WO2005028167A1 - Tragkörper für gerüststangen eines positioniergerüsts - Google Patents
Tragkörper für gerüststangen eines positioniergerüsts Download PDFInfo
- Publication number
- WO2005028167A1 WO2005028167A1 PCT/EP2004/009343 EP2004009343W WO2005028167A1 WO 2005028167 A1 WO2005028167 A1 WO 2005028167A1 EP 2004009343 W EP2004009343 W EP 2004009343W WO 2005028167 A1 WO2005028167 A1 WO 2005028167A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- support body
- webs
- body according
- rod
- scaffold
- Prior art date
Links
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
- Support body for scaffolding rods of a positioning scaffold / The invention relates to a support body for
- Scaffolding bars for forming a positioning scaffold with the features in the preamble of the main claim are provided.
- Such a positioning frame with a supporting body is known from DE 200 00 645 Ul.
- the central support body can be connected to a robot or the like.
- the positioning scaffold consists of one or more primarily tubular scaffold poles, which form a spatial linkage, carry several working elements and are connected to the supporting body.
- the scaffolding rods extend continuously over the supporting body and are fastened in the center of the supporting body by means of widely spaced clamp fastenings.
- the invention is therefore based on the object to show a better support body and to reduce the repair effort damage.
- the advantage of the claimed technology with the double locking devices is that the individual scaffolding rods can be arranged overhung on the supporting body, so that in the event of a robot crash, only the single overhung scaffolding rod must be repaired or replaced, which is the case when the individual scaffolding rods are connected can be done particularly easily with the support body.
- a base plate and webs molded or attached to it, which serve for stiffening is used as the supporting body.
- two parallel and adjacent webs can be used to attach a scaffold bar.
- this webs are only one of these webs with positive
- the positive connection means are known from DE 200 00 645. They consist of one
- Centering bolt which is inserted into suitable centering bores of the parts to be connected to one another, with the function being necessary that only one of these webs is connected to these form-fitting connecting means.
- the webs of the support body are preferably provided with semi-circular Ausnehr ⁇ Institut, in which the scaffolding rods are guided and through the
- a single supporting body which preferably consists of a light metal cast part, can thus be used modularly, by milling the receptacle for the scaffolding rod from case to case, it being reserved in individual cases whether the milling is semicircular or prismatic, depending on the cross section of the scaffolding rod he follows.
- this measure also offers the possibility of arranging parallel scaffolding rods on one upper side and the lower side of the supporting body, which have a stabilizing effect, which can be the case in particular with widely protruding constructions.
- this possibility of arranging webs on both sides on the upper sides of the supporting body offers the possibility of arranging scaffolding rods in opposite directions.
- recesses can be provided in the base plate of the support body between the outer web pairs. This helps to save weight on the supporting body.
- the webs are stiffened with one another by ribs, which promotes the stability of the support body.
- a connection for connection to a robot is preferably provided in the central area of the support body. It is advisable to thicken the flange plate used for this purpose on the base plate of the support body in order to bring about an increased rigidity of the connection. At the same time, it is advisable to stiffen the flange plate against the internal webs using radial ribs.
- the supporting body has flange surfaces for the attachment of other separate double clamping devices with clamping elements, which allow an arrangement of scaffolding bars transversely to the position of the scaffolding bars anchored in the webs.
- clamping elements can have a shaped body, which has a base plate for attachment to the supporting body and two parallel spaced webs, in which there are open-sided recesses for receiving a scaffold rod, the connection of the shaped body with the
- Such an arrangement can increase the stability of the support body, so that it only needs to be formed as a metal plate.
- the positive connection means consist of dowel pin and dowel hole, the dowel pin the base plate, optionally the web of the lower part of the clamping element and the associated
- Scaffold rod at least partially penetrates to form the positive connection.
- FIG. 1 shows a cross section through a supporting body with webs extending on one side for receiving a scaffold rod
- FIG. 2 a cross section along the line II-II through the support body according to FIG. 1,
- FIG. 3 a vertical section through a support body with webs arranged on both sides
- FIG. 4 a top view of a support body with webs arranged parallel to one another
- FIG. 5 shows a cross section through a clamping element flanged to the supporting body along the line V-V according to FIG. 4, FIG.
- FIG. 6 a longitudinal section through a support body with a molded body molded on one side
- Figure 7 a plan view of a support body with either longitudinally and transversely extending webs and a flange plate
- FIG. 8 cross section through the support body according to FIG. 7 along the line VIII-VIII,
- FIG. 9 top view of a supporting body with crossing webs and diagonal ribs
- FIG. 10 a partial section through a support body with crosspieces arranged transversely to one another
- FIG. 11 a robot with a positioning frame
- FIG. 12 the positioning scaffold with a supporting body and scaffold rods mounted on the fly in a bottom view according to arrow XII of FIG. 11,
- Figure 13 a support body in a perspective view of the top
- Figure 14 the support body of Figure 13 in a perspective view of the bottom.
- the present application relates to a positioning scaffold (1), which is guided by a manipulator (30), preferably a multi-axis industrial robot, and consists of several scaffolding bars (3) and a supporting body (2).
- Working elements (29) can be mounted on the scaffolding bars (3), e.g. can be grippers, clamps, suction cups or other functional elements.
- a positioning frame (1) preferably serves as a gripping device (28) for components (33), in particular body components of vehicles, and its basic structure is known from DE 200 00 645 01.
- FIGS. 11 and 12 show the positioning frame (1) and its connection with the robot hand (31) of a six-axis articulated arm robot (30).
- the positioning scaffold (1) has a spatial linkage known per se, which consists of intersecting or longer scaffold poles (3) which are connected to a central supporting body (2).
- the scaffolding rods (3) are anchored on the fly to webs (5) which are located on the central supporting body (2).
- the central supporting body (2) is made of lightweight material, in particular made of a light metal casting.
- the webs (5) extend on one side from a base plate (9) of the support body (2).
- the webs (5) have rod receptacles (8), the circumference of which
- the webs (5) thus form the lower, stationary part of a clamping element (4), which consists of said lower part and a clamp (11), between which the scaffold rod (3) is clamped.
- each scaffold rod (3) there are two webs (5) arranged in parallel and at a distance from one another, of which form-fitting centering means in the form of a single web (5)
- Centering hole (7) and a centering pin (6) are provided.
- the adjacent web (5) is only intended to secure the position of the scaffold bar (3).
- a further scaffold rod (3) can be arranged in the sense of FIG. 1, in which a web (5) is used as the basis for the screw (23) fastening of a clamp (11) for bracing a scaffold rod (3).
- two webs (5) arranged parallel to one another are provided, only one of which has the centering (6, 7).
- webs (5, 14) projecting outwards are provided on both outer sides (12, 13) of the central support body (2).
- the outwardly projecting webs (14) are for receiving a Connecting rod (15) is provided, which causally has the task of fixing a protruding scaffolding rod (3) in position.
- Figure 3 shows that the connecting rod (15) is fixed to the right part of the figure, not shown, by an external web (14).
- Scaffolding rod (3) a clamping element (4) for receiving a transverse scaffolding rod (3) can be arranged.
- FIG. 4 also shows that the floor plan of a central one
- Support body (2) can consist of parallel webs (5) and that three-dimensionally arranged scaffolding bars (3) can be connected to the support body (2).
- Openings (21) can be present between the individual webs (5) in order to reduce the weight of the individual supporting body (2).
- a clamping element (4) is shown, the base plate (22) of which is fastened by screws (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 a centering pin (6) extends which, on the one hand, the base plate (9) of the supporting body (2) over the base plate (22) of the clamping element (4 ) with the Scaffold rod (3) connects. This provides centering for the axial mounting of the scaffold rod (3) on the support body (2).
- FIG. 6 shows an arrangement of the central support body (2), on the surface (26) of which is machined by machining, a molded body (24) is fastened via the screw connection (25) and has upright webs (5).
- a single scaffold rod (3) is fastened in these webs (5) in the form described above.
- the shaped body (24) in the exemplary embodiment preferably consists of a light metal cast body, into which the rod receptacles (8) according to FIG. 2 are introduced.
- the molded body (24) can also be produced using cutting technology.
- FIG. 7 the top view of a support body (2) is shown, in the center of which there is a flange plate (19) with the screw connections (20) for attachment to an industrial robot.
- FIG. 8 shows in cross section that the flange plate (19) is thickened and stiffened with ribs (27) in relation to the webs (5).
- a partial arrangement of different webs (5) with their rod receptacles (8) can be seen from the partial section of a support body (2) according to FIG. 10, which represents a further variant for arranging a spatial linkage.
- the parallel webs (5) are arranged at a short distance from one another, which is considerably smaller than the extent of the support body (2) in the direction of the distance.
- the spacing of the bars is chosen so that it corresponds to the required span for the flying storage of the scaffolding poles (3). This applies both to the webs (5) of the supporting body molded onto the base plate (9) (2), as well as for the webs (5) of the separate shaped body (24), which is screwed to the supporting body (2) or its base plate (9) or connected in any other way.
- the parallel webs (5) with the correspondingly narrow clamps (11) form a double clamping device (32), each with a pair of distant clamping points (4) for the flying rod bearing.
- the double clamping devices (32) are preferably arranged on the edge (18) of the support body (2) or in its adjacent area. Figures 4, 6 and 13, 14 show this arrangement.
- the support body (2) is designed as a web plate with said base plate (9) and preferably webs (5) projecting perpendicularly therefrom.
- the drawings show various exemplary embodiments. Such a multi-wall sheet is shown in perspective with a view of its top and bottom in FIGS.
- the webs (5) can be on one or both. Outside or surfaces (12, 13) of the base plate (9).
- 1 and 9 there is at least on one side of the base plate (9) an outer web (16) which is arranged circumferentially on the circumference or edge (18) of the preferably rectangular base plate (9) and a kind Frame.
- the inner webs (17) arranged parallel to it all preferably have the same distance from the outer web (16) and are arranged in the manner of a truss, where they cross each other.
- the distance between the outer and inner webs (16, 17) is so large that there is space for at least one bar receptacle (8) and a scaffold bar (3) that can be fastened there. Due to the intersecting inner webs (17), the support body (2) additionally stiffened.
- the right-angled elongated support body (2) from FIGS. 13 and 14 shows, analogously to FIG. 8, longitudinal and transverse inner webs (17) on the upper side (12).
- On the end faces or narrow sides of the supporting body (2) there are bar receptacles (8) aligned at the top and bottom of the webs (5, 16, 17).
- the support body (2) can be turned if necessary.
- the base plate (9) has a large number of openings (21) on the entire surface, the remaining plate regions having reinforcing ribs (27).
- FIGS. 13 and 14 further illustrate that the webs (5, 16, 17) can have a large number of prefabricated rod receptacles (8) with screw holes (10) and in some cases with prepared insertion holes for centering pins (6). If necessary and at the desired location, the scaffolding poles (3) can be fastened here with clamps (11). The rod receptacles (8) and the holes can be machined from the web material or molded in there during the manufacture of the support body (2).
- they can be in the form of prepared inserts, which may be made of a different material and which are installed in suitable bar openings.
- outer webs (16) projecting to one or two sides from the base plate (9) are also advantageous for the arrangement transverse to the plate direction extending scaffolding rods (3), as shown in Figures 8 and 10. From the ends of these outer webs (16), webs (5) can extend transversely to each other, which receive the transverse scaffold rod (3). Alternatively, one such
- Web (16) form a fastening surface for a molded body (24) provided with webs (5) or a so-called clamping element (4).
- the clamps (11) are fastened to the webs (5) by means of screw connections (23) in threaded bores (10).
- the clamps (11) preferably have essentially the same width as the webs (5, 14, 16, 17) and have the same shell shape as the rod receptacles (8). They may be shortened in length, so that a gap and a tensioning effect occur at the connection point.
- form-fitting connecting means (6, 7) can also be used to determine the position and position of the transverse scaffolding bars (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)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP04764327A EP1677952A1 (de) | 2003-08-29 | 2004-08-20 | Tragkörper für gerüststangen eines positioniergerüsts |
US10/570,284 US20070023235A1 (en) | 2003-08-29 | 2004-08-20 | Supporting body for scaffold poles of a position scaffolding |
Applications Claiming Priority (2)
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 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005028167A1 true WO2005028167A1 (de) | 2005-03-31 |
Family
ID=34042335
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2004/009343 WO2005028167A1 (de) | 2003-08-29 | 2004-08-20 | Tragkörper für gerüststangen eines positioniergerüsts |
Country Status (4)
Country | Link |
---|---|
US (1) | US20070023235A1 (de) |
EP (1) | EP1677952A1 (de) |
DE (1) | DE20313551U1 (de) |
WO (1) | WO2005028167A1 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE202007004183U1 (de) | 2007-03-16 | 2008-08-07 | Kuka Systems Gmbh | Rahmungseinrichtung |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2292381A1 (de) | 2009-09-02 | 2011-03-09 | System 3R Schweiz AG | Spannsystem für Werkstücke |
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 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE20017129U1 (de) * | 2000-10-05 | 2000-12-28 | Tünkers Maschinenbau GmbH, 40880 Ratingen | Modular aufgebautes Greifersystem zur Verwendung im Karosseriebau der Kfz-Industrie |
DE20004369U1 (de) * | 2000-03-10 | 2001-07-19 | KUKA Schweissanlagen GmbH, 86165 Augsburg | Positioniergerüst |
DE10014785C1 (de) * | 2000-03-24 | 2001-09-20 | Rieger Dieter Heinz | Modular aufbaubare Tragvorrichtung zum Tragen von Werkzeugen, Werkstücken oder dgl. |
DE10064974A1 (de) * | 2000-12-23 | 2002-07-25 | Thyssenkrupp Technologies Ag | Vorrichtung zur Verbindung von Trägerrohren und modulares Greifersystem unter Anwendung dieser Vorrichtung |
Family Cites Families (9)
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 |
BE526473A (de) * | 1953-02-13 | |||
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 |
SE465069B (sv) * | 1989-03-03 | 1991-07-22 | Electrolux Ab | Upphaengningsanordning foer styre |
DE20000645U1 (de) * | 2000-01-15 | 2001-05-17 | KUKA Schweissanlagen GmbH, 86165 Augsburg | Positioniergerüst |
US20030034602A1 (en) * | 2001-08-18 | 2003-02-20 | Kavanaugh Chris J. | Universal holding fixture |
DE20317208U1 (de) * | 2003-11-05 | 2004-02-12 | Horst Witte, Entwicklungs- Und Vertriebs Kg | Vorrichtung zur Aufnahme von Werkstücken |
-
2003
- 2003-08-29 DE DE20313551U patent/DE20313551U1/de not_active Expired - Lifetime
-
2004
- 2004-08-20 US US10/570,284 patent/US20070023235A1/en not_active Abandoned
- 2004-08-20 WO PCT/EP2004/009343 patent/WO2005028167A1/de active Application Filing
- 2004-08-20 EP EP04764327A patent/EP1677952A1/de not_active Withdrawn
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE20004369U1 (de) * | 2000-03-10 | 2001-07-19 | KUKA Schweissanlagen GmbH, 86165 Augsburg | 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 | Tünkers Maschinenbau GmbH, 40880 Ratingen | 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 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE202007004183U1 (de) | 2007-03-16 | 2008-08-07 | Kuka Systems Gmbh | Rahmungseinrichtung |
DE202008018124U1 (de) | 2007-03-16 | 2011-12-28 | Kuka Systems Gmbh | Roboter mit Fügewerkzeug |
US8365386B2 (en) | 2007-03-16 | 2013-02-05 | Kuka Systems Gmbh | Connection process and framing device |
Also Published As
Publication number | Publication date |
---|---|
DE20313551U1 (de) | 2005-01-05 |
EP1677952A1 (de) | 2006-07-12 |
US20070023235A1 (en) | 2007-02-01 |
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