FR2638386A1 - Bipolar remote manipulator arm - Google Patents
Bipolar remote manipulator arm Download PDFInfo
- Publication number
- FR2638386A1 FR2638386A1 FR8814524A FR8814524A FR2638386A1 FR 2638386 A1 FR2638386 A1 FR 2638386A1 FR 8814524 A FR8814524 A FR 8814524A FR 8814524 A FR8814524 A FR 8814524A FR 2638386 A1 FR2638386 A1 FR 2638386A1
- Authority
- FR
- France
- Prior art keywords
- arms
- arm
- remote manipulator
- manipulator
- sets
- 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
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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
I DESCRITION
BRAS TELEMANIPULATEUR BIPOLAIRE
La présente invention concerne un bras télémanipulateur figure 1 qui est est constitué par une structure principale (1) de forme alvéolee selon l'axe de symétrie W'
Ce dispositif permet la manipulation simultanée et indépendante de deux ensemblesde bras encastrables pour assurer tous travaux de réparations, manipulation et controle en milieu hostile
Ce télémanipulateur comporte deux ensembles de bras de manipulation actionnés sur un axe symétrique XX' figure 2
Ces deux ensemble de bras ont des actionneurs secondaires coaxiaux selon l'axe YY' et des actionneurs tertiaires également coaxiaux en ZZ'.I DESCRIPTION
BIPOLAR TELEMANIPULATOR ARM
The present invention relates to a manipulator arm figure 1 which is constituted by a main structure (1) of alveolate shape along the axis of symmetry W '
This device allows the simultaneous and independent manipulation of two sets of built-in arms to ensure all repair work, manipulation and control in hostile environment
This manipulator has two sets of manipulation arms actuated on a symmetrical axis XX 'Figure 2
These two sets of arms have secondary actuators coaxial along the axis YY 'and tertiary actuators also coaxial in ZZ'.
Ces 2 ensembles de bras sont symétriques selon les axes AA' et BB' euxmeme symetriques par rapport à VV'
Les axes XX',YY' ZZ' sont perpendiculaires à l'axe principal de symétrie W' figure 3
Chaque ensemble de télémanipulation comporte un actionneur principal (2) de
O à 360 ,un bras principal (3) ,un actionneur (4) de O à 360 , un bras secondaire (5) ,un actionneur tertiaire (6) de O à 360 , un troisieme bras comportant 2 parties (7-8) figure 4
L'extrémité (8) est un porte-platine qui se manoeuvre de O à 360 sur les axes AA' et BB'.These 2 sets of arms are symmetrical along the axes AA 'and BB' themselves symmetrical with respect to VV '
The axes XX ', YY' ZZ 'are perpendicular to the main axis of symmetry W' figure 3
Each remote handling assembly includes a main actuator (2) for
O to 360, a main arm (3), an actuator (4) from O to 360, a secondary arm (5), a tertiary actuator (6) from O to 360, a third arm comprising 2 parts (7-8) figure 4
The end (8) is a turntable holder which operates from O to 360 on the axes AA 'and BB'.
La particularité de ces 2 ensembles liés de bras de manipulation est de pouvoir s'encastrer , s'emboiter,et se replier sur eux-meme et l'un dans l'autre. The peculiarity of these 2 linked sets of manipulation arms is that they can be fitted, interlock, and fold in on themselves and one inside the other.
Le bras d'extrémité se replie dans le bras secondaire (5) , l'ensemble (5-6-7-8) se replie et s'emboite dans'le bras principal (3)
l'ensemble des bras (3-5-7-8) se trouve encastré et emboité , axé sur VV' figure 2
Les manoeuvres indépendantes des dux bras télémanipulateurs s'effectuent selon les angles 81 de O à 360 pour les bras d'extremité (7-8) ; e2 de O à 360 pour le bras secondaire (5) et e3 de O à 360 pour le bras principal (3) figure 1
Le bras (3) s'encastre dans les alvéoles (14) et (15) de la structure principale (1).The end arm folds back into the secondary arm (5), the assembly (5-6-7-8) folds back and fits into the main arm (3)
the set of arms (3-5-7-8) is recessed and fitted, centered on VV 'figure 2
The independent maneuvers of the two manipulator arms are carried out at angles 81 from 0 to 360 for the end arms (7-8); e2 from O to 360 for the secondary arm (5) and e3 from O to 360 for the main arm (3) Figure 1
The arm (3) is embedded in the cells (14) and (15) of the main structure (1).
Ce dispositif a deux ensembles de bras téldmanipulateurs qui permettent ainsi les opérations simultanées de 2 fonctions indépendantes d'outils fixés sur les platines d'extremité (8)
Cés fonctions s'assimilent aux bras de l'home
Cette invention permet l'introduction dans des acces limités de l'ensemble replié dans la structure (1) qui permet ,une fois le télémanipulateur dans l'enceinte, de se déployer et d'effectuer tous les travaux , réparations controle et opérations dans des milieux impossibles d'acces a lthomme et plus spécialement en milieu hostile , ou en immersion. This device has two sets of manipulator arms which allow the simultaneous operations of 2 independent functions of tools fixed on the end plates (8)
These functions are assimilated to the arms of the human
This invention allows the introduction into limited accesses of the assembly folded back into the structure (1) which allows, once the manipulator in the enclosure, to deploy and carry out all the work, repair checks and operations in environments impossible for human access and more specifically in hostile environments, or in immersion.
Claims (7)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR8814524A FR2638386B1 (en) | 1988-11-02 | 1988-11-02 | BIPOLAR TELEMANIPULATOR ARM |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR8814524A FR2638386B1 (en) | 1988-11-02 | 1988-11-02 | BIPOLAR TELEMANIPULATOR ARM |
Publications (2)
Publication Number | Publication Date |
---|---|
FR2638386A1 true FR2638386A1 (en) | 1990-05-04 |
FR2638386B1 FR2638386B1 (en) | 1995-08-11 |
Family
ID=9371643
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR8814524A Expired - Fee Related FR2638386B1 (en) | 1988-11-02 | 1988-11-02 | BIPOLAR TELEMANIPULATOR ARM |
Country Status (1)
Country | Link |
---|---|
FR (1) | FR2638386B1 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0499591A1 (en) * | 1991-02-15 | 1992-08-19 | COMAU S.p.A. | An articulated robot with two forearms |
FR2690779A1 (en) * | 1992-04-29 | 1993-11-05 | Jeumont Schneider | Tool holder device for a nuclear reactor vessel cover. |
EP0749810A1 (en) * | 1995-06-20 | 1996-12-27 | Gerhard Schubert GmbH | Robot |
EP0833374A2 (en) * | 1996-09-26 | 1998-04-01 | Kokusai Electric Co., Ltd. | Substrate processing apparatus |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103786162B (en) * | 2014-02-19 | 2015-12-09 | 哈尔滨工业大学 | Easily extensible drive lacking rope bar truss-like mechanical paw |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3451224A (en) * | 1967-06-20 | 1969-06-24 | Gen Dynamics Corp | Stowable underwater manipulator |
EP0012237A1 (en) * | 1978-12-07 | 1980-06-25 | Reis GmbH & Co | Programme-controlled manipulator |
WO1985003662A1 (en) * | 1984-02-23 | 1985-08-29 | Matthias Weiss | Telescopic handling apparatus |
EP0218139A1 (en) * | 1985-09-20 | 1987-04-15 | Kabushiki Kaisha Meidensha | Manipulator shoulder mechanism |
US4712971A (en) * | 1985-02-13 | 1987-12-15 | The Charles Stark Draper Laboratory, Inc. | Control arm assembly |
WO1989010240A1 (en) * | 1988-04-30 | 1989-11-02 | Tokico Ltd. | Industrial robot unit |
EP0380206A1 (en) * | 1989-01-23 | 1990-08-01 | Sony Corporation | Multi-axis type robot |
JPH06179585A (en) * | 1992-12-14 | 1994-06-28 | Mitsubishi Electric Corp | Speed governor for elevator |
-
1988
- 1988-11-02 FR FR8814524A patent/FR2638386B1/en not_active Expired - Fee Related
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3451224A (en) * | 1967-06-20 | 1969-06-24 | Gen Dynamics Corp | Stowable underwater manipulator |
EP0012237A1 (en) * | 1978-12-07 | 1980-06-25 | Reis GmbH & Co | Programme-controlled manipulator |
WO1985003662A1 (en) * | 1984-02-23 | 1985-08-29 | Matthias Weiss | Telescopic handling apparatus |
US4712971A (en) * | 1985-02-13 | 1987-12-15 | The Charles Stark Draper Laboratory, Inc. | Control arm assembly |
EP0218139A1 (en) * | 1985-09-20 | 1987-04-15 | Kabushiki Kaisha Meidensha | Manipulator shoulder mechanism |
WO1989010240A1 (en) * | 1988-04-30 | 1989-11-02 | Tokico Ltd. | Industrial robot unit |
EP0380206A1 (en) * | 1989-01-23 | 1990-08-01 | Sony Corporation | Multi-axis type robot |
JPH06179585A (en) * | 1992-12-14 | 1994-06-28 | Mitsubishi Electric Corp | Speed governor for elevator |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0499591A1 (en) * | 1991-02-15 | 1992-08-19 | COMAU S.p.A. | An articulated robot with two forearms |
US5197346A (en) * | 1991-02-15 | 1993-03-30 | Comau S.P.A. | Articulated robot with two forearms |
FR2690779A1 (en) * | 1992-04-29 | 1993-11-05 | Jeumont Schneider | Tool holder device for a nuclear reactor vessel cover. |
WO1993022772A1 (en) * | 1992-04-29 | 1993-11-11 | Jeumont Industrie | Tool holder device for a nuclear reactor vessel cover |
EP0749810A1 (en) * | 1995-06-20 | 1996-12-27 | Gerhard Schubert GmbH | Robot |
EP0833374A2 (en) * | 1996-09-26 | 1998-04-01 | Kokusai Electric Co., Ltd. | Substrate processing apparatus |
EP0833374A3 (en) * | 1996-09-26 | 1998-05-13 | Kokusai Electric Co., Ltd. | Substrate processing apparatus |
US6053980A (en) * | 1996-09-26 | 2000-04-25 | Kokusai Electric Co., Ltd. | Substrate processing apparatus |
Also Published As
Publication number | Publication date |
---|---|
FR2638386B1 (en) | 1995-08-11 |
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Legal Events
Date | Code | Title | Description |
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TP | Transmission of property | ||
BR | Restoration of rights | ||
TP | Transmission of property | ||
ST | Notification of lapse |