KUKA SYSTEMS GMBH, GERMANY

Free format text: CHANGE OF NAME;ASSIGNOR:KUKA SCHWEISSANLAGEN GMBH;REEL/FRAME:020012/0210

Effective date: 20070813

Owner name: KUKA SYSTEMS GMBH,GERMANY

Free format text: CHANGE OF NAME;ASSIGNOR:KUKA SCHWEISSANLAGEN GMBH;REEL/FRAME:020012/0210

Effective date: 20070813

STCB Information on status: application discontinuation

Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION