FR2637832A1 - Stabilising and manipulating arm - Google Patents

Stabilising and manipulating arm Download PDF

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Publication number
FR2637832A1
FR2637832A1 FR8812634A FR8812634A FR2637832A1 FR 2637832 A1 FR2637832 A1 FR 2637832A1 FR 8812634 A FR8812634 A FR 8812634A FR 8812634 A FR8812634 A FR 8812634A FR 2637832 A1 FR2637832 A1 FR 2637832A1
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FR
France
Prior art keywords
actuator
axis
central
movement
stabilising
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
FR8812634A
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French (fr)
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to FR8812634A priority Critical patent/FR2637832A1/en
Publication of FR2637832A1 publication Critical patent/FR2637832A1/en
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms

Abstract

The invention relates to a stabiliser/manipulator arm system allowing the alignment and constant parallelism of two ends, the assembly being moved by a single actuator. It consists of a pantograph equipped with a parallelogram sliding in its central articulation. Field of application: any robotic, manipulation, handling, machine-loading, force take-up or load take-up system.

Description

La présente invention concerne un système bras stabilisateur manipulateur permettant l'alignement et le parallelisme constant des extrémités quelque soit la position de déplacement et la position de la charge à déplacer ou à retenir. The present invention relates to a manipulator stabilizing arm system allowing the alignment and constant parallelism of the ends whatever the position of displacement and the position of the load to be displaced or retained.

Ce système se caractérise par l'insertion dans un panthographe type "table à dessin" d'un parallélogramme ou compas dont l'articulation centrale eoulisse selon un axe "x" sur le ou les organes centraux d'accouplement de l'articulation du panthographe, (Fig. 1). This system is characterized by the insertion in a panthograph type "drawing table" of a parallelogram or compass whose central articulation flows along an axis "x" on the central coupling member or organs of the panthograph articulation , (Fig. 1).

Ce système permet ainsi à l'ensemble d'effectuer.la fonction de mouvement parallèle du panthographe, en assurant l'alignement permanent des fixations ou extrémités de celui-ci, selon un axe "z" rigoureusement perpendiculaire à l'axe "x" de l'artieulation.  This system thus allows the assembly to perform the parallel movement function of the panthograph, ensuring permanent alignment of the fixings or ends thereof, along an axis "z" strictly perpendicular to the axis "x" of artieulation.

Ce système permet également de reprendre les efforts de déport de la charge par rapport à l'axe "z" d'alignement des extré- mités. This system also makes it possible to take up the load offset efforts relative to the axis "z" of alignment of the ends.

Domaine d'application : robot manipulation, levage manutention, poste chargement machine. Tout mouvement nécessitant l'alignement et le parallélisme constant de deux points dans un encombrement réduit en longueur, avec un seul actionneur n'acceptant que les reprises d'effort longitudinales.  Field of application: handling robot, lifting handling, machine loading station. Any movement requiring alignment and constant parallelism of two points in a space reduced in length, with a single actuator only accepting longitudinal force recovery.

Claims (9)

REVENDICATIONS 1) Ce système se caractérise par son principe de guidage central (3) permettant de conserver l'axe de déplacement "z" perpendiculaire et aligné aux extrémités (2) selon axe d'articulation central, axe "x" (Fig. 1). 1) This system is characterized by its central guiding principle (3) allowing the axis of movement "z" to be kept perpendicular and aligned at the ends (2) along the central articulation axis, axis "x" (Fig. 1) . 2) Dispositif selon revendication 1 caractérisé en ce que l'actionneur (5) peut être monté articulé de façon à ne recevoir que des efforts axiaux. 2) Device according to claim 1 characterized in that the actuator (5) can be mounted articulated so as to receive only axial forces. 3) Dispositif selon revendication 2 caractérisé en ce que l'actionneur (5) peut être une vis, un verin, un levier, un motoréducteur, un moteur, un ressort, un treuil, une crémaillère... 3) Device according to claim 2 characterized in that the actuator (5) can be a screw, a jack, a lever, a gear motor, a motor, a spring, a winch, a rack ... 4) Dispositif selon revendication I caractérisé en ce que l'actionneur (5) peut être installé sur le système en différentes positions de façon à satisfaire aux contraintes d'encombrement, de déplacement et de reprise d'effort du système (Fig. 1.2.3.4.5.6). 4) Device according to claim I characterized in that the actuator (5) can be installed on the system in different positions so as to satisfy the constraints of space, displacement and force recovery of the system (Fig. 1.2. 3.4.5.6). 5) Dispositif selon revendications 1.2.3. caractérisé en ce que le système peut fonctionner dans toutes les positions. 5) Device according to claims 1.2.3. characterized in that the system can operate in all positions. 6) Dispositif selon revendication 1 caractérisé en ce que le système stabilisateur/manipulateur peut absorber des efforts venant de direction autre aux axes t'x" et "z". 6) Device according to claim 1 characterized in that the stabilizer / manipulator system can absorb forces from other direction to the axes t'x "and" z ". 7) Dispositif selon revendications 1.2.3 caractérisé en ce que le mouvement peut être assuré par un seul actionneur (5) 7) Device according to claims 1.2.3 characterized in that the movement can be ensured by a single actuator (5) 8) Dispositif selon revendications 1.5.3 caractérisé en ce que l'actionneur disposé sur la liaison centrale (3) peut être relié à deux systèmes compas (4) de façon à répartir et absorber plus d'efforts (Fig. 7) applicable aux Fig. 1.2.3.4.5.6.  8) Device according to claims 1.5.3 characterized in that the actuator disposed on the central link (3) can be connected to two compass systems (4) so as to distribute and absorb more force (Fig. 7) applicable to Fig. 1.2.3.4.5.6. 9) Dispositif selon revendication I caractéris en ce que le système de compas, situé dans l'articulation centrale, peut également être installé dans les articulations de fixation avec guidage à leur niveau.  9) Device according to claim I characterized in that the compass system, located in the central joint, can also be installed in the fixing joints with guidance at their level.
FR8812634A 1988-09-23 1988-09-23 Stabilising and manipulating arm Withdrawn FR2637832A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR8812634A FR2637832A1 (en) 1988-09-23 1988-09-23 Stabilising and manipulating arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR8812634A FR2637832A1 (en) 1988-09-23 1988-09-23 Stabilising and manipulating arm

Publications (1)

Publication Number Publication Date
FR2637832A1 true FR2637832A1 (en) 1990-04-20

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
FR8812634A Withdrawn FR2637832A1 (en) 1988-09-23 1988-09-23 Stabilising and manipulating arm

Country Status (1)

Country Link
FR (1) FR2637832A1 (en)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0683019A1 (en) * 1994-05-16 1995-11-22 Director-General of Agency of Industrial Science and Technology Robot which is capable of receiving impact load
WO2000010776A1 (en) * 1998-08-19 2000-03-02 Kenan Koser Closed kinematic chain robot arm
WO2000040378A1 (en) * 1999-01-06 2000-07-13 Kenan Koser Slider crank mechanism based robot arm
EP1052071A2 (en) * 1999-05-05 2000-11-15 VORTEX SYSTEMS S.r.L. High-speed industrial handler
EP1061025A1 (en) * 1999-06-16 2000-12-20 E.I. Du Pont De Nemours And Company Apparatus and method for initiating the winding of webs
FR2813814A1 (en) * 2000-09-14 2002-03-15 Christian Salesse Railway electric vehicle high performance pantograph load balancing mechanism has displaceable mass on one of two hinged arms and motorized drive
FR2813815A1 (en) * 2000-09-14 2002-03-15 Christian Salesse HIGH PERFORMANCE FORCE BALANCING DEVICE
CN108621134A (en) * 2018-05-11 2018-10-09 清华大学 A kind of truss-like six degree of freedom series-parallel robot processing unit (plant)
US10513329B2 (en) 2014-06-26 2019-12-24 SZ DJI Technology Co., Ltd. Aerial vehicle and a signal line protection assembly thereof

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0683019A1 (en) * 1994-05-16 1995-11-22 Director-General of Agency of Industrial Science and Technology Robot which is capable of receiving impact load
WO2000010776A1 (en) * 1998-08-19 2000-03-02 Kenan Koser Closed kinematic chain robot arm
WO2000040378A1 (en) * 1999-01-06 2000-07-13 Kenan Koser Slider crank mechanism based robot arm
EP1052071A2 (en) * 1999-05-05 2000-11-15 VORTEX SYSTEMS S.r.L. High-speed industrial handler
EP1052071A3 (en) * 1999-05-05 2001-01-17 VORTEX SYSTEMS S.r.L. High-speed industrial handler
EP1061025A1 (en) * 1999-06-16 2000-12-20 E.I. Du Pont De Nemours And Company Apparatus and method for initiating the winding of webs
WO2000076895A1 (en) * 1999-06-16 2000-12-21 E.I. Dupont De Nemours And Company Apparatus and method for initiating the winding of webs
US6676064B1 (en) * 1999-06-16 2004-01-13 Du Pont Tejin Films, Uk, Ltd. Apparatus and method for initiating the winding of webs
FR2813815A1 (en) * 2000-09-14 2002-03-15 Christian Salesse HIGH PERFORMANCE FORCE BALANCING DEVICE
WO2002022322A1 (en) * 2000-09-14 2002-03-21 Christian Salesse High performance device for balancing a force
FR2813814A1 (en) * 2000-09-14 2002-03-15 Christian Salesse Railway electric vehicle high performance pantograph load balancing mechanism has displaceable mass on one of two hinged arms and motorized drive
US7287628B2 (en) 2000-09-14 2007-10-30 Christian Salesse High performance device for balancing a force
US10513329B2 (en) 2014-06-26 2019-12-24 SZ DJI Technology Co., Ltd. Aerial vehicle and a signal line protection assembly thereof
US11180246B2 (en) 2014-06-26 2021-11-23 SZ DJI Technology Co., Ltd. Aerial vehicle and a signal line protection assembly thereof
CN108621134A (en) * 2018-05-11 2018-10-09 清华大学 A kind of truss-like six degree of freedom series-parallel robot processing unit (plant)
CN108621134B (en) * 2018-05-11 2020-09-22 清华大学 Truss type six-degree-of-freedom hybrid robot processing device

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