• 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:
    Parallel robot operated by tension cables with reconfigurable effector. The present invention deals with a robotic mechanism actuated by tension cables whose effector consists of a reconfigurable passive mechanism. The effector has the ability to position and orient itself accurately in the robot's workspace. In addition to this positioning, the effector is capable of modifying its internal structure by means of the action of the tension cables to position a secondary effector with respect to the main effector. In this way, the robot can perform tasks of manipulation, precision positioning or transport bulky and/or irregularly shaped objects without the need for actuators in the mobile platform. The mechanism of the effector consists of several springs capable of storing the mechanical energy supplied by the tension cables in order to exert more stable handling movements (Machine-translation by Google Translate, not legally binding)
    公开号:ES2687712A1
    申请号:ES201830629
    申请日:2018-06-22
    公开日:2018-10-26
    发明作者:Roque Jacinto SALTARÉN PAZMIÑO；Alejandro RODRÍGUEZ BARROSO
    申请人:Universidad Politecnica de Madrid；
    IPC主号:
    专利说明:

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    stranded cables whose effector is a mechanism of two degrees of freedom acted by the same tensile stress of the cables that act on one of the links of said mechanism. In this way it is possible to control in position and orientation the link that has the connection of all the cables while
    5 can simultaneously control the movement of the two degrees of freedom of the internal mechanism.
    The main effector (1) is operated by eight first cables (9) subjected to tensile stress. This tensile stress is transmitted to the main effector in order to position it linearly and angularly in space, as well as follow trajectories.
    or exert certain efforts on other objects. The cable connection to the main effector (12) is a spherical type connection that allows the cable to be oriented in the three linearly independent directions in space. Between each of the first eight cables (9) and the connection points (12) thereof with the main effector
    15 (1) springs (10) capable of linear deformation are placed in the face of the tension forces present in each of the cables.
    The cables are controlled by linear actuators that move along fixed guides or by winches composed of a drum (17) in which the cable is wound 20 and guided so that it is allowed to start from the same point of the drum
    (16) so that the exact starting point of the cable in the drum is located. The drum is driven and controlled by the use of a motor (18) attached to the drum. The winches or linear guides are placed at any point of the fixed support structure (19). If these actuators are located at the top, above the effector the system is a suspended parallel robot powered by stranded cables (Figure 4). The actuators can also be placed at the top and bottom (22) to provide the effector with greater rigidity (Figure 5). The fixed mechanical structure can be fixed with respect to the ground (20), it can also have the ability to move with respect to a fixed point of the ground (20) through the use of wheels (23). Another possible option for the arrangement of the fixed structure, where the winches or linear guides are located, is that of a marine floating platform (Figure 6). The configuration of the fixed structure as a floating platform has the eight actuators located on the platform. This platform floats on the surface of an aquatic environment by using a buoy (26). The thrust of the water exerted on the buoy is transmitted to the rest of the fixed structure
    35 by rigid bars (27). Having all the actuators on the water surface
    12
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    Once the rod has been welded, and therefore fixed, the effector performs a linear movement in the opposite direction to the arrow (52) so that the rod length inside the effector increases as it slides through the inside of the ring clamping (32).
    5 This movement requires the effector to exert some force to overcome the friction of the clamping ring (32). During this process the effector can additionally exert forces in other directions to bend the rod and create slabs with curved geometries.
    10 Once the desired amount of forging rod has been used, the second cable (13) corresponding to the secondary effector (2) for cutting the forging rod is activated. The tension produced by the second cable (13) causes the secondary effector (2) that has a rod cutter blade (28) coupled vertically upwards. This rod cutting blade (28) is placed in one piece
    15 (28) which is screwed to the secondary effector (2) in the hole (51) of the disc (38) which has restricted rotation.
    This mechanism allows successive welding and cutting of the same rod. Once the entire useful amount of the rod has been used the effector should move to the
    20 area where an operator or machine must place a new rod to repeat the welding, bending and cutting process.
    17
    权利要求:
    Claims (1)
    [1]
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    同族专利:
    公开号 | 公开日
    ES2687712B2|2019-02-21|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US20090066100A1|2007-09-06|2009-03-12|Bosscher Paul M|Apparatus and method associated with cable robot system|
    CN101602209A|2009-07-09|2009-12-16|北京航空航天大学|Reconfigurable cable drives parallel robot and drive unit thereof|
    法律状态:
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    2019-08-02| PC2A| Transfer of patent|Owner name: CONSEJO SUPERIOR DE INVESTIGACIONES CIENTIFICAS (C Effective date: 20190729 |
    优先权:
    申请号 | 申请日 | 专利标题
    ES201830629A|ES2687712B2|2018-06-22|2018-06-22|Parallel robot operated by tension cables with reconfigurable effector|ES201830629A| ES2687712B2|2018-06-22|2018-06-22|Parallel robot operated by tension cables with reconfigurable effector|
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