FR2440270A1 - Automate, notamment pour les chargements sur presses - Google Patents

Automate, notamment pour les chargements sur presses

Info

Publication number
FR2440270A1
FR2440270A1 FR7831074A FR7831074A FR2440270A1 FR 2440270 A1 FR2440270 A1 FR 2440270A1 FR 7831074 A FR7831074 A FR 7831074A FR 7831074 A FR7831074 A FR 7831074A FR 2440270 A1 FR2440270 A1 FR 2440270A1
Authority
FR
France
Prior art keywords
arm
move
trajectory
automatically controlled
planer
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.)
Pending
Application number
FR7831074A
Other languages
English (en)
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.)
POLYMATIC SA
Original Assignee
POLYMATIC SA
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 POLYMATIC SA filed Critical POLYMATIC SA
Priority to FR7831074A priority Critical patent/FR2440270A1/fr
Publication of FR2440270A1 publication Critical patent/FR2440270A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • 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
    • B25J9/02—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
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • 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
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning 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
    • B25J9/10—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

Abstract

AUTOMATE A DEUX BRAS ARTICULES SE DEPLOYANT L'UN PAR RAPPORT A L'AUTRE. CET AUTOMATE EST MU PAR UN MOTEUR A VITESSE SENSIBLEMENT CONSTANTE ET COMPORTE UN PREMIER MECANISME A MANETON 24 ENTRAINE A VITESSE MOITIE, A COULISSE 25 ET A ENGRENAGES 26 A 29 POUR LA ROTATION DES BRAS ET UN SECOND MECANISME A MANETON 31 ENTRAINE A LA VITESSE DU MOTEUR POUR LA TRANSLATION ALTERNATIVE DES BRAS SUIVANT LEUR AXE DE ROTATION. LES PIECES TRANSPORTEES PAR CET AUTOMATE SUBISSENT DES ACCELERATIONS TRES PROGRESSIVES.
FR7831074A 1978-11-02 1978-11-02 Automate, notamment pour les chargements sur presses Pending FR2440270A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR7831074A FR2440270A1 (fr) 1978-11-02 1978-11-02 Automate, notamment pour les chargements sur presses

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR7831074A FR2440270A1 (fr) 1978-11-02 1978-11-02 Automate, notamment pour les chargements sur presses

Publications (1)

Publication Number Publication Date
FR2440270A1 true FR2440270A1 (fr) 1980-05-30

Family

ID=9214415

Family Applications (1)

Application Number Title Priority Date Filing Date
FR7831074A Pending FR2440270A1 (fr) 1978-11-02 1978-11-02 Automate, notamment pour les chargements sur presses

Country Status (1)

Country Link
FR (1) FR2440270A1 (fr)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2487717A1 (fr) * 1980-07-30 1982-02-05 Nagoya Kiko Kk Appareil de chargement et de dechargement pour le transfert de pieces d'un poste a un autre
EP0065859A2 (fr) * 1981-05-15 1982-12-01 Westinghouse Electric Corporation Structure pour manipulateur robotisé
EP0066014A1 (fr) * 1981-06-03 1982-12-08 COMAU S.p.A. Manipulateur pourvu de deux bras de préhension opposés
DE3313562A1 (de) * 1982-04-16 1983-10-20 Sahlin International, Inc., 48012 Birmingham, Mich. Eingabe- und/oder entnahmevorrichtung fuer industriepressen
FR2527967A1 (fr) * 1982-06-07 1983-12-09 Merlin Gerin Robot industriel perfectionne pilote par un automate programmable
FR2533484A1 (fr) * 1982-09-28 1984-03-30 Citroen Sa Chargeur extracteur de pieces a un seul moteur asservi
FR2540022A1 (fr) * 1983-02-01 1984-08-03 Brems John Mecanisme de transport de pieces
FR2556274A1 (fr) * 1983-12-12 1985-06-14 Comau Spa Robot de manipulation de pieces a emboutir
EP0169419A1 (fr) * 1984-07-27 1986-01-29 Unimation Inc. Poignet de robot pneumatique
FR2610859A1 (fr) * 1987-02-16 1988-08-19 Cdf Ingenierie Etr Sa Robot a plusieurs bras, equipes de mecanismes de coordination des mouvements de ces bras
US4921395A (en) * 1982-04-16 1990-05-01 Sahlin International, Inc. Apparatus for loading and/or unloading industrial presses
ITTO20100108A1 (it) * 2010-02-15 2011-08-16 Bottero Spa Attrezzatura motorizzata per la movimentazione di stampi in una macchina di formatura di articoli di vetro e macchina di formatura provvista di tale attrezzatura
CN110947849A (zh) * 2019-12-25 2020-04-03 江苏万意节能科技有限公司 一种钢片综双列冲压线成品切断左右输送装置
EP4176833A1 (fr) * 2021-11-05 2023-05-10 Technische Universität Berlin Bras robotique pouvant être incliné pour chirurgie mini-invasive, robot chirurgical et procédé de fabrication

Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2487717A1 (fr) * 1980-07-30 1982-02-05 Nagoya Kiko Kk Appareil de chargement et de dechargement pour le transfert de pieces d'un poste a un autre
EP0065859A2 (fr) * 1981-05-15 1982-12-01 Westinghouse Electric Corporation Structure pour manipulateur robotisé
EP0065859A3 (en) * 1981-05-15 1983-06-08 Westinghouse Electric Corporation Robotic manipulator structure
EP0066014A1 (fr) * 1981-06-03 1982-12-08 COMAU S.p.A. Manipulateur pourvu de deux bras de préhension opposés
US4921395A (en) * 1982-04-16 1990-05-01 Sahlin International, Inc. Apparatus for loading and/or unloading industrial presses
DE3313562A1 (de) * 1982-04-16 1983-10-20 Sahlin International, Inc., 48012 Birmingham, Mich. Eingabe- und/oder entnahmevorrichtung fuer industriepressen
FR2525147A1 (fr) * 1982-04-16 1983-10-21 Sahlin Int Inc Appareil pour charger et pour decharger des presses industrielles
US4620831A (en) * 1982-06-07 1986-11-04 Merlin Gerin Industrial robot governed by a programmable controller
FR2527967A1 (fr) * 1982-06-07 1983-12-09 Merlin Gerin Robot industriel perfectionne pilote par un automate programmable
EP0096634A1 (fr) * 1982-06-07 1983-12-21 Albora S.A. Robot industriel piloté par un automate programmable
EP0107548A1 (fr) * 1982-09-28 1984-05-02 Automobiles Citroen Chargeur extracteur de pièces à un seul moteur asservi
FR2533484A1 (fr) * 1982-09-28 1984-03-30 Citroen Sa Chargeur extracteur de pieces a un seul moteur asservi
FR2540022A1 (fr) * 1983-02-01 1984-08-03 Brems John Mecanisme de transport de pieces
FR2556274A1 (fr) * 1983-12-12 1985-06-14 Comau Spa Robot de manipulation de pieces a emboutir
EP0169419A1 (fr) * 1984-07-27 1986-01-29 Unimation Inc. Poignet de robot pneumatique
FR2610859A1 (fr) * 1987-02-16 1988-08-19 Cdf Ingenierie Etr Sa Robot a plusieurs bras, equipes de mecanismes de coordination des mouvements de ces bras
ITTO20100108A1 (it) * 2010-02-15 2011-08-16 Bottero Spa Attrezzatura motorizzata per la movimentazione di stampi in una macchina di formatura di articoli di vetro e macchina di formatura provvista di tale attrezzatura
EP2360125A1 (fr) * 2010-02-15 2011-08-24 Bottero S.p.A. Dispositif de manipulation de moules d'une machine de formage et machine équipée d'un tel dispositif
US8413468B2 (en) 2010-02-15 2013-04-09 Bottero S.P.A. Glassware forming machine powered mold handling device, and forming machine featuring such a device
CN110947849A (zh) * 2019-12-25 2020-04-03 江苏万意节能科技有限公司 一种钢片综双列冲压线成品切断左右输送装置
CN110947849B (zh) * 2019-12-25 2024-04-16 江苏万意节能科技有限公司 一种钢片综双列冲压线成品切断左右输送装置
EP4176833A1 (fr) * 2021-11-05 2023-05-10 Technische Universität Berlin Bras robotique pouvant être incliné pour chirurgie mini-invasive, robot chirurgical et procédé de fabrication

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