• 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:
    A coupling device for use between a robot and a head (H, H') which acts on a work surface (S) that comprises a body (10, 10') having a first end part (11, 11') for coupling to a free end of the robot and a second end part (12, 12') for coupling the head (H, H'), wherein the body (10, 10') comprises a vertical movement mechanism with horizontal plates (14, 14') for allowing a degree of freedom of movement in the direction of a "y" axis approximately perpendicular to the work surface (S) and a rotation mechanism with oblique plates (15, 15') for allowing a degree of freedom of rotation around a "z" axis perpendicular to the "y" axis, and wherein the first end part (11, 11') is associated with the second end part (12, 12') according to a serial arrangement, first through the horizontal plates (14, 14') and then through the oblique plates (15, 15').
    公开号:ES2831093A1
    申请号:ES202190016
    申请日:2018-09-20
    公开日:2021-06-07
    发明作者:Del Pueyo Javier Lopez；Pereira Xabier Justo；Beguiristain Aitor Lasaosa；De Guerenu Elorza Ane Martinez
    申请人:Asociacion Centro Tecnologico CEIT；
    IPC主号:
    专利说明:

    [0004] Technical sector
    [0006] The present invention is related to the coupling interfaces between a robot and a head that is mounted at the end of the robot through the coupling, the invention proposing a coupling device that allows absorbing possible alignment errors that may occur between the head. and the piece on which the head works. The invention is of preferred application to establish the coupling between the end of a robot and a head for inspection of parts by non-destructive techniques (NDT).
    [0008] State of the art
    [0010] Robots are devices widely used in industry. Generally, at the free end of the robot there is a head that includes a tool to work on a part, so that, depending on the work to be done on the part, said tool can be of different types, such as, for example, a tool for inspection and measurement, a handling tool, a machining tool, or a tool of another type.
    [0012] Robots by their own configuration present a certain degree of imprecision in their movements, that is, they are capable of moving their free end quickly to a certain point, but at that point they need additional means to be able to correct their positioning and thus improve. its precision. Accordingly, one of these means is the coupling interfaces that are arranged between the free end of the robot and the head, which allow absorbing small alignment errors that may occur between the head and the part that is being worked on. . These couplings are essentially flexible mechanisms that provide additional positioning precision to that of the robot itself.
    [0014] There are some applications in which the positioning of the head on the workpiece requires great precision, such as for example measurement applications of mechanical properties of parts through the use of non-destructive techniques NDT.
    [0016] For these applications, the head comprises a non-destructive testing ("NDT") sensor, which collects information from the electromagnetic variables of a metal part to be inspected, and a yoke, which is a piece of steel in the shape of a "U" inverted in which induces a magnetic field. One of the main requirements for the proper functioning of the NDT sensor is the perfect contact of the yoke with the piece to be measured, said metal-metal contact must be punctual at the two lower ends of the yoke. To position the head on the part, the robot control has information on the geometry in CAD format of the part to be measured, however, this information is not enough to guarantee a safe and quality contact between the head and the part, for which requires the use of a coupling interface between the free end of the robot and the head.
    [0018] For example, document US2008238418A1 refers to a method and an apparatus for estimating the hardness of a casting (1) using the Barkhausen effect. Said apparatus comprises a robotic arm (6) that supports a non-destructive sensor head (5) comprising: a sensor winding (13); an electromagnet (7) formed by a U-shaped ferromagnetic body (9) and a winding (11) wound on said body (9); a frame formed by walls (17) attached to the robotic arm (6); and at least one spring (15) interposed between the electromagnet (7) and the walls (17).
    [0020] Said spring acts as a coupling interface and allows correcting small angular deviations that occur between the electromagnet and the part whose hardness is to be measured.However, due to its simplicity, the spring does not ensure adequate point contact of the elements at all times. two lower ends of the electromagnet on the part, therefore an improved coupling interface is necessary to ensure said contact.
    [0022] Object of the invention
    [0024] The invention relates to a device to allow the coupling of the free end of a robot to a head that performs operations on the work surface of a piece.
    [0026] The invention is especially suitable for applications for the inspection of parts using magnetic techniques, in which it is required to ensure the contact between the head and the surface of the part to be inspected. Although said application is not limiting, the device can be used in other applications in which a flexible mechanism is required that is capable of adapting the position of the head to the work surface.
    [0028] The coupling device comprises:
    [0029] • a body that has a first end part for coupling with a free end of the robot and a second end part for coupling the head, the body comprising:
    [0031] or a vertical translation mechanism with horizontal plates to allow a degree of freedom of movement in the direction of a "y" axis approximately perpendicular to the work surface, and
    [0033] or a rotation mechanism with oblique plates to allow a degree of freedom of rotation around a "z" axis perpendicular to the "y" axis, and
    [0035] or wherein the first end part of the body is associated with the second end part of the body in a series arrangement, first through the horizontal bars and then through the oblique bars.
    [0037] The rotation mechanism of the coupling device is capable of adapting the position of the head to the work surface, correcting possible misalignments due to positioning errors of the robot and / or manufacturing errors of the part surface. In addition, the vertical translation mechanism allows to absorb the impact that occurs in the contact of the head with the work surface due to the push exerted by the robot when the head approaches the work surface.
    [0039] In addition, the arrangement in series allows the first mechanism to act on the coupling device to be the rotation mechanism, first ensuring adequate contact between the head and the work surface, and then the vertical translation mechanism, absorbing the impact of the head with the work surface, so that said absorption is carried out once the head is correctly positioned on the work surface, and therefore does not affect the positioning of the head on the surface.
    [0041] According to a preferred embodiment of the invention, the coupling device has a physical stop to limit the displacement in the direction of the "y" axis, and the rotation in around the "z" axis, thereby reducing the tension supported by the plates, preventing them from breaking.
    [0043] According to the preferred embodiment, the first end part consists of a "T" shaped piece with an upper base to which the end of the robot can be attached and a central extension that projects vertically downwards and to which they are attached. The horizontal bars The second end part consists of an inverted "U" shaped piece with an upper base and two end walls to each of which one of the oblique bars is attached. In the upper base a groove is defined in which the central extension of the first end part is partially located, thus defining the groove the physical stop that limits the displacement in the direction of the "y" axis, and the rotation around the axis. "z".
    [0045] According to said preferred embodiment, the center of rotation of the rotation mechanism in the "z" axis is located at the intersection of the imaginary planes that define each of the oblique plates, the center of rotation being below the work surface.
    [0047] Depending on the position of the center of rotation in the "z" axis, it may be necessary to provide the device with a degree of lateral freedom. Accordingly, and according to another embodiment of the invention, the body additionally comprises a mechanism for horizontal translation with vertical plates to allow a degree of freedom of movement in the direction of an "x" axis approximately parallel to the work surface, and therefore perpendicular to the "z" and "y" axes, and where the The first end part of the body is associated with the second end part of the body in a series arrangement, first through the vertical bars, then through the horizontal bars and then through the oblique bars.
    [0049] Preferably the body of the coupling device is monolithic. In other words, the body is manufactured in a single piece, avoiding the manufacture of different parts that must be coupled together, and therefore avoiding the existence of tolerances between the parts that limit the positioning precision of the device.
    [0051] For magnetic part inspection applications, where a head is used with an NDT sensor that is highly sensitive to the presence of magnetic materials, it has been envisaged that the body is made of a paramagnetic material, and preferably of an aluminum alloy.
    [0053] Preferably, the vertical translation mechanism of both embodiments comprises two sets of at least two horizontal plates for each set, the two sets being arranged in parallel.
    [0055] Even more preferably, in both embodiments, the vertical translation mechanism comprises two sets of three horizontal bars, while the rotation mechanism has two oblique bars.
    [0057] With all this, the device that is the object of the invention has very advantageous characteristics for connecting the head to the free end of the robot, acquiring a life of its own and a preferred character over conventional solutions.
    [0059] Description of the figures
    [0061] Figure 1 shows an example of an inspection head using non-destructive magnetic techniques.
    [0063] Figure 2 shows an example of the approach of a robot that carries a head like the one in the previous figure towards the work surface of a part that is to be inspected with the head.
    [0065] Figure 3 shows a perspective view of a first embodiment of the coupling device of the invention.
    [0067] Figure 4 shows a front view of the device of the previous figure.
    [0069] Figure 5 shows a perspective view of a second preferred embodiment of the coupling device of the invention.
    [0071] Figure 6 shows a front view of the device of the previous figure.
    [0073] Figure 7 shows a simplified schematic view of the adaptation to the surface of working of a device according to the second preferred embodiment of the invention.
    [0075] Detailed description of the invention
    [0077] The present invention refers to a device for coupling the free end of a robot (not shown) to a head (H, H ') that performs operations on a work surface (S).
    [0079] Figures 3 and 4 show a first embodiment of the device for coupling the head (H) to the free end of the robot that has three degrees of freedom, a first degree of freedom of movement in the direction of an "x axis ", A second degree of freedom of movement in the direction of a" y "axis, and a third degree of freedom of rotation about a" z "axis.
    [0081] Figures 5, 6 and 7 show a second preferred embodiment of the device for coupling the head (H ') to the free end of the robot that has two degrees of freedom, a first degree of freedom of movement in the direction of the "y" axis, and a second degree of freedom of rotation (a) around the "z" axis.
    [0083] The coupling device is of preferential application in the inspection of parts by non-destructive techniques, and especially in the inspection of parts by electromagnetic techniques using the "Barkhausen" effect.
    [0085] Figure 1 shows a head (H, H ') for inspection by non-destructive magnetic techniques that can be coupled to the device of the invention. The head (H, H ') has two fundamental parts that are an NDT sensor ( “Non destructive testing”) and a yoke (Y) in which the NDT sensor is mounted, generally according to a slightly floating arrangement of the NDT sensor in the yoke (Y). The yoke (Y) is used to induce a magnetic field on the surface (S) of a metal part to be inspected and the NDT sensor is used to collect information on electromagnetic variables from the part.
    [0087] The yoke (Y) is a metallic piece, generally made of a steel alloy, that has an inverted “U” shape with two lower ends (M). One of the main requirements for the proper functioning of the NDT sensor is the perfect contact of the ends (M) of the yoke with the surface (S) of the piece to be measured. The metal-metal contact between both (Y, S) must be punctual at the two lower ends (M) of the yoke (Y).
    [0089] To carry out the inspection of the part, the robot moves the head (H, H ') in an approximation movement of the yoke-sensor assembly in a direction close to the perpendicular of the surface (S) of the part. Due to possible errors in the positioning of the robot and / or the manufacturing of the part, the contact surface between the yoke (Y) and the surface (S) of the part will present a misalignment with respect to its theoretical normal.
    [0091] Said misalignment can be compensated by the device of the invention with a rotation (a) with respect to the "z" axis that is perpendicular to the plane formed by the "x" and "y" axes. As shown in figure 2, said rotation (a) for the accommodation of the yoke (Y) to the surface (S) of the piece takes place when supporting one of the ends (M) of the yoke (Y) that acts as a pivot. Thus, the center of rotation ( RZ) of the yoke (Y) moves from an initial position (O) to a final position (O '), experiencing a certain lateral displacement (AX), being necessary the incorporation of a degree of freedom that provides flexibility in the direction of the X axis".
    [0093] In addition to the degrees of freedom of movement in the "x" axis and of rotation in the "z" axis, in order to absorb the impact generated by the metal-metal contact between the yoke (Y) and the surface (S) of the piece, it is required that the coupling device have another degree of freedom in the direction of approach of the yoke-sensor assembly on the "y" axis.
    [0095] According to the first embodiment shown in Figures 3 and 4, the coupling device comprises a body (10) with plates (13,14,15) having a first end part (11) for coupling with an end free of the robot and a second end part (12) for coupling the head (H). To improve its dynamic behavior, the body (10) is preferably bilaterally symmetrical.
    [0097] The body (10) comprises a horizontal translation mechanism with vertical plates (13) to allow a degree of freedom of movement in the direction of the "x" axis, which is approximately parallel to the surface (S), a translation mechanism vertical with horizontal plates (14) to allow a degree of freedom of movement in the direction of the "y" axis, which is approximately perpendicular to the surface (S) and perpendicular to the "x" axis, and a rotation mechanism with plates oblique (15) to allow a degree of freedom of rotation around the "z" axis, which is perpendicular to the plane formed by the "x" and "y" axes.
    [0099] The body (10) additionally comprises a first intermediate part (16) for connecting the vertical bars (13) with the horizontal bars (14) and a second intermediate part (17) for connecting the horizontal bars (14) with the bars. oblique (15).
    [0101] The first end part (11) of the body (10) is associated with the second end part (12) of the body (10) in a series arrangement.
    [0103] That is, the arrangement in series is such that the first end part (11) is connected to the second end part (12) by means of the intermediate parts (16,17). Specifically, the first end part (11) is connected to the first intermediate part (16) through the vertical bars (13), the first intermediate part (16) is connected to the second intermediate part (17) through the bars horizontal (14), and the second intermediate part (17) is connected with the second end part (12) through the oblique plates (15).
    [0105] Accordingly, the three degrees of freedom are arranged in series from the second end part (12) to the first end part (11) according to the following order: oblique bars (15), horizontal bars (14) and vertical bars ( 13).
    [0107] The order of connection in series of plates allows to improve the behavior of the coupling device. Once the head (H) has been aligned with the surface (S) of the piece to be measured, the robot can continue its downward movement in the "y" axis, as the horizontal bars (14) deform by bending, without the contact between the head (H) and the surface (S) of the part is affected.
    [0109] As can be seen in detail in Figure 4, the first end part (11) consists of an inverted "U" shaped piece with an upper base (111) to which the end of the robot is attachable and two side arms (112 ) that project vertically downwards and to which one end of the vertical bars (13) is connected, the other end being connected to the first intermediate part (16).
    [0110] The second intermediate part (17) consists of a double T-shaped piece with a central extension (171) that projects vertically upwards and ends in two lateral projections (172) and a lower base (173) with two lower projections ( 174) that project obliquely downward. The horizontal bars (14) are connected between the central extension (171) of the second intermediate part (17) and the first intermediate part (16).
    [0112] The second end part (12) consists of an inverted "T" shaped piece with a central extension (121) that projects vertically upwards and two end walls (122) that project vertically downwards and between which the head is arranged. (H) The oblique bars (15) are connected between the end walls (122) of the second end part (12) and the lower base (173) of the second intermediate part (17).
    [0114] In the upper base (111) of the first end part (11) a groove (113) is defined in which the lateral projections (172) of the central extension (171) of the second intermediate part (17) are housed, while that between the two lower projections (174) of the second intermediate part (17) a slit (175) is defined in which the end of the central extension (121) of the second end part (12) is housed.
    [0116] Thus, the slit (113) of the first end part (11) acts as a physical stop with a double function, on the one hand, the end of the central extension (171) limits the displacement in the direction of the "y" axis, and on the other hand, the lateral projections (172) limit the displacement in the direction of the "x" axis. The distance between the first intermediate part (16) and the lateral arms (112) of the first end part (11) also limit the displacement in the direction of the "x" axis,
    [0118] On the other hand, the groove (175) also acts as a physical stop limiting the rotation in the "z" axis due to the contact between the lower projections (174) of the second intermediate part (17) and the end of the central extension (121 ) of the second end part (12).
    [0120] For reasons of weight, maneuverability, dynamic aspects, and economics, it is preferable that the device is as small as possible. Thus, the device of the second preferred embodiment has reduced dimensions and a simplified configuration with respect to the first embodiment, which makes it possible to obtain the same performance as the device of the first example, but eliminating the need to have a degree of freedom of displacement in the direction of the "x" axis. By varying the position of the center of rotation (RZ) on the "z" axis, lateral displacement (AX) can be minimized, which makes it possible to dispense with the degree of freedom in the "x" axis, since with said variation of the center of rotation (RZ), said lateral displacement (AX) is very small compared to the other two: displacement in the "y" axis, and rotation in the "z" axis. .
    [0122] In the first embodiment, the center of rotation (RZ) in the "z" axis is above the surface (S), while in the second embodiment, the center of rotation (RZ) in the "z" axis is below. of the surface (S), thus allowing to dispense with the degree of freedom in the "x" axis.
    [0124] The device of the second preferred embodiment shown in Figures 5, 6 and 7 comprises a body (10 ') with plates (14', 15 ') having a first end part (11') for coupling with an end free of the robot and a second end part (12 ') for coupling the head (H'). To improve its dynamic behavior, the body (10 ') is preferably bilaterally symmetrical.
    [0126] The body (10 ') comprises a vertical translation mechanism with horizontal plates (14') to allow a degree of freedom of movement in the direction of the "y" axis, which is approximately perpendicular to the surface (S), and a rotation mechanism with oblique plates (15 ') to allow a degree of freedom of rotation around the "z" axis, which is perpendicular to the "y" axis.
    [0128] The body (10 ') additionally comprises an intermediate part (16') for connection of the horizontal bars (14 ') with the oblique bars (15').
    [0130] The first end part (11 ') of the body (10') is associated with the second end part (12 ') of the body (10') according to a series arrangement.
    [0132] That is, the arrangement in series is such that the first end part (11 ') is connected to the second end part (12') by means of the intermediate part (16 '). Specifically, the first end part (11 ') is connected with the intermediate part (16') through the horizontal bars (14 '), and the intermediate part (16') is connected with the second end part (12 ') through through the oblique bars (15 ').
    [0133] Accordingly, the two degrees of freedom are arranged in series from the second end part (12 ') to the first end part (11') according to the following order: oblique bars (15 ') and horizontal bars (14').
    [0135] As in the first exemplary embodiment, the order of serial connection of the plates makes it possible to improve the performance of the coupling device. Once the head (H ') has been aligned with the surface (S) of the piece to be measured, the robot can continue its downward movement in the "y" axis, as the horizontal plates (14') deform by bending, without that the contact between the head (H ') and the surface (S) of the part is affected.
    [0137] As can be seen in detail in figure 6, the first end part (11 ') consists of a “T” -shaped piece with an upper base (111') to which the end of the robot can be attached and a central extension ( 112 ') that projects vertically downwards and to which the horizontal bars (14') are attached.
    [0139] The second end part (12 ') consists of an inverted "U" shaped piece with an upper base (121') and two end walls (122 ') to each of which one of the oblique plates (15 '). In the upper base (121 ') a slit (123') is defined in which the central extension (112 ') of the first end part (11') is partially located, so that said slit (123 ') acts as a Physical stop with a double function, on the one hand, it limits the displacement in the direction of the "y" axis, and on the other hand, the rotation around the "z" axis.
    [0141] Between the two end walls (122 ') of the second end part (12') the head (H ') is arranged. According to the preferred application of the invention for the inspection of parts by non-destructive techniques, said head comprises the yoke-sensor NDT assembly.
    [0143] Taking into account the precision required by the device for the preferred application in the inspection of parts using non-destructive techniques, and in order to avoid errors and inaccuracies in the assembly of the device, it has been foreseen that the body (10, 10 ') It is monolithic, that is, it is manufactured in a single piece without joints between different parts.
    [0144] Also according to said preferred application, and due to the nature of the measurement and the high sensitivity of the NDT sensor to the presence of magnetic materials in the environment, the body material (10, 10 ') must have very low permeability magnetic, that is, it must be a paramagnetic material.
    [0146] Due to the purpose of correcting possible positioning errors, angular misalignments and imperfections in the geometry of the part, a material with high elasticity and high yield stress is chosen, in order to guarantee optimal performance and high resistance to fatigue. Based on these specifications, an aluminum alloy (eg Al 7075 T6) with heat treatment is chosen as the base material to form the device. Its relative magnetic permeability is very close to that of air.
    [0148] In both embodiments, two types of flexible joints have been used, all of them derived from flat bars.
    [0150] In the case of flexibility in the directions of the "x" and "y" axes, it has been chosen to use plates (13,14,14 ') embedded in parallel in order to allow deformations only by bending, resulting in a joint with high flexibility in the bending direction and high stiffness in any other direction.
    [0152] On the other hand, to provide the device with rotation (a) with respect to the "z" axis, a RCR (Remote Center of Rotation) construction has been chosen, consisting of two plates (15, 15 ') that are joined virtually in a single point The intersection of the imaginary planes that define each of the two plates (15,15 ') in turn define the center of rotation (RZ) with respect to the "z" axis of the rotation mechanism.
    [0154] In both embodiments, the vertical translation mechanism comprises two sets of three horizontal plates (14,14 '), the two sets being arranged in parallel, however, a similar kinematic behavior can be obtained with two sets of at least two horizontal plates ( 14.14 ').
    [0156] The number of bars selected, as well as their length, thickness, angle and other design variables are the result of an iterative optimization process whose objective is the maximum displacements in rotation (a) and in the vertical direction "y"; according to restrictions such as maximum stresses, manufacturing limitations, size, weight, and relative stiffness between different parts of the coupling device.
    [0158] The objective of achieving maximum displacements, together with the limit stress restriction of the material, translates into obtaining small stiffnesses. As these are recessed bars, the bending stiffness decreases as the thickness of the bars is reduced and their length increases. To a lesser extent, it also decreases when reducing the width. On the other hand, for the same deformation, the stress increases linearly with the thickness and decreases dramatically with increasing length. All this translates into a reduction in thickness (to a minimum manufacturable) and an increase in length to achieve maximum deformation and minimum stress.
    [0160] It is foreseen that the vertical plates (13) have a thickness between 0.15mm - 0.35mm, and preferably 0.15mm, that the horizontal plates (14.14 ') have a thickness between 0.2mm-0.3mm, and preferably 0.25mm, and that the oblique strips (15.15 ') have a thickness between 0.2mm-0.25mm, and preferably 0.2mm.
    [0162] The relationship between the displacement in the direction of the "y" axis and the rotation about the "z" axis is between 0.5-1.5 mm / deg.
    [0164] Finally, the physical stops defined between the mechanisms limit the maximum deformation of the device. To ensure that these limits are reached at the same time, optimizing the operation of the device, there must be a very specific relationship between the individual stiffnesses of each flexible joint. That is why two sets of three horizontal plates (14,14 ') are used for the movement in the "y" axis, and only two oblique plates (15, 15') are used for the rotation in the "z" axis. .
    权利要求:
    Claims (15)
    [1]
    1. - Coupling device between a robot and a head (H, H ') that acts on a work surface (S), characterized in that it comprises:
    • a body (10,10 ') that has a first end part (11, 11') for coupling with a free end of the robot and a second end part (12, 12 ') for coupling the head (H, H') , comprising the body (10,10 '):
    or a vertical translation mechanism with horizontal plates (14, 14 ') to allow a degree of freedom of movement in the direction of a "y" axis approximately perpendicular to the work surface (S), and
    or a rotation mechanism with oblique plates (15, 15 ') to allow a degree of freedom of rotation around a "z" axis perpendicular to the "y" axis, and
    or wherein the first end part (11, 11 ') of the body (10, 10') is associated with the second end part (12, 12 ') of the body (10, 10') according to a series arrangement, firstly to through the horizontal bars (14, 14 ') and then through the oblique bars (15, 15').
    [2]
    2. - Coupling device according to the preceding claim, characterized in that it has a physical stop (154 ') to limit the displacement in the direction of the "y" axis, and the rotation around the "z" axis.
    [3]
    3. - Coupling device according to any one of the preceding claims, characterized in that the first end part (11 ') consists of a "T" -shaped piece with an upper base (111') to which the end is attachable. of the robot and a central extension (112 ') that projects vertically downwards and to which the horizontal bars (14') are attached.
    [4]
    4. - Coupling device according to any one of the preceding claims, characterized in that the second end part (12 ') consists of a piece in the shape of an inverted "U" with an upper base (121') and two end walls (122 ') to each of which is attached one of the oblique strips (15').
    [5]
    5. - Coupling device according to the preceding claim, characterized in that in the upper base (121 ') a slit (123') is defined in which the central extension (112 ') of the first end part (11) is partially located ').
    [6]
    6. - Coupling device according to any one of the preceding claims, characterized in that the center of rotation (RZ) of the rotation mechanism in the "z" axis is located at the intersection of the imaginary planes that define each of the plates oblique (15 '), with the center of rotation (RZ) below the work surface (S).
    [7]
    7. - Coupling device between a robot and a head, according to claim 1, characterized in that the body (10) additionally comprises a horizontal translation mechanism with vertical plates (13) to allow a degree of freedom of movement in the direction of an "x" axis approximately parallel to the work surface (S), and therefore perpendicular to the "z" and "y" axes, and where the first end part (11) of the body (10) is associated with the second end part (12) of the body (10) according to a series arrangement first through the vertical bars (13), then through the horizontal bars (14) and then through the oblique bars (15).
    [8]
    8. - Coupling device between a robot and a head, according to any one of the preceding claims, characterized in that the body (10, 10 ') is monolithic.
    [9]
    9. - Coupling device between a robot and a head, according to any one of the preceding claims, characterized in that the body (10, 10 ') is made of a paramagnetic material, preferably the paramagnetic material is an aluminum alloy
    [10]
    10. - Coupling device between a robot and a head, according to any one of the preceding claims, characterized in that the vertical translation mechanism comprises two sets of at least two horizontal plates (14,14 ') for each set, being arranged the two sets in parallel.
    [11]
    11. - Coupling device between a robot and a head, according to the previous claim, characterized in that the vertical translation mechanism comprises two sets of three horizontal plates (14,14 ').
    [12]
    12. - Coupling device between a robot and a head, according to the previous claim, characterized by the rotation mechanism has two oblique plates (15, 15 ').
    [13]
    13.- Coupling device between a robot and a head, according to any one of the re iv previous indications, characterized in that the horizontal strips (14,14 ') have a thickness between 0.2mm -0.3mm, and preferably 0.25mm, and the oblique strips ( 15, 15 ') have a thickness between 0.2mm -0.25mm, and preferably 0.2mm.
    [14]
    14.- Coupling device between a robot and a head, according to any of the indications 7 to 13, characterized in that the vertical plates (13) have a thickness between 0.15mm - 0.35mm, and preferably 0.15mm.
    [15]
    15.- Coupling device between a robot and a head, according to any of the previous indications characterized in that the relationship between the displacement in the direction of the axis " y ”and the rotation around the" z "axis is between 0.5-1.5 mm / deg.
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    同族专利:
    公开号 | 公开日
    ES2831093B2|2021-11-11|
    WO2020058537A1|2020-03-26|
    引用文献:
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    法律状态:
    2021-06-07| BA2A| Patent application published|Ref document number: 2831093 Country of ref document: ES Kind code of ref document: A1 Effective date: 20210607 |
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    优先权:
    申请号 | 申请日 | 专利标题
    PCT/ES2018/070610|WO2020058537A1|2018-09-20|2018-09-20|Coupling device for use between a robot and a head|
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