• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    System adapted to a robot to handle bulky objects, being of the type of robots used in risk operations that have an articulated arm finished off with a clamp, rotating 360º, for the manipulation of objects, so that the system is based on each of the forming sheets of the clamp is fixed an arm consisting of: a first section and a second section telescopic to each other, so that the first section, by its free end, is fixed to the corresponding blade of the clamp, and, to the second section, by its free end joins, through a kneecap, a body of grab of the objects. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2542480A1
    申请号:ES201530782
    申请日:2015-06-03
    公开日:2015-08-05
    发明作者:Cesar Sallen Rosello；Roberto Torres Pueo
    申请人:Proytecsa Security SL；
    IPC主号:
    专利说明:

    DESCRIPTION

    System adapted to a robot to manipulate bulky objects.

    OBJECT OF THE INVENTION 5

    The following invention, as expressed in the statement of the present specification, refers to a system adapted to a robot for manipulating bulky objects, whose system, based on a pair of telescopic arms, has as an essential object that a robot used in risky operations, such as in the deactivation of 10 explosives, can handle bulky objects that cannot be manipulated by means of the clamp that it carries at the free end of its articulated arm.

    Thus, in particular the system will allow the manipulation of objects or containers in a general cylindrical manner. fifteen

    In addition, the first section of the pair of telescopic arms for anchoring to the corresponding blade of the clamp has an inclination according to a vertical and horizontal plane that, being interchangeable, facilitates the manipulation of a greater number of objects, according to which the articulated arm of the robot is in horizontal or vertical position. twenty

    SCOPE.

    This report describes a system adapted to a robot to manipulate bulky objects, being of special application for adaptation in those robots used in risky operations, such as in the manipulation of suspicious devices and in the deactivation of explosives.

    BACKGROUND OF THE INVENTION
     30
    As is known, robots used in risky operations, such as the manipulation and deactivation of explosive charges, have an articulated arm finished off in a clamp by means of which they manipulate the detected suspicious objects.
    In this way, by the constitution of the clamp, only, they can manipulate objects of small volume or that can have some means of grabbing, such as a backpack or similar.

    For this reason, we have tried to provide the calipers with certain characteristics that improve their use, and, thus, in P201331685 a “remote-controlled robotic vehicle” is described, which as an essential characteristic is the fact of providing the vehicle with two articulated arms 40 topped off in the corresponding clamp, allowing with a first clamp a first
    arm can hold an object and with a second clamp of the second arm can examine the object, both clamps being endowed with endless rotation.

    In addition, a first clamp is equipped with a pressure sensor, associated with the supply of pressure flow, being able to regulate and know the exact force exerted on the object to be manipulated, while the force or pressure exerted by the second clamp is controlled. by the control of the electric current of the motor that activates it.

    Likewise, the first clamp of the first articulated arm is provided with short-distance mechanical joints at its ends that associated with springs or inner springs 10 thereof will be those that withstand the pressure exerted on the object to be handled, when treated small weights, so that the aforementioned spring or internal springs are associated with electronic distance sensors.

    In short, with the clamps that the robots used in the manipulation of suspicious devices are not able to manipulate bulky objects.

    DESCRIPTION OF THE INVENTION

    In order to solve the drawbacks cited herein, a system adapted to a robot for handling bulky objects is described, being of the type of robots used in risk operations that have an articulated arm topped by a clamp, rotating 360 °, of in such a way that an arm consisting of:
     25
     a first section and a second section telescopic angled to each other;
     the first section, at its free end, is fixed to the corresponding blade of the clamp, and;
     to the second layered section, a gripping body of the objects is attached at its free end.
     30
    the first section, forming the telescopic arm, being able to be fixed, indistinctly, to one or another blade of the clamp.

    In a practical embodiment of the invention, the first section of each arm, with respect to the anchor to the corresponding blade of the clamp, has an inclination according to a horizontal and vertical plane 35, being mounted in a divergent position with each other.

    Thus, according to the sheet of the mounting clamp of the first section, forming the corresponding arm, the second telescopic section is practically horizontal or perpendicular to the clamp, allowing the grip of objects of different volume. 40

    Likewise, in a practical embodiment of the invention, the first section and the second section forming the telescopic arms have a quadrangular general section, although they can have any other section, such as circular.

    The gripping body of the objects has a general rectangular shape of concave curved-5 sides, being fixed to the kneecap of the arm by the central part of one of its faces, while its opposite face free, of gripping the objects , has a general curved-concave surface.
    The gripping body of the objects is positioned, by gravity, in the gripping position of the objects. 10

    To complement the description that is going to be carried out below, and in order to help a better understanding of the characteristics of the invention, this descriptive report is accompanied by a set of drawings, whose figures are illustrative and not limiting , the most characteristic details of the invention are represented. fifteen

    BRIEF DESCRIPTION OF THE DESIGNS.

    Figure 1. It shows a side elevation view of a robot to which the system based on a clamp for handling bulky objects has been adapted, being able to observe how the second telescopic section is in position, practically, horizontal to the clamp.

    Figure 2. It shows a plan view of the robot of the previous figure, to which the system based on a pair of arms has been adapted for the manipulation of bulky objects, being able to observe how the robot clamp is in its “open” position " 25

    Figure 3. Shows a front view of Figure 1

    Figure 4. Shows a side elevation view of a robot to which the system based on a clamp for handling bulky objects has been adapted, and in which the first section of the arms has been swapped out of the clamp blade, according to the representation of figure 1, being able to observe how the second telescopic section is in position, practically, perpendicular to the clamp.

    Figure 5. Shows a plan view of the previous figure 35

    Figure 6. Shows a front view of Figure 4.

    Figure 7. It shows a view of the pair of arms coupled to the corresponding clamp, being able to observe the union between both conforming sections thereof, as well as the 40 gripping bodies attached to them by a patella.

    Figure 8. It shows a bottom plan view in which it is observed how the arms are anchored to the clamp blades by means of a "U" body that hugs it from the outside and is anchored by a pair of pins.
     5
    Figure 9. Shows a perspective view of the union of the arms to the clamp blades, as well as the union between them and the respective gripping bodies of the objects.

    DESCRIPTION OF A PREFERRED EMBODIMENT.
     10
    In view of the aforementioned figures and according to the numbering adopted we can observe how, starting from a conventional type robot 1 of those used in risk operations that have an articulated arm 2 topped by a clamp 3, rotating 360º, try to adapt in each of the shaping sheets of the clamp 3, an arm 4 formed by a first section 5 and a second section 6 telescopic with each other, so that the first section 5, at its free end, is fixed to the corresponding blade of the clamp 3, and, to its second section 6, a gripping body 8 of the objects is connected by its free end.

    In this way, first of all the length of the arms 4, constituted by a first section 20 5 and a second telescopic section 6, can be adjusted according to the object to be manipulated.

    In addition, the first section 5, forming the arms 4, with respect to the anchoring body 10 to the corresponding blade of the clamp 3, has an inclination according to a horizontal and vertical plane, being mounted in a divergent position with each other. Said anchor body 10 is defined by a "U" shaped body that hugs the corresponding blade of the mounting clip and is anchored by a pair of pins.

    Likewise, the first section 5, which forms the arms 4, in its integral fixation to the anchoring body 10 of the blade of the clamp 3, has an inclination with respect to a horizontal and vertical plane 30, as clearly seen in the figures and , in particular in Figures 1 and 4, so that when they are interchangeable, with respect to the blades of the clamp 3, they can adopt two relative positions and when coupling the second telescopic section 6, the position of the latter with respect to the clamp 3 makes that is in position, practically, horizontal or perpendicular to it. 35

    Thus, in figure 1 of the designs it is observed how, with the end of the articulated arm 2 in a horizontal position towards the front, the first section 5 of the arms 4 is mounted so that they diverge along a plane inferior to the clamp 3 and when the second telescopic section 6 is coupled, the gripping bodies 8 are arranged in front of the clamp 3, 40 while if we look at figure 4 of the designs, the end of the articulated arm 2 being upright downwards, and exchanging the first section 5 forming the arms 4 with respect to the blade of the clamp, said first sections 5 are mounted so that they extend divergently towards the outside and when coupling the second
    section 6 telescopic, it remains in position, practically, perpendicular to clamp 3.

    In this way, it is observed how the first section 5 forming the arms 4 can be mounted, indistinctly, on both sheets of the clamp 3, but according to its assembly on one or another sheet of the clamp 3, the relative position of the bodies 8 of gripping the objects is 5 different with respect to the longitudinal axis of said clamp 3.

    In a practical embodiment, the gripping body 8 of the objects has a general rectangular shape of curved-concave sides, being fixed to the knee joint 7 by the central part of one of its faces, while its free opposite face It has a curved-concave surface 10.

    In this way, the gripping body 8 of the objects is positioned, by gravity, in the gripping position of the objects being able to grab them by at least three points of contact.
     fifteen
    According to a practical implementation, the first section and the second telescopic section, which conform to each of the arms, have a quadrangular general section, although they may have other sections, such as, for example, rounded.

     twenty
    权利要求:
    Claims (1)
    [1]

    1st.- SYSTEM ADAPTED TO A ROBOT TO HANDLE BULKY OBJECTS, being of the type of robots used in risky operations that have an articulated arm topped by a clamp, rotating 360º, characterized in that the system is based 5 on each one of the conforming sheets of the clamp (3) an arm (4) is constituted consisting of:
     a first section (5) and a second section (6) telescopic with each other;
     the first section (5), at its free end, is fixed to the corresponding blade of the clamp 10 (3), and;
     to the second section (6), at its free end, a body (8) is attached to the objects,
    the first section (5), forming the telescopic arm (4), being able to be fixed, interchangeably, 15 to one or the other sheet of the clamp (3).
    2nd.- SYSTEM ADAPTED TO A ROBOT TO HANDLE BULKY OBJECTS, according to the 1st claim, characterized in that the first section (5), with respect to the anchorage to the corresponding blade of the clamp (3), has an inclination according to a horizontal plane and 20 vertical, being mounted in a divergent position with each other.
    3rd.- SYSTEM ADAPTED TO A ROBOT FOR HANDLING VOLUMINOUS OBJECTS, according to the 1st claim, characterized in that according to the blade of the clamp (3) for mounting the first section (5) the second telescopic section (6) is in position practically 25 horizontal or perpendicular to the clamp (3).
    4th.- SYSTEM ADAPTED TO A ROBOT FOR HANDLING VOLUMINOUS OBJECTS, according to the 1st claim, characterized in that the first section (5) and the second section (6) telescopic, forming each of the arms (4), have a section general 30 home run.
    5th.- SYSTEM ADAPTED TO A ROBOT FOR HANDLING VOLUMINOUS OBJECTS, according to the 1st claim, characterized in that the body (8) for holding objects has a general rectangular shape with curved-concave sides, being fixed to the patella (7) 35 of union to the arm (4) by the central part of one of its faces, while its free opposite face has a curved-concave surface.
    6th.- SYSTEM ADAPTED TO A ROBOT FOR HANDLING VOLUMINOUS OBJECTS, according to claims 1 and 4, characterized in that the gripping body of the objects 40 is positioned, by gravity, in the gripping position of the objects by at least three contact points.
    类似技术:
    公开号 | 公开日 | 专利标题
    ES2355409T3|2011-03-25|APREHENSION DEVICE FOR OBJECTS.
    ES2735413T3|2019-12-18|System adapted to a robot to manipulate bulky objects
    ES2692413T3|2018-12-03|Tool designed to lift a vehicle
    ES2445702T3|2014-03-04|Robot with additional arm
    ES2319432T3|2009-05-07|PROVISION FOR AMORTIGUATION OF VIBRATIONS AND DEFLEXION IN A TOOL HOLDER.
    ES2645347T3|2017-12-05|Spot welding gun by hanging or suspended resistance
    ES2373132T3|2012-01-31|MOPA SUPPORT AND CORRESPONDING MOPA CASE.
    ES2538025A1|2015-06-16|Robot with tool holder bracket |
    ES2563302T3|2016-03-14|Handling device for objects that move in space
    WO2012062939A1|2012-05-18|Guitar-securing device
    ES2274340T3|2007-05-16|TOOL FOR DRIVING AND PLACEMENT OF STEERING SIGNALS IN MOTOR VEHICLES.
    BR112012023403A2|2018-06-26|device for handling and / or lifting objects, devices for lifting and manipulating tube and method for lifting and / or handling a tubular member
    ES2589457T3|2016-11-14|One-way ballast machine
    ES2360680B1|2012-04-19|POLYARTICULATED ARM.
    FI125086B|2015-05-29|Bowling ball support cradle
    ES2530509T3|2015-03-03|Regulating machine for leveling floor bases
    ES2370846T3|2011-12-23|DEVICE TO PALETIZE AND DEPALETIZE GOODS, WITH A GRIP ELEMENT TO PALETIZE.
    ES2691374T3|2018-11-27|Grip clamp safety device with groove and tongue for a man-robot collaboration
    ES2670426T3|2018-05-30|Clamping unit for detachable placement of a device on two separate headrest bars of a car seat
    ES2470115B1|2014-10-27|Fixing element for electrical devices and electrical device equipped with said element
    ES2718981T3|2019-07-05|Mechanical device for carrying, handling and disposing of an explosive cone, for the release of rock hangings in underground mining operations
    ES2683030T3|2018-09-24|Lifting jack
    ES2411810B1|2014-05-21|Robotized manipulator, for load movement
    ES2750880B2|2021-05-11|Fixing device, system and method controllable by means of a mechanical arm
    ES2546053A1|2015-09-17|Robot for handling suspicious artifacts |
    同族专利:
    公开号 | 公开日
    ES2735413T3|2019-12-18|
    EP3100832B1|2019-05-22|
    EP3100832A1|2016-12-07|
    ES2542480B1|2016-05-12|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US4428710A|1977-08-31|1984-01-31|Grisebach Hans Theodor|Manipulator with a swivel jib|
    WO2009000795A1|2007-06-25|2008-12-31|Commissariat A L'energie Atomique|Clamp for manipulating robot with enhanced gripping accuracy and manipulating robot comprising at least one such clamp|
    WO2012109351A1|2011-02-08|2012-08-16|Norgren Automation Solutions, Inc.|Modular tooling apparatus having serrated teeth for orbital and linear adjustment|
    US20120286533A1|2011-05-13|2012-11-15|University Of North Dakota|Gripper attachment for robot|
    KR101334336B1|2012-06-14|2013-11-28|삼성중공업 주식회사|Gripping apparatus for windmill blade|
    JPS5413327Y2|1973-12-24|1979-06-07|
    ES2229938A1|2003-10-14|2005-04-16|Proyectos Y Tecnologia Sallen, S.L.|Self-propelled robot for the handling of explosive devices|
    US8141924B2|2008-12-29|2012-03-27|Foster-Miller, Inc.|Gripper system|
    US9211648B2|2012-04-05|2015-12-15|Irobot Corporation|Operating a mobile robot|
    ES2540598B1|2013-11-19|2016-04-20|Proytecsa Security, S.L.|Remote Control Robot Vehicle|CN105710890B|2016-05-04|2018-04-17|天津中安华典数据安全科技有限公司|Stabilization articulated robot arm structure for product back-tracing|
    CN112372362B|2020-10-29|2021-09-21|许昌学院|Automatic feeding formula anchor clamps for machining|
    法律状态:
    2016-05-12| FG2A| Definitive protection|Ref document number: 2542480 Country of ref document: ES Kind code of ref document: B1 Effective date: 20160512 |
    2019-11-04| PC2A| Transfer of patent|Owner name: EVERIS AEROESPACIAL Y DEFENSA, S.L.U. Effective date: 20191028 |
    2021-12-02| FD2A| Announcement of lapse in spain|Effective date: 20211202 |
    优先权:
    申请号 | 申请日 | 专利标题
    ES201530782A|ES2542480B1|2015-06-03|2015-06-03|SYSTEM ADAPTED TO A ROBOT TO HANDLE BULKY OBJECTS|ES201530782A| ES2542480B1|2015-06-03|2015-06-03|SYSTEM ADAPTED TO A ROBOT TO HANDLE BULKY OBJECTS|
    ES16166173T| ES2735413T3|2015-06-03|2016-04-20|System adapted to a robot to manipulate bulky objects|
    EP16166173.1A| EP3100832B1|2015-06-03|2016-04-20|System adapted to a robot for handling bulky objects|
    [返回顶部]