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Cable robot

A robot and cable technology, which is applied in the direction of cable cranes, manipulators, cranes, etc., can solve the problems of the influence of the positioning accuracy of the working head, the complexity of the cable robot, and the difficulty of transportation.

Pending Publication Date: 2021-11-12
LIEBHERR WERK BIBERACH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] However, such cable robots, which actually cover a larger work area and can also be used, for example, on building sites or in building construction, are complex and difficult to erect and install or dismantle at the place of use
On the one hand, the supporting structure or its parts are no longer easily transportable due to their corresponding dimensions
On the other hand, considerable installation time is required to install the support structure and align its parts with each other
[0010] In addition, there is the problem that if, due to inaccuracies or alignment errors when installing the support structure, there is only a small deviation of the hinge point of the control cables from its set position, this may be due to, for example, inclined placement or support columns If the distance between each other is not accurate, the positioning accuracy of the working head will be seriously affected soon
At the same time, the path of travel of the working head predetermined by the control device (for example, a straight path of travel) may be distorted if the positions of the articulation points do not correspond exactly to the grid predetermined for this purpose

Method used

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Embodiment Construction

[0037] As shown, the cable robot 1 comprises a cable system 2 tensioned by a support structure 3 and carrying a working head 4 .

[0038] The working head 4 can be configured differently and / or equipped with different working tools, for example in the form of material delivery heads such as concrete sprinklers or other manufacturing tools and / or workpiece grippers such as clamshell grabs or other The form of the processing tool.

[0039] Here, if figure 1 As shown, the cable system 2 may comprise cables extending in four cardinal directions or in four different vertical planes, wherein advantageously for each cardinal direction or in each vertical plane there may be provided two cables 5, 6. These two cables can run from hinge points arranged at different heights, in particular can guide the working head 4 once obliquely upward and once obliquely downward (see figure 2 ).

[0040] In particular, the support structure may comprise four individual, respectively vertical supp...

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Abstract

The invention relates to a cable robot (1) for creating a structure or manipulating a workpiece, comprising a working head (4) which is suspended on a support structure (3) having at least three support columns (7, 8, 9, 10) by a system of cables (2) having at least three control cables (5, 6), wherein cable winches (24, 25) are provided for arranging the control cables relative to the support structure and / or relative to the working head, and can they be actuated by an electronic control device (26) for moving the working head, wherein the support columns of the support structure are luffingly and / or telescopically arranged on a revolving stage (13), which has a ballast weight (20) for absorbing a tilting moment introduced into the respective support column by the system of cables and which is arranged on an undercarriage such that it can rotate about an upright revolving stage axis (14), said undercarriage having a chassis (16) and being designed such that it can move with the revolving stage and the downwardly luffing and / or retracted support column.

Description

technical field [0001] The invention relates to a cable robot for building structures and / or manipulating workpieces, comprising a working head suspended from a support structure having at least three support columns by a cable system having at least three control cables, wherein , a cable winch for adjusting the cable system relative to the support structure and / or relative to the working head is provided and can be driven by an electronic control device for moving the working head. Background technique [0002] Tethered robots, often referred to as manipulators, do not use stiff or rigid links, booms or arms as motion-transmitting parts such as articulated-arm robots, but instead use flexible traction elements for force transmission. Such flexible traction elements, in particular in the form of cables such as steel cables or fiber cables, are usually guided from different articulation points on the support structure to the working head supported by the tensioned cables. T...

Claims

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Application Information

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IPC IPC(8): B25J9/00B66C21/04
CPCB66C21/04B25J9/0078B66C21/06B66C13/08B66C13/46E04G21/02E04G21/16
Inventor 罗伯特·布拉曼博格
Owner LIEBHERR WERK BIBERACH
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