FR2354856A1 - Robot industriel - Google Patents

Robot industriel

Info

Publication number
FR2354856A1
FR2354856A1 FR7717191A FR7717191A FR2354856A1 FR 2354856 A1 FR2354856 A1 FR 2354856A1 FR 7717191 A FR7717191 A FR 7717191A FR 7717191 A FR7717191 A FR 7717191A FR 2354856 A1 FR2354856 A1 FR 2354856A1
Authority
FR
France
Prior art keywords
arm
industrial robot
levers
coupled
support plate
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.)
Granted
Application number
FR7717191A
Other languages
English (en)
Other versions
FR2354856B1 (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
Publication of FR2354856A1 publication Critical patent/FR2354856A1/fr
Application granted granted Critical
Publication of FR2354856B1 publication Critical patent/FR2354856B1/fr
Granted legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • B25J19/002—Balancing devices using counterweights
    • 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
    • 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
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S414/00—Material or article handling
    • Y10S414/13—Handlers utilizing parallel links

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

L'invention concerne un robot industriel comportant un bras muni à son extrémité avant d'un organe de préhension et sur lequel sont montés deux leviers dont l'un est couplé, par l'intermédiaire d'une articulation de pivotement, aussi bien au bras qu'à la plaque-support supportant le bras et les leviers, le second levier 5 est couplé, par l'intermédiaire d'articulation de pivotement 2, 18, d'une part, au bras 1 et, d'autre part, à un levier pivotant 7 qui est lui-même monté de façon pivotante sur la plaque-support 6. L'invention est utilisable notamment pour des opérations de chargement et de déchargement
FR7717191A 1976-06-18 1977-06-06 Robot industriel Granted FR2354856A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE2627490A DE2627490B2 (de) 1976-06-18 1976-06-18 Manipulator

Publications (2)

Publication Number Publication Date
FR2354856A1 true FR2354856A1 (fr) 1978-01-13
FR2354856B1 FR2354856B1 (fr) 1983-11-10

Family

ID=5980915

Family Applications (1)

Application Number Title Priority Date Filing Date
FR7717191A Granted FR2354856A1 (fr) 1976-06-18 1977-06-06 Robot industriel

Country Status (12)

Country Link
US (1) US4140226A (fr)
JP (1) JPS5937199B2 (fr)
AT (1) AT353175B (fr)
CA (1) CA1060390A (fr)
CH (1) CH621286A5 (fr)
DE (1) DE2627490B2 (fr)
ES (1) ES459826A1 (fr)
FR (1) FR2354856A1 (fr)
GB (1) GB1544871A (fr)
NL (1) NL7706444A (fr)
SE (1) SE433584B (fr)
SU (1) SU1083900A3 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2422482A1 (fr) * 1978-04-13 1979-11-09 Renault Dispositif de transfert de pieces
FR2464802A1 (fr) * 1979-09-13 1981-03-20 Atomic Energy Authority Uk Manipulateur pour commande a distance, notamment de matieres radioactives, et ensemble a machoires pour un tel manipulateur
FR2467060A1 (fr) * 1979-10-12 1981-04-17 Hitachi Ltd Robot industriel du type articule

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4392775A (en) * 1980-10-09 1983-07-12 The United States Of America As Represented By The Secretary Of The Air Force Flat workpiece pickup
US4536690A (en) * 1982-10-19 1985-08-20 Calspan Corporation Tool-supporting self-propelled robot platform
AU3583084A (en) * 1983-12-10 1985-06-13 Aida Engineering Ltd. Playback grinding robot
DE3410515C2 (de) * 1984-03-22 1986-10-02 Friedhelm 4390 Gladbeck Schwarz Manipulator mit einem Knickarm zur Erzeugung von geradlinigen Bewegungen
DE3501771A1 (de) * 1985-01-21 1986-07-24 Robert Bosch Gmbh, 7000 Stuttgart Beuteluebergabevorrichtung
US4756204A (en) * 1987-02-11 1988-07-12 Cincinnati Milacron Inc. Counterbalance assembly for rotatable robotic arm and the like
US4775289A (en) * 1987-09-25 1988-10-04 Regents Of The University Of Minnesota Statically-balanced direct-drive robot arm
US4961716A (en) * 1988-02-02 1990-10-09 Mattel, Inc. Toy apparatus including robotic arm
SE463453B (sv) * 1988-05-24 1990-11-26 Lars Bohman Utbalanserad kran
US5397323A (en) * 1992-10-30 1995-03-14 International Business Machines Corporation Remote center-of-motion robot for surgery
US5419671A (en) * 1993-03-24 1995-05-30 The Heil Company Top mounted container handling apparatus
DE4428488C1 (de) * 1994-08-12 1995-10-26 Hans Richter Handgelenk für die Arbeitshand eines Roboters
SE515119C2 (sv) * 1995-03-30 2001-06-11 Abb Ab Industrirobot
US5824007A (en) * 1996-12-03 1998-10-20 Simon Fraser University Adjustable surgical stand
JP4136127B2 (ja) * 1998-10-30 2008-08-20 株式会社アルプスツール 棒材取出し装置
RU2181669C1 (ru) * 2001-07-02 2002-04-27 Акционерное общество закрытого типа "Концерн Содружество" Способ получения рельефной поверхности и устройство для его осуществления
DE10348724A1 (de) * 2003-10-16 2005-05-19 Stefan Buntrock Handgeführter Manipulator
KR20140040479A (ko) * 2012-09-26 2014-04-03 삼성전자주식회사 다관절 암을 가진 장치 및 중력 보상 방법
US9505126B2 (en) 2014-10-27 2016-11-29 Michele D'Egidio Device for the movement and positioning of an element in space
US10228530B2 (en) * 2016-09-30 2019-03-12 Mitaka Kohki Co., Ltd. Stand apparatus for surgical microscope
CN109760017B (zh) * 2018-12-24 2020-07-10 燕山大学 带有两个回转腰的串并混联六自由度工业机械臂
CN110605708A (zh) * 2019-09-18 2019-12-24 长江大学 多自由度单臂助力机械手

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2061358A (en) * 1932-10-07 1936-11-17 American Sheet & Tin Plate Automatic discharging machine
FR90225E (fr) * 1966-06-22 1967-11-03 Conco Engineering Works Dispositif d'équilibrage pour appareil de levage
DE2433954A1 (de) * 1974-07-15 1976-01-29 Siemens Ag Industrie-roboter

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3587872A (en) * 1969-04-28 1971-06-28 Paul E Pauly Mechanical arm and control means therefor
US3703968A (en) * 1971-09-20 1972-11-28 Us Navy Linear linkage manipulator arm
DE2226407C3 (de) * 1972-05-31 1978-10-12 Industrie-Werke Karlsruhe Augsburg Ag, 7500 Karlsruhe Gerät zur maschinellen, durch veränderbare Programme steuerbaren Handreichung
JPS5231456A (en) * 1975-09-03 1977-03-09 Hitachi Ltd System for controlling articulation type machine hand

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2061358A (en) * 1932-10-07 1936-11-17 American Sheet & Tin Plate Automatic discharging machine
FR90225E (fr) * 1966-06-22 1967-11-03 Conco Engineering Works Dispositif d'équilibrage pour appareil de levage
DE2433954A1 (de) * 1974-07-15 1976-01-29 Siemens Ag Industrie-roboter

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
EXBK/76 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2422482A1 (fr) * 1978-04-13 1979-11-09 Renault Dispositif de transfert de pieces
FR2464802A1 (fr) * 1979-09-13 1981-03-20 Atomic Energy Authority Uk Manipulateur pour commande a distance, notamment de matieres radioactives, et ensemble a machoires pour un tel manipulateur
FR2467060A1 (fr) * 1979-10-12 1981-04-17 Hitachi Ltd Robot industriel du type articule

Also Published As

Publication number Publication date
NL7706444A (nl) 1977-12-20
ATA397277A (de) 1979-03-15
JPS5937199B2 (ja) 1984-09-07
ES459826A1 (es) 1978-04-01
JPS532871A (en) 1978-01-12
SE433584B (sv) 1984-06-04
DE2627490B2 (de) 1979-12-20
AT353175B (de) 1979-10-25
FR2354856B1 (fr) 1983-11-10
GB1544871A (en) 1979-04-25
CH621286A5 (fr) 1981-01-30
US4140226A (en) 1979-02-20
DE2627490A1 (de) 1977-12-22
SU1083900A3 (ru) 1984-03-30
CA1060390A (fr) 1979-08-14
SE7706980L (sv) 1977-12-19

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Legal Events

Date Code Title Description
ST Notification of lapse
TP Transmission of property
AR Application made for restoration
BR Restoration of rights
ST Notification of lapse