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1. (WO2019025698) CABLE-BASED PARALLEL ROBOT AND METHOD FOR CONTROLLING SUCH A ROBOT
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Pub. No.: WO/2019/025698 International Application No.: PCT/FR2018/051865
Publication Date: 07.02.2019 International Filing Date: 20.07.2018
IPC:
B28B 1/00 (2006.01) ,B25J 9/00 (2006.01) ,B25J 9/16 (2006.01) ,E04B 1/35 (2006.01) ,E04G 21/04 (2006.01) ,B33Y 30/00 (2015.01) ,B29C 64/106 (2017.01) ,B29C 64/227 (2017.01) ,B28B 3/20 (2006.01)
B PERFORMING OPERATIONS; TRANSPORTING
28
WORKING CEMENT, CLAY, OR STONE
B
SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS, SLAG OR MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
1
Producing shaped articles from the material
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
16
Programme controls
E FIXED CONSTRUCTIONS
04
BUILDING
B
GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
1
Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
35
Extraordinary methods of construction, e.g. lift-slab, jack-block
E FIXED CONSTRUCTIONS
04
BUILDING
G
SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR OTHER BUILDING AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
21
Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
02
Conveying or working-up concrete or similar masses able to be heaped or cast
04
Devices for both conveying and distributing
[IPC code unknown for B33Y 30][IPC code unknown for B29C 64/106][IPC code unknown for B29C 64/227]
B PERFORMING OPERATIONS; TRANSPORTING
28
WORKING CEMENT, CLAY, OR STONE
B
SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS, SLAG OR MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
3
Producing shaped articles from the material by using presses; Presses specially adapted therefor
20
wherein the material is extruded
Applicants:
XTREEE [FR/FR]; 18-20 Rue du Jura CP40502 LE MANILLE 94623 RUNGIS CEDEX, FR
Inventors:
ROUX, Philippe; FR
MALLET, Alban; FR
BOUYSSOU, Charles; FR
AKHAVAN ZAKERI, Mahriz; FR
BLANCHET, Laurent; FR
MOREL, Philippe; FR
Agent:
BRINGER IP; 1 Place du Président Thomas Wilson 31000 TOULOUSE, FR
Priority Data:
175740202.08.2017FR
Title (EN) CABLE-BASED PARALLEL ROBOT AND METHOD FOR CONTROLLING SUCH A ROBOT
(FR) ROBOT PARALLÈLE À CÂBLES ET PROCÉDÉ DE COMMANDE D'UN TEL ROBOT
Abstract:
(EN) The invention relates to a cable-based parallel robot comprising a mobile tool (10, 12) which is intended to be moved along a target path (15) in a working environment; a plurality of cables (21; 22; 23) each having a first end (21a; 22a; 23a) connected to the mobile tool (10,12) and a second end (21b; 22b; 23b) connected to an anchor point of a fixed structure arranged in the vicinity of said working environment; a plurality of cable actuators; a control unit (40) of the actuators, characterised in that said plurality of cables comprises at least one suspended cable (21) and at least one strut cable (22; 23) configured to be arranged so that said second end of the cable (22b, 23b) is lower than said first end (22a; 23a) of the cable while the mobile tool is being moved along said target path (15).
(FR) L'invention concerne un robot parallèle à câbles comprenant un outil mobile (10, 12) destiné à être déplacé suivant une trajectoire cible (15) dans un environnement de travail; une pluralité de câbles (21; 22; 23) présentant chacun une première extrémité (21a; 22a; 23a) reliée à l'outil mobile (10, 12) et une deuxième extrémité (21b; 22b; 23b) reliée à un point d'ancrage d'une structure fixe agencée au voisinage dudit environnement de travail; une pluralité d'actionneurs des câbles; une unité de commande (40) des actionneurs, caractérisé en ce que ladite pluralité de câbles comprend au moins un câble suspendu (21) et au moins câble étai (22; 23) configuré pour être agencé de sorte que ladite seconde extrémité du câble (22b; 23b) est plus basse que ladite première extrémité (22a; 23a) du câble au cours du déplacement de l'outil mobile suivant ladite trajectoire cible (15).
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: French (FR)
Filing Language: French (FR)