EP0402216B1 - Vorrichtung zur krummliniegen Bewegung eines Gegenstandes in Berührung mit einer Fläche, insbesondere einer konvexen Fläche - Google Patents

Vorrichtung zur krummliniegen Bewegung eines Gegenstandes in Berührung mit einer Fläche, insbesondere einer konvexen Fläche Download PDF

Info

Publication number
EP0402216B1
EP0402216B1 EP90401491A EP90401491A EP0402216B1 EP 0402216 B1 EP0402216 B1 EP 0402216B1 EP 90401491 A EP90401491 A EP 90401491A EP 90401491 A EP90401491 A EP 90401491A EP 0402216 B1 EP0402216 B1 EP 0402216B1
Authority
EP
European Patent Office
Prior art keywords
scissors
frame
arm
pantograph
displaced
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.)
Expired - Lifetime
Application number
EP90401491A
Other languages
English (en)
French (fr)
Other versions
EP0402216A1 (de
Inventor
Yves Le Corre
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.)
Polytec
Original Assignee
Polytec
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 Polytec filed Critical Polytec
Publication of EP0402216A1 publication Critical patent/EP0402216A1/de
Application granted granted Critical
Publication of EP0402216B1 publication Critical patent/EP0402216B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/044—Working platforms suspended from booms

Definitions

  • the present invention relates to a device for curvilinear movement of an object, parallel to the curvature of a surface of determined profile which can be convex, concave or complex.
  • the invention applies more particularly, although not exclusively, to a device for moving a working tool, brought and maintained in contact with the convex surface, or even a personnel support nacelle, having to intervene on said surface.
  • FR-A- 2 384 437 thus uses a pantograph which expands in a transverse direction and is carried by a support which can be moved in one direction perpendicular by means of a control cylinder.
  • Such an apparatus is more particularly adapted to the positioning of a nacelle at the rear of an agricultural tractor and, in any event, cannot be adapted as such to the production of an assembly capable of following regularly the profile of a convex surface of large dimensions.
  • the subject of the present invention is a device of very simple design which makes it possible to follow the profile of the surface, in particular convex, concave or complex, of a fragile and precious piece of large dimension, without possible adjustment and therefore without risk of shock, without no storage of the coordinates of this surface, thanks to a totally mechanical assembly, ensuring maintenance at a good distance and without contact with the surface of an object carried by the device, whatever the variations in the profile of the latter.
  • the device considered comprising a vertical support frame, disposed in the vicinity of the surface and a support arm constituted by at least one pantograph, one end of which, integral with the vertical support frame, can be moved on demand according to the height thereof and the other end of which carries the object to be moved in contact with the surface, characterized in that at least one of the axes of articulation of the pantograph arm moves, with the movement of the arm opposite the frame, in a groove whose profile is homothetic to that of the surface and situated in a vertical plane containing the pantograph arm.
  • the pantograph is formed from at least two adjacent scissors, two ends of the crossed branches of the first scissors being freely articulated on two ends of the equally crossed branches of the second, the first scissors having their opposite ends carried by the frame, while the opposite ends of the second support the object to be moved.
  • one of the ends of the first scissors, carried by the frame comprises a movable nut, free in translation and immobilized in rotation, cooperating with an axial lead screw whose rotation causes the displacement of the nut on the screw which extends vertically according to the height of this frame.
  • the second opposite end of the first scissors comprises a guide sleeve, sliding freely on or relative to the lead screw.
  • the opposite end of the second scissors fixed to the object to be moved along the surface, is provided with a vertical rod parallel to the frame and on which slides a guide, carried by the second end of these second scissors.
  • the groove in which the axis of articulation of the branches of the first or second scissors slides is machined in a flat plate, carried by the frame and arranged in the vertical plane containing the arm of the pantograph.
  • the object to be moved consists of a nacelle, suitable for carrying personnel for intervention on the surface, or else any tool allowing this intervention to be carried out.
  • FIGS. 1 and 2 consists of a pantograph arm 1 itself formed of two successive scissors 2 and 3, the branches of which are crossed and articulated mutually, respectively around horizontal axes 4 and 5, perpendicular to the plane of the figure.
  • the two scissors are also articulated with each other by their common ends, joined by axes 6 and 7, parallel to axes 4 and 5.
  • the ends opposite axes 6 and 7 of the first scissors 2 are in turn articulated around axes 8 and 9, parallel to the previous ones, carried by a frame 10.
  • the axis 8 is integral with a nut 11, comprising a tapping internal engaged with the external thread of a lead screw 12, extending vertically and supported by the frame 10 so that the free rotation of this screw controlled by a geared motor 13, allows the nut 11, itself immobilized in rotation but free in translation to move on the frame from top to bottom or vice versa by driving with it the pantograph arm 1.
  • the pin 9 is secured to a sleeve 14, capable of sliding in the direction of the screw 12, as a function of the deflections of the crossed branches of the first scissors 2.
  • the sleeve 14 and the nut 11 can be inverted.
  • the axis 16 comprises a guide 19, which can freely slide on a rod 20 carried by the object 17, this rod extending parallel to the screw 12.
  • the groove 21 is a continuous groove, the profile of which is homothetic to that of the surface 18 along which the object 17 must move, this displacement being carried out consecutively to that of the nut 11 along the mother screw 12, from one end to the other of the groove 21.
  • the transverse distance which separates the axis 4 of the screw 12 will vary, by gradually opening or closing the branches of the first scissors 2 and, made of their articulated connection around axes 6 and 7, simultaneously the branches of the second scissors, by bringing the object 17 correlatively or moving away from the fixed reference that constitutes the screw 12 carried by the frame 10.
  • the profile from the groove 21 being directly deduced from that of the surface 18 by a homothety according to a horizontal vector, the object 17 to be moved can thus be kept permanently in contact with the latter, whatever its position relative to this surface.
  • the surface 18 is assumed here to be that of a cylinder 23 with a horizontal axis, constituting a large-sized part of the kind in particular that which can be encountered in units for manufacturing aeronautical equipment or rolling stock, or else tank, cistern or other type.
  • the object 17 is constituted by a nacelle 24, of which the rod 20 is integral with which the guide 19 slides, this nacelle making it possible to move a worker 25 at any point on the surface 18 to intervene thereon. by performing any desired machining, grinding, finishing, maintenance or cleaning operation.
  • the nacelle 24 could in the same way serve as a support for an intervention tool, remote-controlled or not, for the implementation of any operation on the surface 18 of the part 23.
  • the frame 10 carrying the screw 12 is mounted on a horizontal support 26 comprising stays 27, suitable for holding the frame and the plate 22 in a vertical plane.
  • the support may, for example, have wheels 28 allowing it to be moved on the ground 29 to bring the assembly as close as possible to the part 23 before the nacelle 24 is moved in the vicinity of the latter.
  • the support can be fixed, without departing from the scope of the invention.
  • the geared motor 13 has been shown arranged on the support 25, its output shaft 30 driving a bevel gear 31 for driving the screw 12 in rotation.
  • the nacelle 24 can be supported by a single pantograph arm 1, it is easily conceivable that the stability of the device is greatly improved by placing the nacelle in cantilever on two identical and parallel pantograph arms, respect 1a and 1b , schematically represented in FIG. 4, the axes 4, 5, 6, 7, 8, 9, 15 and 16 being common to these arms which comprise two nuts 11a and 11b cooperating with two parallel drive screws 12a and 12b, carried by the frame and driven in synchronism from the geared motor 13.
  • a curvilinear displacement device of an object is thus produced in contact with a surface in particular convex, concave or complex, of very simple design and in which the object retains a constant orientation, whatever the profile of this surface, the groove of the guide of the frame causing the lateral displacement movements of the pantograph arm, without requiring the intervention of complex electronic assemblies memorizing the coordinates of this profile from one end to the other of the corresponding surface.
  • This device can also easily adapt to different surface profiles, by simply replacing the plate carrying the image groove of each desired profile.
  • the pantograph arm may include a number of scissors articulated step by step greater than two provided that it has sufficient mechanical strength to allow the object to be cantilevered at the end of the arm.

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Current-Collector Devices For Electrically Propelled Vehicles (AREA)
  • Manipulator (AREA)

Claims (7)

  1. Vorrichtung zum Verschieben eines Objektes, das sich in Kontakt mit einer insbesondere konvexen, konkaven oder komplexen Oberfläche befindet, auf einer Kurvenlinie mit einem vertikalen Stüzträger (10), der in der Nähe der Oberfläche (18) angeordnet ist, und mit einem Stützarm, der aus mindestens einem Pantographen (1) besteht, dessen eines Ende (8), dass mit dem vertikalen Stützträger verbunden ist, bei Bedarf entlang der Höhe des letzteren verschiebbar ist und dessen anderes Ende das zu verschiebende Objekt (17) in einem ausreichenden Abstand von der Oberfläche hält, ohne diese zu berühren,
    dadurch gekennzeicnnet,
    dass sich mindestens einer der Gelenkbolzen (4) des Armes des Pantographen (1) bei der Bewegung des Armes bezüglich des Stützträgers (10) in einer Nut (21) verschiebt, dessen Profil mit demjenigen der Oberfläche homothetisch ist und die in einer vertikalen, den Arm des Pantographen aufweisenden Ebene angeordnet ist.
  2. Vorrichtsung gemäss Anspruch 1,
    dadurch gekennzeichnet,
    dass der Arm des Pantographen (1) aus mindestens zwei benachbarten Scheren (2, 3) gebildet ist, wobei die beiden Enden (6,7) der gekreuzten Streben der ersten Schere frei an den beiden Enden der gleichfalls gekreutzten Streben der zweiten Scheren angelenkt sind und wobei die von dem Stütztträger (10) getrangenen Enden(8, 9) der ersten Scheren (2) einander gegenüberliegen während die den zweiten Scheren (3) gegenüberliegenden Enden (15, 16) das Objekt (17) halten.
  3. Vorrichtung gemäss Anspruch 2,
    dadurch gekennzeichnet,
    dass eines der Enden (8) der ersteren Scheren (2) das von dem Stüzträger (10) gehalten wird, eine bewegliche, in Translationsrichtung freie sowie hinsichtlich der Rotation immobilisierte Schraube (11) aufweist, die mit einer achsialen Spindel (12) zusammenwirkt, deren Drehung die Verschiebung der Schraube auf der sich entlang der Höhe des Stützträgers vertikal erstreckenden Spindel bewirkt.
  4. Vorrichtung gemäzss Anspruch 3,
    dadurch gekennzeichnet,
    dass das den ersten Scheren (2) gegenüberliegende zweite Ende (9) eine Führunghülse (14) aufweist, die frei auf oder bezüglich der Spindel (12) gleitet.
  5. Vorrichtung gemäss einem der Ansprüche 2 bis 4,
    dadurch gekennzeichnet,
    dass das den zweiten Scheren (3) gegenüberliegende Ende (15), welches das entlang der Oberfläche zu verschiebende Objekt (17) trägt, mit einem vertikalen Stab (20) ausgerüstet ist, der parallel zum Stützgerüst verläuft und auf dem eine Führung (19) gleitet, die vom zweiten Ende (16) dieser zweiten Scheren (3) getragen wird.
  6. Vorrichtung nach einem der Ansprüche 1 bis 5,
    dadurch gekennzeichnet,
    dass die Nut (21) in der der Gelenkbolzen (4) der Arme für die ersten oder die zweiten Scheren (2,3) gleitet, in einer ebenen Platte (22) ausgenommen ist, welche vom Stützgerüst (10) getragen wird und in einer den Arm des Pantographen (1) aufweisenden vertikalen Ebene angeordnet ist.
  7. Vorrichtung nach einem der Ansprüche 1 bis 6,
    dadurch gekennzeichnet,
    dass das zu verschiebende Objekt (17) aus einer Arbeitsbühne (24) besteht, die eine Person (25) zur Beareitung der Oberfläche oder irgendeine Gerätschaft zur Durchführung dieser Bearbeitung tragen kann.
EP90401491A 1989-06-05 1990-06-01 Vorrichtung zur krummliniegen Bewegung eines Gegenstandes in Berührung mit einer Fläche, insbesondere einer konvexen Fläche Expired - Lifetime EP0402216B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8907403 1989-06-05
FR8907403A FR2647770B1 (fr) 1989-06-05 1989-06-05 Dispositif de deplacement curviligne d'un objet au contact d'une surface notamment convexe

Publications (2)

Publication Number Publication Date
EP0402216A1 EP0402216A1 (de) 1990-12-12
EP0402216B1 true EP0402216B1 (de) 1993-01-20

Family

ID=9382370

Family Applications (1)

Application Number Title Priority Date Filing Date
EP90401491A Expired - Lifetime EP0402216B1 (de) 1989-06-05 1990-06-01 Vorrichtung zur krummliniegen Bewegung eines Gegenstandes in Berührung mit einer Fläche, insbesondere einer konvexen Fläche

Country Status (4)

Country Link
US (1) US5109951A (de)
EP (1) EP0402216B1 (de)
DE (2) DE402216T1 (de)
FR (1) FR2647770B1 (de)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4217698C2 (de) * 1992-05-27 1995-08-31 Hans Kremkau Jul Knappe Gmbh Entlang einer Förderbahn bewegbare höhenveränderliche Tragfläche
US5755306A (en) * 1996-07-08 1998-05-26 Genie Industries, Inc. Personnel lift incorporating an outreach mechanism for an aerial work platform
US5901936A (en) * 1997-08-25 1999-05-11 Sandia Corporation Six-degree-of-freedom multi-axes positioning apparatus
DE102005012497A1 (de) * 2005-03-16 2006-09-21 Aloys Wobben Arbeitsbühne
JP2007313603A (ja) * 2006-05-25 2007-12-06 Honda Motor Co Ltd 作業補助シート
US20100108441A1 (en) * 2008-11-02 2010-05-06 Morelli Vince Adjustable work platform for pipe and casing stabbing operations
CN105291087A (zh) * 2015-11-30 2016-02-03 国网重庆市电力公司电力科学研究院 带电作业机器人
US10655345B2 (en) * 2017-11-16 2020-05-19 Tiong Bin Seow Height accessible working platform with horizontally displaceable cradle

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US828709A (en) * 1906-01-22 1906-08-14 Amos B Buckland Adjustable incandescent-light holder.
US3095061A (en) * 1960-07-15 1963-06-25 Louie E Gregory Hydraulically operated lazy tongs structure
AU4668572A (en) * 1971-10-14 1974-03-21 Delmar Engineering Laboratories Stress balanced extendible boom structure
FR2384437A1 (fr) * 1977-03-21 1978-10-20 Cepparo Louis Chassis support de nacelles positionnables en hauteur et selon un plan horizontal variable
US4934643A (en) * 1989-04-06 1990-06-19 Militano Jr Martin T Holder for screed rail

Also Published As

Publication number Publication date
EP0402216A1 (de) 1990-12-12
DE69000788D1 (de) 1993-03-04
FR2647770A1 (fr) 1990-12-07
FR2647770B1 (fr) 1991-09-06
US5109951A (en) 1992-05-05
DE69000788T2 (de) 1993-08-19
DE402216T1 (de) 1991-05-02

Similar Documents

Publication Publication Date Title
EP0194217B1 (de) Industrieroboter vom sphärischen Typ
FR2513926A1 (fr) Mecanisme de commande du bras de prehension d'un manipulateur robot
EP0324297A1 (de) Selbständig beweglicher Körper für den Transport eines Werkzeuges mit konstanter Geschwindigkeit
EP0402216B1 (de) Vorrichtung zur krummliniegen Bewegung eines Gegenstandes in Berührung mit einer Fläche, insbesondere einer konvexen Fläche
EP0010034A1 (de) Fahrzeug mit Haftvermögen zum Fortbewegen auf einer beliebigen Fläche
EP2125301A2 (de) Kompakter manipulationsroboter
EP0147301B1 (de) Bewegungs-Korrekturkopf mit sechs Freiheitsgraden
EP3400399B1 (de) System zur erzeugung der bewegung einer trägerplatte in sechs freiheitsgraden
EP1854591A1 (de) Parallelroboter
FR2671505A1 (fr) Dispositif pour le deplacement en translation spatiale d'un element dans l'espace, en particulier pour robot mecanique.
FR2488543A1 (fr) Robot industriel
FR2607093A1 (fr) Engin apte a se deplacer sur une surface d'orientation quelconque
WO1998053961A1 (fr) Machine robotisee pourvue d'au moins un bras a pantographe symetrique, par exemple pour la recolte de fruits ou le tri d'objets divers
FR2914203A1 (fr) Unite de cintrage d'un tube
FR2700486A1 (fr) Tête d'actionnement indexée pour machines-outils automatiques.
EP0490007A1 (de) Vorrichtung zum Bewegen eines Gegenstandes parallel zu der Krümmung und in der Nähe einer Oberfläche mit veränderlichem Profil
EP0247917B1 (de) Vorrichtung zum Umformen einer hin- und hergehenden Bewegung in eine schrittweise Drehbewegung
EP0508841B1 (de) Scheibenwischerarm, insbesondere für Hochgeschwindigkeitsfahrzeuge
EP0307293B1 (de) Zusammenkuppelsystem für zwei Körper, z.B. einen Transportwagen und eine Bearbeitungsstation
FR2739801A1 (fr) Perfectionnements aux manipulateurs plans a trajectoire figee ou programmable a tres haute cadence
EP1475511B1 (de) Bohrmaschine für alle Richtungen
EP1065015A1 (de) Vorrichtung zum Biegen langer Metallelemente wie Rohre
EP0095430B1 (de) Stangentransfervorrichtung
EP0565615B1 (de) Beschichtungsmaschine, insbesondere zur beschichtung des inneres eines körpers mit viereckigem querschnitt und grossen abmessungen wie eines schiffscontainers
WO2004016322A1 (fr) Dispositif permettant d’effectuer des excercices physiques

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): DE GB IT

17P Request for examination filed

Effective date: 19901204

ITCL It: translation for ep claims filed

Representative=s name: BARZANO' E ZANARDO MILANO S.P.A.

GBC Gb: translation of claims filed (gb section 78(7)/1977)
DET De: translation of patent claims
17Q First examination report despatched

Effective date: 19920604

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): DE GB IT

REF Corresponds to:

Ref document number: 69000788

Country of ref document: DE

Date of ref document: 19930304

ITF It: translation for a ep patent filed

Owner name: BARZANO' E ZANARDO MILANO S.P.A.

GBT Gb: translation of ep patent filed (gb section 77(6)(a)/1977)

Effective date: 19930422

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed
PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 19940608

Year of fee payment: 5

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 19940831

Year of fee payment: 5

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Effective date: 19950601

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 19950601

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Effective date: 19960301

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES;WARNING: LAPSES OF ITALIAN PATENTS WITH EFFECTIVE DATE BEFORE 2007 MAY HAVE OCCURRED AT ANY TIME BEFORE 2007. THE CORRECT EFFECTIVE DATE MAY BE DIFFERENT FROM THE ONE RECORDED.

Effective date: 20050601