EP0175695A1 - Dispositif de commande pour robots ou grues hydrauliques - Google Patents
Dispositif de commande pour robots ou grues hydrauliquesInfo
- Publication number
- EP0175695A1 EP0175695A1 EP19840902385 EP84902385A EP0175695A1 EP 0175695 A1 EP0175695 A1 EP 0175695A1 EP 19840902385 EP19840902385 EP 19840902385 EP 84902385 A EP84902385 A EP 84902385A EP 0175695 A1 EP0175695 A1 EP 0175695A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- steering device
- crane
- joint
- robot
- handle
- 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- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
- B66C13/54—Operator's stands or cabins
- B66C13/56—Arrangements of handles or pedals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
- B25J9/047—Revolute coordinate type the pivoting axis of the first arm being offset to the vertical axis
Definitions
- the patentclaims include, among other things, the logical movability of the steering lever in accordance to the crane without being a decreased copy of the crane, but even the location of the electronic angle transmitters in the different axial rotation points on both the crane and the steering device.
- the angle indicators on the crane are only used when a reconnec- tion from the crane to the steering device is desired, a so called positional steering.
- the steering device has angle transmitters so that a change of the angles from an in ⁇ dicated neutral position on the steering device correspond to a change of the positions of the valveslides so that a certain mov- ment on the crane is carried out every time the steering device comes to this position, a so called proportional steering.
- the steering device is lacking springs for resetting to a neutral position since this occurs while the steering is stopped and the crane or robot comes to a correspond ⁇ ing position in proportion to the steering device.
- the steering device is closer described below with reference to the drawing where fig 1 and fig 2 show the steering device from side respecti ⁇ vely from a bove.
- the steering device is built according to the following. On a base (3), to which a cable is connected for transmitting of signals, a crane tower (4) is mounted, which serves as a point of attachment for one of the ends of the steering device. From the tower (4) which can be rotated around its vertical axle, a revol ⁇ ving jib (5) starts out in a first horizontal axle (9) through the tower (4). The jib (5) is jointed in a second axle (10) and changeable in its length by a telescopic functioning (11), con ⁇ sisting of, for example, two squarepipes of one of them is guided into the other and after that they are being equipped with stoppscrews which limit the length of the stroke.
- a handle (6) On the front port of the jib (5) a handle (6) is mounted, so that it is revol ⁇ ving around its vertical axle (12), which axle forms a 90 angle in coordination with one of the squarepipes of the telescopic function (11).
- the friction in the telescopic function (11) can be affected, by which the functions of the steering device in its first and second axles and the telescopic function (11) can be seperated or combined by free choice with all other functions.
- connection units (14)(15) By means of connection units (14)(15) the telescopic function (11) can be turned so that the joint (10) comes to a very close position to the axle of the hand ⁇ le (6) at which the jib (5) is always straight.
- This model is to be prefered when the steering device is used without the system of reconnection, at which all joints/functions are equipped with springs, which always bring back the steering device to a given neutral position. At that time, the steering device resambles partly the usual steering gears, which appear within the hydraulic with three unalogically arranged functions, at the most, in each steering gear, which have a back-and-force movement and a central situated neutral position.
- O is a joint/function (13) for a gripping function mounted, to be logically manipulated by the thumb or index finger.
- angle transmitters/potentiometers are mounted which transmit by means of seperate wires the aberrations of the angles by means of an electric amplifier, to the correspon ⁇ ding indications on the valve slides.
- the steering device can be mounted on a plate (2) which, being equipped with shoulder bands, has a supporting function to the operator. The steering device is then connected to an amplifying unit which carries out the signals to the hydraulic valves as known previously.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Jib Cranes (AREA)
Abstract
Dispositif de commande pour grues hydrauliques possédant plusieurs fonctions indépendantes, et permettant la programmation de robots industriels par un ensemble de mouvements analogues aux grues hydrauliques. Le dispositif de commande est une reproduction de la grue ou robot avec le même nombre d'articulations/fonctions. Celles-ci sont agencées de sorte que l'opérateur peut manipuler d'une main toutes les fonctions simultanément, ou une à une, ou avec un libre choix de combinaisons, la capacité de mouvement étant toujours indépendante de chaque fonction. A l'aide de ce dispositif de commande il est possible de manipuler même la fonction télescopique de la grue hydraulique, étant donné que le dispositif de commande présente dans sa flèche (5) une fonction télescopique (11) dont le frottement est modifié par la manière dont la poignée (6) est montée à une extrémité de la fonction télescopique (11). Le dispositif de commande peut être actionné avec une boucle de réaction de la grue ou du robot au dispositif de commande, ce que l'on appelle une commande de position, ou bien il est équipé d'un ressort lui permettant de revenir à une position neutre donnée et de la rendre perceptible à l'opérateur, ce que l'on appelle une commande proportionnelle. Lorsqu'elle est commandée de manière proportionnelle, la partie frontale de la flèche (5) peut être tournée de sorte que l'articulation (10) se rapproche de la poignée (6) sans perdre l'effet logique de mouvement.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE8303193A SE434713B (sv) | 1983-06-07 | 1983-06-07 | Styrdon for robotar eller hydraulkranar |
SE8303193 | 1983-06-07 |
Publications (1)
Publication Number | Publication Date |
---|---|
EP0175695A1 true EP0175695A1 (fr) | 1986-04-02 |
Family
ID=20351474
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19840902385 Withdrawn EP0175695A1 (fr) | 1983-06-07 | 1984-06-04 | Dispositif de commande pour robots ou grues hydrauliques |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP0175695A1 (fr) |
SE (1) | SE434713B (fr) |
WO (1) | WO1984004897A1 (fr) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0319781A (ja) * | 1989-06-14 | 1991-01-28 | Mitsubishi Electric Corp | 産業用ロボット装置 |
WO1991001935A1 (fr) * | 1989-08-10 | 1991-02-21 | Macmillan Bloedel Limited | Commande de machine a cables |
DE4024524A1 (de) * | 1990-08-02 | 1992-02-06 | Iveco Magirus | Einhand-bedienhebelelement mit totmannschaltung zur steuerung eines rettungskorbes, insbesondere eines rettungseinsatzfahrzeuges |
KR100240085B1 (ko) * | 1995-12-30 | 2000-01-15 | 토니헬 | 굴삭기의 조작장치 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3618786A (en) * | 1969-01-02 | 1971-11-09 | Gen Electric | Material-handling apparatus with end effector force resolver and feedback |
DE2352945A1 (de) * | 1973-10-23 | 1975-04-30 | Ernst Otto Kruse | Manipulator fuer gusstuecke |
FR2297697A1 (fr) * | 1975-01-20 | 1976-08-13 | Bretagne Atel Chantiers | Manipulateur programmable en continu |
FR2297698A1 (fr) * | 1975-01-20 | 1976-08-13 | Commissariat Energie Atomique | Bras de commande pour manipulateur motorise |
-
1983
- 1983-06-07 SE SE8303193A patent/SE434713B/sv unknown
-
1984
- 1984-06-04 EP EP19840902385 patent/EP0175695A1/fr not_active Withdrawn
- 1984-06-04 WO PCT/SE1984/000212 patent/WO1984004897A1/fr not_active Application Discontinuation
Non-Patent Citations (1)
Title |
---|
See references of WO8404897A1 * |
Also Published As
Publication number | Publication date |
---|---|
WO1984004897A1 (fr) | 1984-12-20 |
SE434713B (sv) | 1984-08-13 |
SE8303193D0 (sv) | 1983-06-07 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US3550466A (en) | Multidirectional control | |
US4175638A (en) | Electronically controlled four-wheel steering | |
US4910503A (en) | Multi-function input device and system | |
US5497847A (en) | Single lever for controlling multiple functions | |
US5360312A (en) | Three function control mechanism | |
US4064769A (en) | Control pedal-mechanical speed with electrical direction control | |
CA2041899A1 (fr) | Tringlerie a levier, a action reversible | |
EP0175695A1 (fr) | Dispositif de commande pour robots ou grues hydrauliques | |
US5692541A (en) | Hydraulic joystick | |
US4027547A (en) | Single lever control | |
US3786689A (en) | Single lever joy-stick apparatus | |
JP3247370B2 (ja) | 操舵及び伝動装置入れ換え制御機構 | |
GB2118738A (en) | Controlling the movement of the jib of an articulated crane | |
JPH0539755Y2 (fr) | ||
SE426577B (sv) | Dubbekommando for fordonsburna arbetsredskap, i synnerhet kranar | |
US2549969A (en) | Manual control device | |
US5288198A (en) | Control mechanism for an off-highway implement | |
US2965990A (en) | Automatic control mechanism for grading apparatus | |
US5140865A (en) | Control lever assembly | |
EP0050620A1 (fr) | Dispositif de commande de la distribution d'un fluide a un certain nombre de consommateurs | |
JP2952886B2 (ja) | オートマチックトランスミッションのコントロール装置 | |
US4615232A (en) | Control linkage | |
GB1575311A (en) | Controls for hydraulic valves | |
CN2447816Y (zh) | 控制手柄 | |
JPH0315641Y2 (fr) |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AT DE FR GB |
|
17P | Request for examination filed |
Effective date: 19860131 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
|
18D | Application deemed to be withdrawn |
Effective date: 19860311 |