WO2016126173A1 - Système permettant le positionnement d'un outil pointu par rapport à une paroi - Google Patents

Système permettant le positionnement d'un outil pointu par rapport à une paroi Download PDF

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Publication number
WO2016126173A1
WO2016126173A1 PCT/SE2015/000005 SE2015000005W WO2016126173A1 WO 2016126173 A1 WO2016126173 A1 WO 2016126173A1 SE 2015000005 W SE2015000005 W SE 2015000005W WO 2016126173 A1 WO2016126173 A1 WO 2016126173A1
Authority
WO
WIPO (PCT)
Prior art keywords
positioning system
pushing
tool assembly
joint
tool
Prior art date
Application number
PCT/SE2015/000005
Other languages
English (en)
Inventor
Anders Rosenqvist
Original Assignee
Teknikpatrullen 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 Teknikpatrullen Ab filed Critical Teknikpatrullen Ab
Priority to PCT/SE2015/000005 priority Critical patent/WO2016126173A1/fr
Publication of WO2016126173A1 publication Critical patent/WO2016126173A1/fr

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0078—Programme-controlled manipulators having parallel kinematics actuated by cables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40267—Parallel manipulator, end effector connected to at least two independent links
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40273—Wire manipulator, crane type manipulator with three wires
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45086—Brick laying, masonry robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)

Abstract

L'invention concerne un système permettant le positionnement d'un ensemble outil (131) comprenant un outil pointu (134), une pointe de l'outil pointu s'étendant au-delà d'une surface de paroi (133), par rapport à une paroi (100), ledit système comprenant un moyen de poussée (130) et jusqu'à trois moyens de traction (141, 142, 143) reliés à l'ensemble outil. Une force de poussée provenant du moyen de poussée contraint la surface de paroi de l'ensemble outil à être parallèle à la paroi. Si les moyens de poussée et de traction sont motorisés, un moyen de commande (150) du système peut s'adapter à différentes géométries du système en utilisant des modes pour transformer (414, 424) des commandes directionnelles et de correction en commandes de moteur appropriées. Le moyen de commande peut choisir et/ou suggérer (410) des modes en se basant sur une géométrie estimée (406) à l'aide d'informations provenant d'un capteur d'angle (170) et de l'historique de commande de moteur.
PCT/SE2015/000005 2015-02-06 2015-02-06 Système permettant le positionnement d'un outil pointu par rapport à une paroi WO2016126173A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/SE2015/000005 WO2016126173A1 (fr) 2015-02-06 2015-02-06 Système permettant le positionnement d'un outil pointu par rapport à une paroi

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/SE2015/000005 WO2016126173A1 (fr) 2015-02-06 2015-02-06 Système permettant le positionnement d'un outil pointu par rapport à une paroi

Publications (1)

Publication Number Publication Date
WO2016126173A1 true WO2016126173A1 (fr) 2016-08-11

Family

ID=52737378

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2015/000005 WO2016126173A1 (fr) 2015-02-06 2015-02-06 Système permettant le positionnement d'un outil pointu par rapport à une paroi

Country Status (1)

Country Link
WO (1) WO2016126173A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3366431A1 (fr) * 2017-02-22 2018-08-29 SICK STEGMANN GmbH Dispositif de transport d'objets et/ou de personnes
EP3715062A1 (fr) * 2019-03-29 2020-09-30 Lynx Sight IVS Système et procédé pour l'élimination de mortier à partir d'unités de maçonnerie

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5313854A (en) 1992-02-04 1994-05-24 Fanuc Robotics North America, Inc. Light weight robot mechanism
US5408407A (en) 1993-03-15 1995-04-18 Pentek, Inc. System and method for positioning a work point
US5585707A (en) 1994-02-28 1996-12-17 Mcdonnell Douglas Corporation Tendon suspended platform robot
US5666939A (en) 1986-03-25 1997-09-16 Chiuminatta; Edward Soft concrete saw
US6566834B1 (en) 1999-09-28 2003-05-20 The United States Of America As Represented By The Secretary Of Commerce Modular suspended manipulator
WO2004004986A2 (fr) * 2002-07-09 2004-01-15 Amir Khajepour Manipulateurs paralleles legers utilisant des cables actifs/passifs
WO2006111827A1 (fr) * 2005-04-21 2006-10-26 Mathieu Leclercq Dispositif d'aide a la construction de murs et/ou au traitement de surfaces
CN102383585A (zh) * 2011-11-14 2012-03-21 蒋京德 建筑墙面施工机器人

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5666939A (en) 1986-03-25 1997-09-16 Chiuminatta; Edward Soft concrete saw
US5313854A (en) 1992-02-04 1994-05-24 Fanuc Robotics North America, Inc. Light weight robot mechanism
US5408407A (en) 1993-03-15 1995-04-18 Pentek, Inc. System and method for positioning a work point
US5585707A (en) 1994-02-28 1996-12-17 Mcdonnell Douglas Corporation Tendon suspended platform robot
US6566834B1 (en) 1999-09-28 2003-05-20 The United States Of America As Represented By The Secretary Of Commerce Modular suspended manipulator
WO2004004986A2 (fr) * 2002-07-09 2004-01-15 Amir Khajepour Manipulateurs paralleles legers utilisant des cables actifs/passifs
WO2006111827A1 (fr) * 2005-04-21 2006-10-26 Mathieu Leclercq Dispositif d'aide a la construction de murs et/ou au traitement de surfaces
CN102383585A (zh) * 2011-11-14 2012-03-21 蒋京德 建筑墙面施工机器人

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3366431A1 (fr) * 2017-02-22 2018-08-29 SICK STEGMANN GmbH Dispositif de transport d'objets et/ou de personnes
EP3366432A1 (fr) * 2017-02-22 2018-08-29 SICK STEGMANN GmbH Système de mesure et dispositif de transport
EP3366430A1 (fr) * 2017-02-22 2018-08-29 SICK STEGMANN GmbH Dispositif de transport d'objets et/ou de personnes
EP3715062A1 (fr) * 2019-03-29 2020-09-30 Lynx Sight IVS Système et procédé pour l'élimination de mortier à partir d'unités de maçonnerie

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