EP2509754A1 - Connecting device for the connection of sections/girders/arms to an attachment - Google Patents
Connecting device for the connection of sections/girders/arms to an attachmentInfo
- Publication number
- EP2509754A1 EP2509754A1 EP10836293A EP10836293A EP2509754A1 EP 2509754 A1 EP2509754 A1 EP 2509754A1 EP 10836293 A EP10836293 A EP 10836293A EP 10836293 A EP10836293 A EP 10836293A EP 2509754 A1 EP2509754 A1 EP 2509754A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- sections
- arm
- attachment
- joints
- girders
- 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.)
- Ceased
Links
- 230000008878 coupling Effects 0.000 claims abstract description 6
- 238000010168 coupling process Methods 0.000 claims abstract description 6
- 238000005859 coupling reaction Methods 0.000 claims abstract description 6
- 230000003247 decreasing effect Effects 0.000 claims description 5
- 230000004075 alteration Effects 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000008439 repair process Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000001133 acceleration Effects 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
- 239000004411 aluminium Substances 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE0950953A SE0950953A1 (en) | 2009-12-11 | 2009-12-11 | A header |
PCT/SE2010/051364 WO2011071450A1 (en) | 2009-12-11 | 2010-12-10 | Connecting device for the connection of sections/girders/arms to an attachment |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2509754A1 true EP2509754A1 (en) | 2012-10-17 |
EP2509754A4 EP2509754A4 (en) | 2014-05-21 |
Family
ID=44145795
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP10836293.0A Ceased EP2509754A4 (en) | 2009-12-11 | 2010-12-10 | Connecting device for the connection of sections/girders/arms to an attachment |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP2509754A4 (en) |
SE (1) | SE0950953A1 (en) |
WO (1) | WO2011071450A1 (en) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103115047B (en) * | 2011-11-17 | 2015-09-30 | 上海航天测控通信研究所 | A kind of space many redundancy backups stewart table support bar |
CN102699901B (en) * | 2012-06-06 | 2014-12-17 | 天津大学 | Over-constrained five-degree-of-freedom hybrid robot |
DE102013204124A1 (en) | 2013-03-11 | 2014-09-11 | Evonik Industries Ag | Composite semi-finished products and molded parts made therefrom as well as directly produced molded parts based on hydroxy-functionalized (meth) acrylates and uretdiones, which are thermosettingly crosslinked by means of radiation |
CN111550491B (en) * | 2020-06-12 | 2024-05-07 | 扬州工业职业技术学院 | Space multi-angle connector |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2442000A (en) * | 1946-09-09 | 1948-05-25 | Jr Thomas C Furnas | Tripod leg |
US2518817A (en) * | 1945-11-30 | 1950-08-15 | Park J Ries | Tripod |
FR2606097A2 (en) * | 1986-10-31 | 1988-05-06 | Aerospatiale | Device for clamping at least two adjoining components to be assembled |
JP2009002445A (en) * | 2007-06-22 | 2009-01-08 | Toyota Motor Corp | Vibration control washer composed of two washer half bodies |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4111574A (en) * | 1973-09-17 | 1978-09-05 | Runyon John F | Hinge joint assembly |
SE452279B (en) * | 1985-05-10 | 1987-11-23 | Neos Products Hb | ROBOT |
US4806068A (en) * | 1986-09-30 | 1989-02-21 | Dilip Kohli | Rotary linear actuator for use in robotic manipulators |
US5263382A (en) * | 1992-04-13 | 1993-11-23 | Hughes Aircraft Company | Six Degrees of freedom motion device |
DE10019162A1 (en) * | 2000-04-12 | 2001-10-25 | Kai Anding | Movement system with cylindric glide has three linear drives, and fixed linear guide, work platform fixed to three ball and socket joints each with linear drive |
US6671975B2 (en) * | 2001-12-10 | 2004-01-06 | C. William Hennessey | Parallel kinematic micromanipulator |
JP4272077B2 (en) * | 2004-01-20 | 2009-06-03 | 株式会社島津製作所 | Ultrasonic probe fixing apparatus and ultrasonic diagnostic apparatus using the apparatus |
US20050161560A1 (en) * | 2004-01-23 | 2005-07-28 | Mikael Kjellman | Holder for cameras |
SE527992C2 (en) * | 2004-12-09 | 2006-08-01 | Exechon Ab | Parallel kinematic machine with active measurement system |
-
2009
- 2009-12-11 SE SE0950953A patent/SE0950953A1/en not_active Application Discontinuation
-
2010
- 2010-12-10 EP EP10836293.0A patent/EP2509754A4/en not_active Ceased
- 2010-12-10 WO PCT/SE2010/051364 patent/WO2011071450A1/en active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2518817A (en) * | 1945-11-30 | 1950-08-15 | Park J Ries | Tripod |
US2442000A (en) * | 1946-09-09 | 1948-05-25 | Jr Thomas C Furnas | Tripod leg |
FR2606097A2 (en) * | 1986-10-31 | 1988-05-06 | Aerospatiale | Device for clamping at least two adjoining components to be assembled |
JP2009002445A (en) * | 2007-06-22 | 2009-01-08 | Toyota Motor Corp | Vibration control washer composed of two washer half bodies |
Non-Patent Citations (1)
Title |
---|
See also references of WO2011071450A1 * |
Also Published As
Publication number | Publication date |
---|---|
EP2509754A4 (en) | 2014-05-21 |
SE0950953A1 (en) | 2011-06-12 |
WO2011071450A1 (en) | 2011-06-16 |
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Legal Events
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Effective date: 20140423 |
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RIC1 | Information provided on ipc code assigned before grant |
Ipc: B65G 47/90 20060101ALI20140415BHEP Ipc: B23Q 1/48 20060101ALI20140415BHEP Ipc: B23Q 1/54 20060101ALI20140415BHEP Ipc: F16B 7/04 20060101ALI20140415BHEP Ipc: B25J 17/02 20060101AFI20140415BHEP |
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18R | Application refused |
Effective date: 20191031 |