WO2011071450A1 - Dispositif d'assemblage pour l'assemblage de sections/poutres/bras à une fixation - Google Patents

Dispositif d'assemblage pour l'assemblage de sections/poutres/bras à une fixation Download PDF

Info

Publication number
WO2011071450A1
WO2011071450A1 PCT/SE2010/051364 SE2010051364W WO2011071450A1 WO 2011071450 A1 WO2011071450 A1 WO 2011071450A1 SE 2010051364 W SE2010051364 W SE 2010051364W WO 2011071450 A1 WO2011071450 A1 WO 2011071450A1
Authority
WO
WIPO (PCT)
Prior art keywords
sections
arm
attachment
joints
girders
Prior art date
Application number
PCT/SE2010/051364
Other languages
English (en)
Inventor
Bertil Olsson
Christian Olsson
Markus Olsson
Original Assignee
Tetrafix Ab
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 Tetrafix Ab filed Critical Tetrafix Ab
Priority to EP10836293.0A priority Critical patent/EP2509754A4/fr
Publication of WO2011071450A1 publication Critical patent/WO2011071450A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B23Q1/4852—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair
    • B23Q1/4857—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair followed perpendicularly by a single rotating pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/5406—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only a single rotating pair followed perpendicularly by a single rotating pair
    • B23Q1/5425—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only a single rotating pair followed perpendicularly by a single rotating pair followed perpendicularly by a single sliding pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B7/00—Connections of rods or tubes, e.g. of non-circular section, mutually, including resilient connections
    • F16B7/04—Clamping or clipping connections
    • F16B7/044—Clamping or clipping connections for rods or tubes being in angled relationship
    • F16B7/048—Clamping or clipping connections for rods or tubes being in angled relationship for rods or for tubes without using the innerside thereof
    • F16B7/0486—Clamping or clipping connections for rods or tubes being in angled relationship for rods or for tubes without using the innerside thereof forming an abutting connection of at least one tube
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/16—Details concerning attachment of head-supporting legs, with or without actuation of locking members thereof

Definitions

  • the present invention relates to a device for the connection of sections/girders/arms, etc.
  • the invention is intended to be applied to, among other things, robots and more precisely then in the design of robot end of arm toolings (BOAT) (robot grippers) with the purpose of minimizing consumption of material and weight in relation to strength, allowing quick construction work and repair of the robot EOAT, increasing the precision of the functions of the robot EOAT, decreasing space requirement, shortening cycle times, decreasing the need of large robots, and lowering manufacturing costs.
  • BOAT robot end of arm toolings
  • the robot EOAT is intended to be used in applications wherein today, heavier robot EOAT of preferably aluminium and steel are used. Robot EOAT are preferably used to handle, and operate on, components in the manufacturing industry .
  • Today's robot EOAT are often unnecessary large, often difficult to build, difficult to repair, weigh much, and are expensive to construct. In certain cases, the EOAT may be ever so expensive and impossible to change. Acceleration and skidding of heavy robot EOAT often means high energy
  • the two robot arms that are previously known by WO 2006/062466A1 as well as US 4,732,525A have four force transmitting sections having the purpose of allowing dynamic movement of a tool or a function.
  • the device according to the present invention has only three legs that manage more degrees of freedom.
  • the object of the device according to the present invention is to be able to reach any point with any orientation and lock the setting. When screws are tightened, "the package” is locked very efficiently and the location and the orientation become permanent until the screws are loosened. In this way, an extremely stable fixation with a minimal use of material is obtained, which is not accomplished in the other solutions.
  • the main object of the present invention is primarily to provide a device that solves, among others, the above-mentioned problems in an efficient and reliable way. Said object is achieved by means of a device according to the present invention that essentially is
  • respective fastener is formed of joints that are pivotably mounted and allowed to be adjusted into the desired direction and locking in desired positions, and which consist of each a swivel that is arranged to be lockable in order to prevent turning of included parts in relation to each other, several of said arms, etc., being constructed so that essentially only tensile and compressive forces are initiated in the structure of said attachment and that each arm, etc., in the joints is arranged to be directed at optional angles to a neighbouring joint and/or endpoint and allow six different degrees of freedom.
  • Fig. 1 shows in perspective a connection according to the invention obliquely from the front
  • Figs. 2 and 3 schematically show fittings in the connection in different positions
  • Figs. 4-6 show additional views of connections
  • Figs. 7-9 show examples of a coupling member of the connection
  • Fig. 10 shows an example of known robot EOAT applied to an industrial robot.
  • each section/girder is put together so that almost only tensile and compressive forces are initiated in the structure of the robot EOAT and that, in the joints, each section/girder can be directed at optional angles to next joint alternatively endpoint. This applies to a robot not illustrated with the invention applied.
  • the attachment point for the robot consists of a rim, a first rim, having attachment means all around for sections/girders. At a suitable distance from said first rim, an additional rim having attachment means for sections/girders may be placed.
  • the two rims may be locked to each other via spacing elements.
  • the spacing elements may consist of either sections/girders or some form of cylinder. Two rims and the spacing elements between the same may also be made in a single piece .
  • the spacing elements By forming the spacing elements so that the distance between the sections can be increased/decreased dynamically, a certain alteration of the length of the girder can be provided and controlled.
  • the shape of the spacing elements may be changed and controlled in many ways. Common to the elements is, however, that they operate from the centre of the girder.
  • the longitudinal sections may preferably consist of "pultrusion composite profiles" and the sections should have a great content of carbon fibre.
  • the sections may be cut and attached to the spacing elements and their ends and extend straight between the spacing elements.
  • a fixed arm for free quick flexible location and orientation of a fastener for tools, suction cup, gripping devices, self-grip wrench, guiding, welding pistol, nozzle, cameras, etc. is intended.
  • the arm may be included as a part of a robot EOAT, jig, david arm or fixture, or function as a stand and may comprise an adjustable link for free directing of arm, section, girder, etc., from a given point to another optional point.
  • the invention relates to a joint/fastener adjustable in several directions for miscellaneous tools, etc.
  • the joint has three fasteners for the coupling to three arms the purpose of which is to be a link between stands and the joint.
  • a fourth fastener constitutes an interface for tools, etc .
  • the advantages of the design of the joint are several. Among other things, the adjustment of the joint into the correct position and orientation can be made very fast and easily, and the joint has high strength in relation to the used amount of material.
  • the invention comprises a device 1 for the connection of sections/girders, arms, etc., 2, 3, 4, and to an attachment 5 from a robot or some other tool or item, at least three fasteners 6, 7, 8 extend, intended for the coupling to each an arm, section, girder, 2-4 or the like.
  • the respective fastener 6-8 is formed of joints that are pivotably mounted and allowed to be adjusted into the desired direction 9, 10, 11 and locking in desired positions I, II, III.
  • each of said arms, etc., 2-4 are constructed so that essentially only tensile and compressive forces D, T are initiated in the structure 6-8 of said attachment 5, and that each arm, etc., 2-4 in the joints is arranged to be directed at optional angles to a neighbouring joint and/or endpoint.
  • the attachment 5 of a robot, etc. consists of a first rim having attachments all around for sections/girders 2-4, and that a second rim (not shown) is situated at a
  • the two rims are arranged to be locked to each other via spacing elements in the form of sections/girders or a cylinder, the spacing elements being made in one piece.
  • said spacing elements are formed so that the distance between the sections 2-4 is arranged to be increased/decreased dynamically, whereby a certain alteration of the length of the girder is arranged to be provided as well as controlled.
  • Said spacing elements are arranged so that they operate essentially from the centre 12 of the girder, etc., 2-4.
  • the joints 6-8 have three fasteners that are arranged for the interconnection with each an arm 2-4 in order to reach a stand, as well as that a fourth fastener is arranged to constitute a so-called interface for a tool in question, etc.
  • Said joints 6-8 are suitably formed of turnable disc clutch parts .
  • One of said fasteners 6 is situated on a level different from said paired fasteners 7, 8 and is situated between said paired fasteners 7, 8 situated on a common level and the fourth fastener 5, which preferably is formed of an attachment in the form of a first rim 5 having attachments all around .
  • the device 1 comprises a fixed arm, which is intended for free, quick and flexible location and orientation of a fastener for tools or suction cup, gripping devices, self-grip wrench, guiding, welding pistol, nozzle, camera, etc., and that is included as a part of a robot EOAT, jig, david arm, fixture or a stand and as an adjustable link, respectively, in order to provide free directing of an arm, section, girder, etc., from a given point to another optional point.
  • a fixed arm which is intended for free, quick and flexible location and orientation of a fastener for tools or suction cup, gripping devices, self-grip wrench, guiding, welding pistol, nozzle, camera, etc.
  • a robot EOAT jig, david arm, fixture or a stand and as an adjustable link, respectively, in order to provide free directing of an arm, section, girder, etc., from a given point to another optional point.
  • a hinge 20 that can be applied to provide articulated locking at the joints 6-8 in question between the included attachment 5 and angle bearing brackets 21, 22, respectively, where disc clutch parts 23, 24... are interconnected hard and unturnably.
  • Said hinge 20 comprises two parts 20A, 20B unturnably interconnectable with each other, which are pressed together by a threaded screw 25 and where congruent lock lugs 26, 27 are interconnected and prevent turning of the parts in relation to each other in the locked position V.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)

Abstract

L'invention porte sur un dispositif (1) pour l'assemblage de sections, etc. Selon l'invention, au moins trois organes de fixation (6-8) s'étendent pour l'accouplement à chacun d'un bras (2-4) ou analogue à partir d'une fixation (5) destinée pour un robot, etc. L'organe de fixation respectif (6-8) est formé d'articulations qui sont montées à pivotement et qui permettent d'être réglées dans la direction désirée (9-11), et le verrouillage dans des positions désirées (I, II, III) de plusieurs desdits bras, etc., (2-4) étant construit de telle sorte que sensiblement uniquement des forces de traction et de compression (D, T) sont générées dans la structure de ladite fixation (5) et que chaque bras, etc., (2-4) dans les articulations (6-8) est agencé pour être orienté à des angles facultatifs vers une articulation voisine et/ou un point d'extrémité.
PCT/SE2010/051364 2009-12-11 2010-12-10 Dispositif d'assemblage pour l'assemblage de sections/poutres/bras à une fixation WO2011071450A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP10836293.0A EP2509754A4 (fr) 2009-12-11 2010-12-10 Dispositif d'assemblage pour l'assemblage de sections/poutres/bras à une fixation

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0950953-0 2009-12-11
SE0950953A SE0950953A1 (sv) 2009-12-11 2009-12-11 Förbindningsanordning

Publications (1)

Publication Number Publication Date
WO2011071450A1 true WO2011071450A1 (fr) 2011-06-16

Family

ID=44145795

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2010/051364 WO2011071450A1 (fr) 2009-12-11 2010-12-10 Dispositif d'assemblage pour l'assemblage de sections/poutres/bras à une fixation

Country Status (3)

Country Link
EP (1) EP2509754A4 (fr)
SE (1) SE0950953A1 (fr)
WO (1) WO2011071450A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102699901A (zh) * 2012-06-06 2012-10-03 天津大学 过约束五自由度混联机器人
CN103115047A (zh) * 2011-11-17 2013-05-22 上海航天测控通信研究所 一种空间用多冗余备份stewart平台支撑杆
DE102013204124A1 (de) 2013-03-11 2014-09-11 Evonik Industries Ag Composite-Halbzeuge und daraus hergestellte Formteile sowie direkt hergestellte Formteile auf Basis von hydroxyfunktionalisierten (Meth)Acrylaten und Uretdionen die mittels Strahlung duroplastisch vernetzt werden
CN111550491A (zh) * 2020-06-12 2020-08-18 扬州工业职业技术学院 一种空间多角度连接头

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2442000A (en) * 1946-09-09 1948-05-25 Jr Thomas C Furnas Tripod leg
US4111574A (en) * 1973-09-17 1978-09-05 Runyon John F Hinge joint assembly
US4732525A (en) * 1985-05-10 1988-03-22 Neos Product Hb Robot
EP0263627A1 (fr) * 1986-09-30 1988-04-13 Dilip Kohli Robots et dispositif d'actionnement rotatif et linéaire employé dans ces robots
US5263382A (en) * 1992-04-13 1993-11-23 Hughes Aircraft Company Six Degrees of freedom motion device
DE10019162A1 (de) * 2000-04-12 2001-10-25 Kai Anding Bewegungssystem mit Parallelstruktur ("Cylindric-Glide")
WO2003050890A2 (fr) * 2001-12-10 2003-06-19 Hennessey C William Micromanipulateur cinematique parallele
US20050161560A1 (en) * 2004-01-23 2005-07-28 Mikael Kjellman Holder for cameras
JP2005204696A (ja) * 2004-01-20 2005-08-04 Shimadzu Corp 超音波プローブ固定装置及び該装置を用いた超音波診断装置
WO2006062466A1 (fr) * 2004-12-09 2006-06-15 Exechon Ab Machine parallele cinematique presentant un systeme de mesure actif

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2518817A (en) * 1945-11-30 1950-08-15 Park J Ries Tripod
FR2606097B2 (fr) * 1986-10-31 1989-02-03 Aerospatiale Dispositif de serrage d'au moins deux pieces accolees a assembler
JP2009002445A (ja) * 2007-06-22 2009-01-08 Toyota Motor Corp ２枚の座金半体よりなる制振座金

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2442000A (en) * 1946-09-09 1948-05-25 Jr Thomas C Furnas Tripod leg
US4111574A (en) * 1973-09-17 1978-09-05 Runyon John F Hinge joint assembly
US4732525A (en) * 1985-05-10 1988-03-22 Neos Product Hb Robot
EP0263627A1 (fr) * 1986-09-30 1988-04-13 Dilip Kohli Robots et dispositif d'actionnement rotatif et linéaire employé dans ces robots
US5263382A (en) * 1992-04-13 1993-11-23 Hughes Aircraft Company Six Degrees of freedom motion device
DE10019162A1 (de) * 2000-04-12 2001-10-25 Kai Anding Bewegungssystem mit Parallelstruktur ("Cylindric-Glide")
WO2003050890A2 (fr) * 2001-12-10 2003-06-19 Hennessey C William Micromanipulateur cinematique parallele
JP2005204696A (ja) * 2004-01-20 2005-08-04 Shimadzu Corp 超音波プローブ固定装置及び該装置を用いた超音波診断装置
US20050161560A1 (en) * 2004-01-23 2005-07-28 Mikael Kjellman Holder for cameras
WO2006062466A1 (fr) * 2004-12-09 2006-06-15 Exechon Ab Machine parallele cinematique presentant un systeme de mesure actif

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP2509754A4 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103115047A (zh) * 2011-11-17 2013-05-22 上海航天测控通信研究所 一种空间用多冗余备份stewart平台支撑杆
CN102699901A (zh) * 2012-06-06 2012-10-03 天津大学 过约束五自由度混联机器人
DE102013204124A1 (de) 2013-03-11 2014-09-11 Evonik Industries Ag Composite-Halbzeuge und daraus hergestellte Formteile sowie direkt hergestellte Formteile auf Basis von hydroxyfunktionalisierten (Meth)Acrylaten und Uretdionen die mittels Strahlung duroplastisch vernetzt werden
WO2014139796A1 (fr) 2013-03-11 2014-09-18 Evonik Industries Ag Semi-finis composites et pièces moulées produites en ces semi-finis, et pièces moulées produites directement, à base de (méth)acrylates hydroxyfonctionnalisés et d'uretdiones, qui sont réticulés en duroplastiques par irradiation
CN111550491A (zh) * 2020-06-12 2020-08-18 扬州工业职业技术学院 一种空间多角度连接头
CN111550491B (zh) * 2020-06-12 2024-05-07 扬州工业职业技术学院 一种空间多角度连接头

Also Published As

Publication number Publication date
EP2509754A4 (fr) 2014-05-21
SE0950953A1 (sv) 2011-06-12
EP2509754A1 (fr) 2012-10-17

Similar Documents

Publication Publication Date Title
US10391644B2 (en) Robot with a force measuring device
CA2587836C (fr) Machine parallele cinematique
WO2011071450A1 (fr) Dispositif d'assemblage pour l'assemblage de sections/poutres/bras à une fixation
US7163247B2 (en) Tool holder
US20100313695A1 (en) Device for a body's spherical motion control
US9321180B2 (en) Industrial robot device, an industrial robot and a method for manipulating objects
EP2743040B1 (fr) Procédé de détermination de la position du centre d'un outil d'usinage saisi dans une tête de préhension coopérative et dispositif correspondant
KR101421351B1 (ko) 병렬로봇
JP2008272883A (ja) 双腕型ロボットマニピュレータ
US12036658B2 (en) Device for supporting a load
US7703215B1 (en) Flange alignment tool
CN207206404U (zh) 一种并联式夹持机构
JP5177835B2 (ja) 双腕型ロボットマニピュレータ
CA2438774A1 (fr) Accouplement d'arbre
US10737390B2 (en) Collaborative robot motion and force-torque gauges
WO1996022859A1 (fr) Structures spatiales integree constituee d'un assemblage de poutrelles, pour des robots
CN106736180A (zh) 一种用于焊枪与传感器的随行焊接夹具
KR101412528B1 (ko) 산업용 이송 병렬 로봇
US11555317B2 (en) Moment connection component clamping tool
US6547499B2 (en) Prestressing device for a mechanical finishing device
EP3584210B1 (fr) Outil de levage
JP3203924U (ja) 搬送便利の重量型インパクトレンチ
CN210061170U (zh) 一种汽车侧围零件自动抓料手
CN207171904U (zh) 一种模块化定力工具
CN205673614U (zh) 一种新型防振动车刀刀架

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 10836293

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 2010836293

Country of ref document: EP