WO1984004897A1 - Steering device for robots or hydraulic cranes - Google Patents
Steering device for robots or hydraulic cranes Download PDFInfo
- Publication number
- WO1984004897A1 WO1984004897A1 PCT/SE1984/000212 SE8400212W WO8404897A1 WO 1984004897 A1 WO1984004897 A1 WO 1984004897A1 SE 8400212 W SE8400212 W SE 8400212W WO 8404897 A1 WO8404897 A1 WO 8404897A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- steering device
- crane
- steering
- robot
- joint
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
- B66C13/54—Operator's stands or cabins
- B66C13/56—Arrangements of handles or pedals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control 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
- B25J9/02—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
- B25J9/047—Revolute coordinate type the pivoting axis of the first arm being offset to the vertical axis
Definitions
- the patentclaims include, among other things, the logical movability of the steering lever in accordance to the crane without being a decreased copy of the crane, but even the location of the electronic angle transmitters in the different axial rotation points on both the crane and the steering device.
- the angle indicators on the crane are only used when a reconnec- tion from the crane to the steering device is desired, a so called positional steering.
- the steering device has angle transmitters so that a change of the angles from an in ⁇ dicated neutral position on the steering device correspond to a change of the positions of the valveslides so that a certain mov- ment on the crane is carried out every time the steering device comes to this position, a so called proportional steering.
- the steering device is lacking springs for resetting to a neutral position since this occurs while the steering is stopped and the crane or robot comes to a correspond ⁇ ing position in proportion to the steering device.
- the steering device is closer described below with reference to the drawing where fig 1 and fig 2 show the steering device from side respecti ⁇ vely from a bove.
- the steering device is built according to the following. On a base (3), to which a cable is connected for transmitting of signals, a crane tower (4) is mounted, which serves as a point of attachment for one of the ends of the steering device. From the tower (4) which can be rotated around its vertical axle, a revol ⁇ ving jib (5) starts out in a first horizontal axle (9) through the tower (4). The jib (5) is jointed in a second axle (10) and changeable in its length by a telescopic functioning (11), con ⁇ sisting of, for example, two squarepipes of one of them is guided into the other and after that they are being equipped with stoppscrews which limit the length of the stroke.
- a handle (6) On the front port of the jib (5) a handle (6) is mounted, so that it is revol ⁇ ving around its vertical axle (12), which axle forms a 90 angle in coordination with one of the squarepipes of the telescopic function (11).
- the friction in the telescopic function (11) can be affected, by which the functions of the steering device in its first and second axles and the telescopic function (11) can be seperated or combined by free choice with all other functions.
- connection units (14)(15) By means of connection units (14)(15) the telescopic function (11) can be turned so that the joint (10) comes to a very close position to the axle of the hand ⁇ le (6) at which the jib (5) is always straight.
- This model is to be prefered when the steering device is used without the system of reconnection, at which all joints/functions are equipped with springs, which always bring back the steering device to a given neutral position. At that time, the steering device resambles partly the usual steering gears, which appear within the hydraulic with three unalogically arranged functions, at the most, in each steering gear, which have a back-and-force movement and a central situated neutral position.
- O is a joint/function (13) for a gripping function mounted, to be logically manipulated by the thumb or index finger.
- angle transmitters/potentiometers are mounted which transmit by means of seperate wires the aberrations of the angles by means of an electric amplifier, to the correspon ⁇ ding indications on the valve slides.
- the steering device can be mounted on a plate (2) which, being equipped with shoulder bands, has a supporting function to the operator. The steering device is then connected to an amplifying unit which carries out the signals to the hydraulic valves as known previously.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Jib Cranes (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE8303193A SE434713B (sv) | 1983-06-07 | 1983-06-07 | Styrdon for robotar eller hydraulkranar |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1984004897A1 true WO1984004897A1 (en) | 1984-12-20 |
Family
ID=20351474
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/SE1984/000212 WO1984004897A1 (en) | 1983-06-07 | 1984-06-04 | Steering device for robots or hydraulic cranes |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP0175695A1 (sv) |
SE (1) | SE434713B (sv) |
WO (1) | WO1984004897A1 (sv) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2232655A (en) * | 1989-06-14 | 1990-12-19 | Mitsubishi Electric Corp | Industrial robot apparatus |
WO1991001935A1 (en) * | 1989-08-10 | 1991-02-21 | Macmillan Bloedel Limited | Cable machine control |
GB2248102A (en) * | 1990-08-02 | 1992-03-25 | Iveco Magirus | One-hand operating lever device, eg to control a rescue cage. |
GB2308876A (en) * | 1995-12-30 | 1997-07-09 | Samsung Heavy Ind | A device for controlling the operation of power excavators |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3618786A (en) * | 1969-01-02 | 1971-11-09 | Gen Electric | Material-handling apparatus with end effector force resolver and feedback |
DE2352945A1 (de) * | 1973-10-23 | 1975-04-30 | Ernst Otto Kruse | Manipulator fuer gusstuecke |
DE2600957A1 (de) * | 1975-01-20 | 1976-07-22 | Bretagne Atel Chantiers | Fortlaufend programmierbarer manipulator |
US4000819A (en) * | 1975-01-20 | 1977-01-04 | Commissariat A L'energie Atomique | Control arm for a power manipulator |
-
1983
- 1983-06-07 SE SE8303193A patent/SE434713B/sv unknown
-
1984
- 1984-06-04 EP EP19840902385 patent/EP0175695A1/en not_active Withdrawn
- 1984-06-04 WO PCT/SE1984/000212 patent/WO1984004897A1/en not_active Application Discontinuation
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3618786A (en) * | 1969-01-02 | 1971-11-09 | Gen Electric | Material-handling apparatus with end effector force resolver and feedback |
DE2352945A1 (de) * | 1973-10-23 | 1975-04-30 | Ernst Otto Kruse | Manipulator fuer gusstuecke |
DE2600957A1 (de) * | 1975-01-20 | 1976-07-22 | Bretagne Atel Chantiers | Fortlaufend programmierbarer manipulator |
US4000819A (en) * | 1975-01-20 | 1977-01-04 | Commissariat A L'energie Atomique | Control arm for a power manipulator |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2232655A (en) * | 1989-06-14 | 1990-12-19 | Mitsubishi Electric Corp | Industrial robot apparatus |
US5085556A (en) * | 1989-06-14 | 1992-02-04 | Mitsubishi Denki K.K. | Industrial robot apparatus |
GB2232655B (en) * | 1989-06-14 | 1993-06-09 | Mitsubishi Electric Corp | Industrial robot apparatus |
WO1991001935A1 (en) * | 1989-08-10 | 1991-02-21 | Macmillan Bloedel Limited | Cable machine control |
GB2248102A (en) * | 1990-08-02 | 1992-03-25 | Iveco Magirus | One-hand operating lever device, eg to control a rescue cage. |
GB2308876A (en) * | 1995-12-30 | 1997-07-09 | Samsung Heavy Ind | A device for controlling the operation of power excavators |
GB2308876B (en) * | 1995-12-30 | 1999-08-11 | Samsung Heavy Ind | Device for controlling the operation of power excavators |
Also Published As
Publication number | Publication date |
---|---|
EP0175695A1 (en) | 1986-04-02 |
SE8303193D0 (sv) | 1983-06-07 |
SE434713B (sv) | 1984-08-13 |
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