ES2034935T3 - Dispositivo equilibrador de fuerzas, de gravedad principalmente que actua sobre un brazo de robot o analogo. - Google Patents
Dispositivo equilibrador de fuerzas, de gravedad principalmente que actua sobre un brazo de robot o analogo.Info
- Publication number
- ES2034935T3 ES2034935T3 ES198989400426T ES89400426T ES2034935T3 ES 2034935 T3 ES2034935 T3 ES 2034935T3 ES 198989400426 T ES198989400426 T ES 198989400426T ES 89400426 T ES89400426 T ES 89400426T ES 2034935 T3 ES2034935 T3 ES 2034935T3
- Authority
- ES
- Spain
- Prior art keywords
- robot arm
- analog
- balancing device
- force balancing
- mainly acting
- 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
Links
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
- B25J19/0016—Balancing devices using springs
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/28—Counterweights, i.e. additional weights counterbalancing inertia forces induced by the reciprocating movement of masses in the system, e.g. of pistons attached to an engine crankshaft; Attaching or mounting same
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Testing Of Balance (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
DISPOSITIVO DE EQUILIBRADO DE FUERZAS ACTUANDO SOBRE UN BRAZO DE ROBOT (10) ARTICULADO EN ROTACION ALREDEDOR DE UN EJE (A), ESTE DISPOSITIVO COMPRENDE UN NUMERO PAR DE PIEZAS AUXILIARES (24'',24'''') ARTICULADAS ALREDEDOR DE EJES B1, B2) PARALELOS ENTRE ELLOS Y PARALELOS AL EJE (A) DEL BRAZO, CADA UNA DE DICHAS PIEZAS SOPORTAN DOS BRAZOS TRANSVERSALES (28, 30) CUYOS EXTREMOS APTOS PARA APOYARSE CONTRA UNA PARTE RECTILINEA (48) DE UN ORGANO MOVIL (50) SOMETIDOS A UN ESFUERZO DE LLAMADA HACIA UNA POSICION INICIAL, LAS PIEZAS AUXILIARES (24, 24'''') ESTAN ARRASTRADAS POR VELOCIDADES ANGULARES IGUALES EN VALOR ABSOLUTO PERO DOS A DOS EN SENTIDOS OPUESTOS E IGUALES TAMBIEN A LA MITAD DE LA VELOCIDAD ANGULAR DEL BRAZO DEL ROBOT.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR8802423A FR2627718A1 (fr) | 1988-02-26 | 1988-02-26 | Dispositif d'equilibrage des forces, notamment de pesanteur, agissant sur un bras de robot ou analogue |
Publications (2)
Publication Number | Publication Date |
---|---|
ES2034935T1 ES2034935T1 (es) | 1993-04-16 |
ES2034935T3 true ES2034935T3 (es) | 1993-10-01 |
Family
ID=9363694
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
ES198989400426T Expired - Lifetime ES2034935T3 (es) | 1988-02-26 | 1989-02-15 | Dispositivo equilibrador de fuerzas, de gravedad principalmente que actua sobre un brazo de robot o analogo. |
Country Status (7)
Country | Link |
---|---|
US (1) | US4901591A (es) |
EP (1) | EP0330548B1 (es) |
JP (1) | JPH0635118B2 (es) |
AT (1) | ATE88405T1 (es) |
DE (1) | DE68906055T2 (es) |
ES (1) | ES2034935T3 (es) |
FR (1) | FR2627718A1 (es) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5214749A (en) * | 1991-06-12 | 1993-05-25 | Massachusetts Institute Of Technology | Dynamic control of a robot with its center of mass decoupled from an end effector by a redundant linkage |
FR2727346B1 (fr) * | 1994-11-25 | 1997-01-10 | Loriot Jean Marc | Dispositif d'equilibrage des forces agissant sur un bras sollicite par une charge |
FR2794048B1 (fr) * | 1999-05-25 | 2001-09-28 | Process Conception Ing Sa | Agencement d'actionnement d'une charge en forme d'un bras oscillant |
FR2813814B1 (fr) * | 2000-09-14 | 2003-02-07 | Christian Salesse | Dispositif d'equilibrage d'une force, a hautes performances |
FR2813815B1 (fr) * | 2000-09-14 | 2003-02-21 | Christian Salesse | Dispositif d'equilibrage d'une force, a hautes performances |
FR2814449B1 (fr) * | 2000-09-25 | 2003-02-07 | Christian Salesse | Dispositif de deplacement d'une charge |
DE10393671D2 (de) * | 2002-08-23 | 2005-07-21 | Boehm Hubertus | Gewichtsausgleichssystem für Geräte mit Drehachsen |
US7703246B2 (en) * | 2007-07-31 | 2010-04-27 | Beautiful World Llc | Solar panel mounting structure |
FR2955353B1 (fr) | 2010-01-20 | 2014-11-28 | Total Sa | Dispositif de decouplage pour colonne de forage, et systeme de forage comportant un tel dispositif de decouplage. |
FR3134437B1 (fr) | 2022-04-12 | 2024-03-29 | Kendrinov | perfectionnement d'équilibreur rotatif |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2565153B1 (fr) * | 1984-05-29 | 1986-09-26 | Ecole Centrale Arts Manufactur | Dispositif d'equilibrage des forces de pesanteur dans un bras robotique |
SU1202863A1 (ru) * | 1984-07-16 | 1986-01-07 | Всесоюзный заочный машиностроительный институт | Уравновешенный манипул тор |
AT380818B (de) * | 1984-10-08 | 1986-07-10 | Voest Alpine Ag | Gewichtsausgleichsvorrichtung fuer den fuehrungsarm einer handhabungseinrichtung |
US4756204A (en) * | 1987-02-11 | 1988-07-12 | Cincinnati Milacron Inc. | Counterbalance assembly for rotatable robotic arm and the like |
-
1988
- 1988-02-26 FR FR8802423A patent/FR2627718A1/fr active Granted
-
1989
- 1989-02-15 EP EP89400426A patent/EP0330548B1/fr not_active Expired - Lifetime
- 1989-02-15 AT AT89400426T patent/ATE88405T1/de not_active IP Right Cessation
- 1989-02-15 ES ES198989400426T patent/ES2034935T3/es not_active Expired - Lifetime
- 1989-02-15 DE DE8989400426T patent/DE68906055T2/de not_active Expired - Fee Related
- 1989-02-24 JP JP1045069A patent/JPH0635118B2/ja not_active Expired - Lifetime
- 1989-02-24 US US07/315,145 patent/US4901591A/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
JPH0635118B2 (ja) | 1994-05-11 |
DE68906055D1 (de) | 1993-05-27 |
FR2627718A1 (fr) | 1989-09-01 |
JPH01264793A (ja) | 1989-10-23 |
ES2034935T1 (es) | 1993-04-16 |
ATE88405T1 (de) | 1993-05-15 |
EP0330548B1 (fr) | 1993-04-21 |
DE68906055T2 (de) | 1993-08-26 |
EP0330548A1 (fr) | 1989-08-30 |
US4901591A (en) | 1990-02-20 |
FR2627718B1 (es) | 1994-08-19 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
ES2034935T3 (es) | Dispositivo equilibrador de fuerzas, de gravedad principalmente que actua sobre un brazo de robot o analogo. | |
ES2108962T3 (es) | Robot industrial, en particular para la transferencia de piezas de una prensa a otra en una linea de prensas. | |
SE8404318D0 (sv) | Vinkelhastighetssensor, som anvender tva vibrerande accelerometrar festa vid en parallellogramlenk | |
ATE153307T1 (de) | Greifer für eine fördereinrichtung zum fördern von ein- oder mehrblättrigen druckereierzeugnissen | |
AU572951B2 (en) | Re-education apparatus for the articulated segments of the hand | |
ES2104304T3 (es) | Dispositivo de limpieza de un cilindro. | |
DK411184A (da) | Muskelopbygningsapparat | |
DE3561700D1 (en) | Gravity counter-balancing device for a robotic arm | |
SE9100403L (sv) | Industrirobot | |
DE69122240D1 (de) | Antigen-wirkende proteine von borrelia burgdorferi | |
SE8800567L (sv) | Foreliggande uppfinning avser en ledmekanism som er spec lempad att anvendas i robotstyrapparater, exv for automatisk farklippning | |
JPS5623994A (en) | Vibrator for converting rotary motion to reciprocal motion | |
AU5939090A (en) | Scanning device | |
KR840000340A (ko) | 공업용 로보트 | |
Herve | Design of spring mechanisms for balancing the weight of robots | |
FR2666630B1 (fr) | Liaison mecanique a faible debattement angulaire articulee sans frottement selon 3 axes. | |
ES2075279T3 (es) | Dispositivo de descarga de un silo. | |
SE8204370L (sv) | Rullningsmetanordning for robotvapen | |
SU1572802A1 (ru) | Манипул тор | |
BG49971A1 (en) | Gripper | |
SU1283102A1 (ru) | Шарнир манипул тора | |
JPS6432241A (en) | Lens driving device for camera | |
BR8203175A (pt) | Mecanismo e processo de capacidade de producao de trabalho mecanico de uma forca programada, aplicada a um sistema de corpos interdependentes, que se desloca em movimento combinado de translacao e rotacao sobre um plano de sustentacao | |
ES2022413B3 (es) | Pinza para atar elementos agrupados en haz. | |
FR2651285B1 (fr) | Bielle de liaison mecanique reglable. |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
FG2A | Definitive protection |
Ref document number: 330548 Country of ref document: ES |