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公开(公告)号：US08347470B2
公开(公告)日：2013-01-08
申请号：US12073518
申请日：2008-03-06
Applicant: Javier Gonzalez Sáinz , Juan Ramón Astorga Ramírez , Agustin J. Sáenz Fernández , Valentin Collado Jiménez
Inventor： Javier Gonzalez Sáinz , Juan Ramón Astorga Ramírez , Agustin J. Sáenz Fernández , Valentin Collado Jiménez
CPC classification number: B23B41/006 , B23B2215/04 , B23Q9/0014 , B25J15/0095 , Y10T29/5108 , Y10T29/5118 , Y10T408/554 , Y10T408/5612 , Y10T408/5623 , Y10T408/56245 , Y10T408/563 , Y10T409/306384 , Y10T483/1736
Abstract: Portable robot for carrying out the drilling process in the assembly of aeronautical components which are secured on a support known as a stand. The robot comprises a displaceable platform in order to permit it to be located close to the stand, and an arm, which supports a frame comprising a beam intended to support a drilling head that can be displaced in the three axes.
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公开(公告)号：US20140008928A1
公开(公告)日：2014-01-09
申请号：US13977588
申请日：2010-12-31
Applicant: Valentin Collado Jiménez , Oihane Beloki Zubiri , Riccardo Mezzacasa Lasarte , Francisco José Estensoro Astigarraga , Jose Ramon García Martinez , Miguel Segura Moreno , Xabier Irastorza Arregui
Inventor： Valentin Collado Jiménez , Oihane Beloki Zubiri , Riccardo Mezzacasa Lasarte , Francisco José Estensoro Astigarraga , Jose Ramon García Martinez , Miguel Segura Moreno , Xabier Irastorza Arregui
CPC classification number: B25J9/023 , B25J15/0052 , B25J15/0061 , B25J15/0616
Abstract: The invention relates to a gripping device for manipulating flexible elements, coupleable to a robot arm as an end effector, comprising a main rack (14, 15, 17, 18, 19, 20, 24, 25) and a plurality of gripping elements (1-9) coupled in the main rack by means of respective operating mechanisms (1a-1f; 2a-2e; 3a-3f; 4a-4g; 5a-5d; 6a-6g; 7a-7f; 8a-8e; 9a-9f) for gripping a flexible element (10), characterized in that it comprises at least four gripping elements (1-9) for gripping the flexible element (10); at least one gripping element (5) is a multiposition gripping element independently displaceable with respect to the other gripping elements (1-4, 6-9) in at least one direction parallel to the plane defined by the other gripping elements (1-4, 6-9) by means of a displacement system (16, 38, 39, 40, 41, 42, 45) assembled in the main rack (14, 15, 17, 18, 19, 20, 24, 25) and in a perpendicular direction (Z) to said plane by means of a vertical operating mechanism (5b); at least two of the other gripping elements (1-4, 6-9) defining the aforementioned plane are independently displaceable in any direction (X, Y) within said plane by means of respective two-way additional displacement systems assembled in the main rack (14, 15, 17, 18, 19, 20, 24, 25); the gripping elements (1-9) are automatically adjustable in their respective positions such that they are arranged in one and the same plane for capturing the flexible element (10) in a flat two-dimensional configuration and, once the flexible element (10) is captured, moving to generate a three-dimensional configuration in the flexible element (10) without generating stretching forces on the flexible element (10).
Abstract translation: 本发明涉及一种用于操纵柔性元件的夹紧装置，其可耦合到作为端部执行器的机器人手臂，包括主支架（14,15,17,18,19,20,24,25）和多个夹紧元件（ 通过各自的操作机构（1a-1f; 2a-2e; 3a-3f; 4a-4g; 5a-5d; 6a-6g; 7a-7f; 8a-8e; 9a- 9f），用于夹紧柔性元件（10），其特征在于，其包括用于夹紧柔性元件（10）的至少四个夹紧元件（1-9）。 至少一个夹紧元件（5）是相对于其他夹持元件（1-4,6-9）独立地移动的多位置夹持元件，所述夹持元件在至少一个方向上平行于由其它夹紧元件（1-4）限定的平面 ，6-9）通过组装在主机架（14,15,17,18,19,20,24,25）中的位移系统（16,38,39,40,41,42,45）和 通过垂直操作机构（5b）与所述平面垂直的方向（Z）; 限定上述平面的其他夹紧元件（1-4,6-9）中的至少两个可通过组装在主支架中的相应的双向附加位移系统在所述平面内的任何方向（X，Y）上独立地移动 （14，15，17，18，19，20，24，25）; 夹紧元件（1-9）可以在它们各自的位置上自动调节，使得它们被布置在用于以平坦的二维结构捕获柔性元件（10）的同一平面中，并且一旦柔性元件（10） 被捕获，移动以在柔性元件（10）中产生三维构造而不在柔性元件（10）上产生拉伸力。
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公开(公告)号：US08944481B2
公开(公告)日：2015-02-03
申请号：US13977588
申请日：2010-12-31
Applicant: Valentin Collado Jiménez , Oihane Beloki Zubiri , Riccardo Mezzacasa Lasarte , Francisco José Estensoro Astigarraga , Jose Ramon Garcia Martinez , Miguel Segura Moreno , Xabier Irastorza Arregui
Inventor： Valentin Collado Jiménez , Oihane Beloki Zubiri , Riccardo Mezzacasa Lasarte , Francisco José Estensoro Astigarraga , Jose Ramon Garcia Martinez , Miguel Segura Moreno , Xabier Irastorza Arregui
CPC classification number: B25J9/023 , B25J15/0052 , B25J15/0061 , B25J15/0616
Abstract: A gripping device for manipulating flexible elements includes a main rack and a plurality of gripping elements coupled in the main rack by respective operating mechanisms for gripping a flexible element. The gripping device includes at least four gripping elements for gripping the flexible element. At least one gripping element is a multiposition gripping element independently displaceable by a displacement system assembled in the main rack and a vertical operating mechanism. At least two of the other gripping elements are independently displaceable in any direction by respective two-way additional displacement systems assembled in the main rack. The gripping elements are automatically adjustable in their respective positions such that they are arranged in one and the same plane for capturing the flexible element in a flat two-dimensional configuration and movable to generate a three-dimensional configuration in the flexible element without generating stretching forces on the flexible element.
Abstract translation: 用于操纵柔性元件的夹持装置包括主支架和通过用于夹持柔性元件的相应操作机构联接在主支架中的多个夹紧元件。 夹持装置包括用于夹持柔性元件的至少四个夹紧元件。 至少一个夹紧元件是可以通过组装在主支架中的位移系统和垂直操作机构独立地移动的多位夹持元件。 其他夹紧元件中的至少两个可以通过组装在主支架中的相应的双向附加位移系统在任何方向上独立地移动。 夹紧元件可在其各自的位置自动调节，使得它们被布置在同一平面中，用于以平坦的二维构型捕获柔性元件，并可移动以在柔性元件中产生三维构造而不产生拉伸力 在柔性元件上。
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4.发明授权公开(公告)号：US08764428B2
公开(公告)日：2014-07-01
申请号：US13445020
申请日：2012-04-12
Applicant: Miguel Segura Moreno , Ricardo Mezzacasa Lasarte , Francisco José Estensoro Astigarraga , José Ramón García Martínez , Xabier Irastorza Arregui , Valentin Collado Jiménez , Oihane Beloki Zubiri
Inventor： Miguel Segura Moreno , Ricardo Mezzacasa Lasarte , Francisco José Estensoro Astigarraga , José Ramón García Martínez , Xabier Irastorza Arregui , Valentin Collado Jiménez , Oihane Beloki Zubiri
CPC classification number: B29C70/44 , B29B11/16 , B29C35/0272 , B29C70/882 , B29C2035/0211
Abstract: Disclosed is a device for preparing preforms of carbon fiber-reinforced components including a preforming mold that can be immobilized on a work bench in an electrically insulated manner, and provided with at least two electrodes in positions in which they contact opposite end areas of the preform to generate a resistive electrical circuit through the carbon fibers to activate a binder present in the preform by heating, a leak-tight elastically deformable compacting membrane capable of adapting to the outer geometry of a preform arranged on the mold, and a pneumatic connection means connected to the compacting device to force the membrane to exert a compacting force on the preform.
Abstract translation: 公开了一种用于制备碳纤维增强部件的预成型件的装置，包括可以以电绝缘的方式固定在工作台上的预成型模具，并且在它们接触预成型件的相对端部区域的位置处设置有至少两个电极 通过碳纤维产生电阻电路，通过加热来活化预成型件中存在的粘合剂，能够适应布置在模具上的预成型件的外部几何形状的可密封的可弹性变形的压实膜，以及连接的气动连接装置 到压实装置以迫使膜在预成型件上施加压实力。
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