EP0175695A1 - Steering device for robots or hydraulic cranes - Google Patents

Steering device for robots or hydraulic cranes

Info

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Withdrawn
Application number
EP19840902385
Other languages
German (de)
English (en)
French (fr)
Inventor
Sonny Persson
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
Publication of EP0175695A1 publication Critical patent/EP0175695A1/en
Withdrawn legal-status Critical Current

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)
EP19840902385 1983-06-07 1984-06-04 Steering device for robots or hydraulic cranes Withdrawn EP0175695A1 (en)

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 (en) 1986-04-02

Family

ID=20351474

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19840902385 Withdrawn EP0175695A1 (en) 1983-06-07 1984-06-04 Steering device for robots or hydraulic cranes

Country Status (3)

Country Link
EP (1) EP0175695A1 (sv)
SE (1) SE434713B (sv)
WO (1) WO1984004897A1 (sv)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
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 (en) * 1989-08-10 1991-02-21 Macmillan Bloedel Limited Cable machine control
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)

* Cited by examiner, † Cited by third party
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

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO8404897A1 *

Also Published As

Publication number Publication date
WO1984004897A1 (en) 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 (en) Reversible control lever linkage
EP0175695A1 (en) Steering device for robots or hydraulic cranes
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 (sv)
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 (en) A device for controlling the fluid supply to a number of consumers
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 (sv)

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