METHOD FOR SETTING POSITIONS OF MANIPULATING ARMS ON A FRAME

• US 20150020365A1
• Filed: 02/11/2013
• Published: 01/22/2015
• Est. Priority Date: 02/13/2012
• Status: Active Grant

• Current Assignee: Fakulta Stronjni Cvut V Praze
• Original Assignee: Fakulta Stronjni Cvut V Praze
• Inventors: Valasek, Michael, Smrz, Martin, Svatos, Petr, Kukula, Pavel
• Granted Patent: US 9,358,646 B2
• Time in Patent Office: Days
• US Class Current: 29/428
• CPC Class Codes: B23P 19/04 for assembling or disassembling parts
• CPC Class Codes: B25J 15/0061 mounted on a modular gripping structure
• CPC Class Codes: F16M 1/00 Frames or casings of engines, machines or apparatus; Frames serving as machinery beds
• CPC Class Codes: Y10T 29/49826 Assembling or joining

Abstract

The invention concerns a method for setting a position of manipulating arms on a supporting frame and a supporting frame (1) for positioning the manipulating arms fitted with tools (11) for attaching technological or measuring members, where the particular manipulating arms get unblocked for relocation in their placement and/or in their mutually moveable parts, they are relocated by means of a robot into a new demanded position where they are blocked in their placement and/or in their mutually moveable parts. The supporting frame for placement of the manipulating arms is fitted at least with one sliding guide (3) and/or spherical joint (16) in which the manipulating arm consisting at least of two mutually moveable parts is placed moveably, whereas the manipulating arm is fitted with blocking elements for blocking and unblocking motion in its placement and motion of its mutually moveable parts. The blocking elements are connected to a source (7) of pneumatic or hydraulic or electrical power.

Claims

1. A method for setting a position of manipulating arms fitted with tools (11) for attaching technological or measuring members and positioned on a supporting frame (1), featured by the fact that particular manipulating arms get unblocked for relocation in their placement and/or in their mutually moveable parts, they are relocated by means of a robot into a new demanded position where they are blocked in their placement and/or in their mutually moveable parts.

2. The method for setting a position of manipulating arms as described in claim 1, featured by the fact that the particular manipulating arms get unblocked by connecting blocking elements (5, 6) in the placement of the manipulating arms and/or between their mutually moveable parts to a source (7) of pneumatic or hydraulic or electrical power and get unblocked by disconnecting from the source (7) of pneumatic or hydraulic or electrical power.

3. The method for setting a position of manipulating arms as described in some of the Claims mentioned above, featured by the fact that relocation of the manipulating arms to a demanded position is performed by clamping them in a fixture (8) and relocating the supporting frame (1) by a robot (9).

4. The method for setting a position of manipulating arms as described in some of the Claims mentioned above, featured by the fact that before relocation of the manipulating arms to a demanded position the supporting frame (1) is clamped in the fixture (8) to determine its position towards the robot (9).

5. The method for setting a position of manipulating arms as described in some of the Claims mentioned above, featured by the fact that the position of the manipulating arms is measured by a grab (10) of the robot which performs relocation of the repositionable arms (2).

6. The method for setting a position of manipulating arms as described in some of the Claims mentioned above, featured by the fact that a position of the manipulating arms is measured by scanning a position of luminous spots (12) on the manipulating arm with the aid of digital cameras or video-cameras (13).

7. The method for setting a position of manipulating arms as described in some of the Claims mentioned above, featured by the fact that a position of the manipulating arms is measured by scanning a position of luminous spots (12) on the grab (10) of the robot relocating the manipulating arms with the aid of digital cameras or video-cameras (13).

8. The supporting frame for placement of the manipulating arms fitted with tools (11) for attaching technological or measuring members, featured by the fact that the supporting frame (1) is fitted at least with one sliding guide (3) and/or spherical joint (16) in which the manipulating arm consisting at least of two mutually moveable parts is placed movably, whereas the manipulating arm is fitted with blocking elements for blocking and unblocking motion in its placement and motion of its mutually moveable parts.

9. The supporting frame as described in the claim 8, featured by the fact that the blocking elements are connected to the source (7) of pneumatic or hydraulic or electrical power.

14. The supporting frame as described in claims 8 and 9, featured by the fact that the supporting frame (1) is connected by means of the spherical joints (16) of the suspension arms (17) to the platform (15) for placing the tool (11), whereas the suspension arms (17) are fitted with the sliding guides (3) and the movement blocking elements (5).

15. The supporting frame as described in claim 14, featured by the fact that the tool (11) is fixed to the platform (15) being connected to the supporting frame (1) by means of at least three couples of the suspension arms (17) connected to the platform (15) through the spherical joints (14) and to the sliding guide (3) of the supporting frame (1) through the spherical joints (16).

16. The supporting frame as described in some of the above mentioned claims 14, 16, featured by the fact that the moveable part of the sliding guide (3) of the supporting frame (1) is connected to the tool (11) arranged on the platform (15) by means of the spherical joints of the suspension arms (17) pivoted on its opposite side with the moveable part of the sliding guide (3) of the supporting frame (1), whereas the suspension arms (17) are fitted with the sliding guides (3) and the movement blocking elements (5).

17. The supporting frame as described in claim 16, featured by the fact that the suspension arms (17) are connected to the moveable part of the sliding guide (3) of the supporting frame (1) by means of the rotational joints (4).

18. The supporting frame as described in claim 16, featured by the fact that the suspension arms (17) are connected to the moveable part of the sliding guide (3) of the supporting frame (1) by means of the spherical joints (14).

19. The supporting frame as described in some of the above mentioned claims 14-18, featured by the fact that the tool (11) is fixed to the platform (15) being connected to the supporting frame (1) by means of the suspension arms (17) connected to the platform (15) through the spherical joints (14) and to the supporting frame (1) through the spherical joints (16).

20. The supporting frame as described in claim 19, featured by the fact that one of the suspension arms (17) is connected to the supporting frame (1) by means of the rotational joint (4).

21. The supporting frame as described in some of the above mentioned claims 14-20, featured by the fact that the tool (11) is placed moveably on the platform (15).

22. The supporting frame as described in claim 21, featured by the fact that the tool (11) is placed moveably on the platform (15) by means of the platform (15a) and the suspension arms (17) between the platforms (15) and (15a).

23. The supporting frame as described in claim 21, featured by the fact that the tool (11) is placed moveably on the platform (15) by means of the platforms (15a) and (15b), whereas the respective platforms (15), (15a), (15b) are interconnected to one another through the suspension arms (17), (17a), (17b) fitted with spherical joints on both ends.

10. The supporting frame as described in some of the above mentioned Claims, featured by the fact that the manipulating arm is fitted with at least one rotational joint (4) connected to the holder (2) of the tool (11), whereas the sliding guide (3) is fitted with the movement blocking element (5) and the rotational joint (4) is fitted with the rotation blocking element (6).

11. The supporting frame as described in claim 10, featured by the fact that the rotational joint (4) is placed in the sliding guide (3a) fitted with the movement blocking element (5a).

12. The supporting frame as described in some of the above mentioned Claims, featured by the fact that the rotational joint (4) of the tool holder (2) is pivoted in the sliding guide (3) of the supporting frame (1).

13. The supporting frame as described in some of the above mentioned Claims, featured by the fact that the rotational joint (4) axis is parallel with the axis of the movement of the sliding guide (3), whereas the movable part of the sliding guide (3) is connected to the tool holder (2) by means of spherical joints (18) of at least two suspension arms (17), whereas the suspension arms (17) are fitted with the sliding guide (3a) with the blocking element (5a).