WO2000018548A1 - Appareil a bras robotise commande par un operateur - Google Patents

Appareil a bras robotise commande par un operateur Download PDF

Info

Publication number
WO2000018548A1
WO2000018548A1 PCT/NZ1998/000153 NZ9800153W WO0018548A1 WO 2000018548 A1 WO2000018548 A1 WO 2000018548A1 NZ 9800153 W NZ9800153 W NZ 9800153W WO 0018548 A1 WO0018548 A1 WO 0018548A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
operator
assisted robotic
control means
robotic arm
Prior art date
Application number
PCT/NZ1998/000153
Other languages
English (en)
Inventor
Taira Wichman
Original Assignee
The New Zealand Meat Producers Board
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 The New Zealand Meat Producers Board filed Critical The New Zealand Meat Producers Board
Priority to AU97672/98A priority Critical patent/AU9767298A/en
Publication of WO2000018548A1 publication Critical patent/WO2000018548A1/fr

Links

Classifications

    • 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
    • B25J9/023—Cartesian coordinate type
    • B25J9/026—Gantry-type

Definitions

  • the invention comprises an operator assisted robotic arm apparatus.
  • Industrial robots which may be programmed to independently carry out various operations on an assembly line or in other industrial situations are now well known. Generally an industrial robot replaces a human worker altogether in relation to the particular operations or steps which the robot is programmed to carry out.
  • the invention provides an operator assisted robotic arm which is not preprogrammed but is controlled in use by an operator, and is used to assist the operator.
  • the arm effectively gives the operator increased strength and may also give the operator an increased range of movement.
  • a single operator is able to achieve tasks more quickly, or tasks which in the past may have required more than one human worker.
  • the invention comprises an operator assisted robotic arm apparatus comprising an arm adapted to carry on an end of the arm a gripping means or tool and which arm is telescopically extendable and/ or is carried by a support means able to move the arm whereby the gripping means or tool is moveable in at least two planes, and operator control means mounted on or closely associated with the arm and interfaced to the arm and arm support means and enabling an operator to manually control movement of the arm in at least two planes with speed and/ or force proportional to pressure applied to the control means by the operator and in the same direction.
  • the operator may manually control movement of the arm with speed and/ or force proportional to the degree of displacement of the control means from a neutral position caused by the operator, and in the same direction.
  • the arm is moveable in three planes under said manual control by the operator and the control means includes a handle part held by the operator and which is itself moveable in forward and reverse, up and down, and side to side directions to cause the arm to move in the same directions.
  • Figure 1 is a perspective view of a preferred form operator assisted robotic arm apparatus of the invention
  • Figure 2 is a cross-sectional view showing detail of the joy stick-type control device and associated load cell configuration of the preferred form operator assisted robotic arm of Figure 1,
  • Figure 3 shows the gripper on the end of the arm of Figure 1 in more detail
  • Figure 4 is a view similar to Figure 1 of another form of operator assisted robotic arm apparatus of the invention.
  • the preferred form operator assisted robotic arm apparatus comprises a telescopic arm generally indicated at 1 and comprising a part 2 housing a double acting pneumatic ram and a moving part 3 able to be extended and retracted in the direction of arrow A, in forward and reverse directions or a substantially horizontal plane.
  • the arm carry s on its end a gripping device 4 but alternatively may carry or be adapted to have fitted to it any other form of tool or similar such as a fixed or motorised cutting blade for example.
  • the gripping device 4 which is shown in more detail in Figure 2 comprises jaws 5 and 6 which may be opened or closed by the operator, for example via a thumb button (not shown) on the side of the control device 3.
  • the jaw 6 is moved by pneumatic cylinder 7, the shaft of which is coupled to the back of the jaw 6 by pivot coupling 8.
  • the arm is carried by an overhead car 9 which moves on rails 10 in the direction indicated by arrow B, from side to side or in a substantially transverse plane.
  • the rails 10 may be arranged parallel to a carcass dressing chain, which is shown by way of example in Figure 1 at 1 1.
  • the car 9 carrying the arm may be caused to move on the rails 10 by a motorised chain drive, a pneumatic or hydraulic ram, or similar.
  • the arm is also carried by telescopic support 12 which is carried by the car 9, so that the arm can also move in the direction of arrow C, up and down or in a substantially vertical plane.
  • the telescopic support 12 comprises a fixed part 13 housing a double acting pneumatic ram, and a moving part 14.
  • control means 15 by which an operator may direct and control movement of the gripping device 4 to assist with tasks which otherwise must be done entirely manually.
  • control means includes a handle part or joy stick- type control device 15 mounted in a housing 16 and an associated configuration of load cells 17, which is shown in cross- section in Figure 3.
  • the arrangement is such that moving the control handle 15 in forward and reverse, up and down, or side to side directions causes the arm to move in the same directions. The more pressure is applied to the control 15 in any direction by the operator, the faster and/ or the greater the force with which the arm will move in that same direction.
  • the load cell configuration is arranged to measure pressure applied by the operator in three planes, forward and reverse, side to side, and up and down by pulling upwardly or pressing downwardly on the control 15, and the load cell configuration provides an electric signal output for each direction proportional in amplitude to the pressure applied to the control 15 in that direction by the operator.
  • the speed and/ or force with which the arm moves in any direction may be proportional simply to the degree of displacement of the control 15 from its centre position caused by the operator, and in the same direction, but it is most preferred that movement of the arm is proportional to the pressure applied to the control 15 by the operator.
  • air supply to the ports of each cylinder is through a proportional valve where the volume and direction of air is determined by the amplitude of a low voltage signal passed to each valve's controller.
  • the arms may be operated by equivalent hydraulic rams or mechanical stepper motor-based gear drive type systems for example.
  • Figure 4 shows a similar but alternative form of operator assisted robotic arm of the invention.
  • the arm 1 is pivotally mounted to the support 12 instead of telescopically mounted, so that the arm can move about pivot 18 in the direction of arrow C in Figure 4, again under the control of a suitably positioned pneumatic or hydraulic ram or gear drive system associated with the pivot.
  • the support 12 is pivotally mounted to an overhead structure 19 via pivot 20, so that instead of being carried by overhead car 9 on rails 10 as in the arm of Figure 1, the arm shown in Figure 4 can move transversely by pivoting about the pivot 20 in the direction of arrow B, again under the control of a suitably positioned pneumatic or hydraulic arm or gear drive system for example.
  • the operator can perform tasks requiring human sensing ability and dexterity and be assisted with the power and flexibility of a machine.
  • a hand control device on or closely associated with the arm an operator can move the gripping device or other tool on the end of the arm to follow the motion of the operator's hand.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un appareil à bras robotisé commandé par un opérateur, comprenant un bras conçu de manière à porter une extrémité de bras (1), un mécanisme de préhension (4) ou un outil. Ce bras s'étend télescopiquement et/ou est porté par un mécanisme de support (12) permettant de déplacer ledit bras, le mécanisme de préhension ou l'outil se déplaçant dans au moins deux plans. Un mécanisme (15) commandé par un opérateur, monté sur le bras ou étroitement associé à celui-ci, et lui servant d'interface, permet de déplacer manuellement ledit bras, selon une vitesse et une force proportionnelle à la pression appliquée par l'opérateur au mécanisme de commande et dans la même direction.
PCT/NZ1998/000153 1997-10-09 1998-10-09 Appareil a bras robotise commande par un operateur WO2000018548A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU97672/98A AU9767298A (en) 1998-10-09 1998-10-13 Operator assisted robotic apparatus

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NZ32890797 1997-10-09
NZ328907 1997-10-09

Publications (1)

Publication Number Publication Date
WO2000018548A1 true WO2000018548A1 (fr) 2000-04-06

Family

ID=19926471

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NZ1998/000153 WO2000018548A1 (fr) 1997-10-09 1998-10-09 Appareil a bras robotise commande par un operateur

Country Status (1)

Country Link
WO (1) WO2000018548A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010025522A1 (fr) * 2008-09-08 2010-03-11 Meat And Livestock Australia Limited Appareil destiné à casser une carcasse d'animal
EP2399460A1 (fr) * 2010-06-28 2011-12-28 GSF Gesellschaft für System- und Fördertechnik mbH Dispositif d'alimentation, dispositif de cuisson et procédé de cuisson
ITRE20120065A1 (it) * 2012-10-09 2014-04-10 Fava Giorgio Axel S R L Apparecchio manipolatore
CN109465807A (zh) * 2018-10-19 2019-03-15 上海应用技术大学 一种桁架机器人的纵轴结构和机器人

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4348634A (en) * 1979-08-02 1982-09-07 Association Des Ouvriers En Instruments De Precision Manual control means for controlling the movements of a motor-driven element
GB2110428A (en) * 1981-11-25 1983-06-15 Offshore Syst Eng Osel Control system for a manipulator arm
US5116180A (en) * 1988-07-18 1992-05-26 Spar Aerospace Limited Human-in-the-loop machine control loop
US5125789A (en) * 1990-01-02 1992-06-30 Peerless Automation Molded parts removal and transfer robot
WO1996026044A2 (fr) * 1995-02-21 1996-08-29 Clansman Dynamics Limited Manutention de matieres
JPH09234684A (ja) * 1996-02-29 1997-09-09 Nippon Sharyo Seizo Kaisha Ltd 手動操縦マニピュレータ

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4348634A (en) * 1979-08-02 1982-09-07 Association Des Ouvriers En Instruments De Precision Manual control means for controlling the movements of a motor-driven element
GB2110428A (en) * 1981-11-25 1983-06-15 Offshore Syst Eng Osel Control system for a manipulator arm
US5116180A (en) * 1988-07-18 1992-05-26 Spar Aerospace Limited Human-in-the-loop machine control loop
US5125789A (en) * 1990-01-02 1992-06-30 Peerless Automation Molded parts removal and transfer robot
WO1996026044A2 (fr) * 1995-02-21 1996-08-29 Clansman Dynamics Limited Manutention de matieres
JPH09234684A (ja) * 1996-02-29 1997-09-09 Nippon Sharyo Seizo Kaisha Ltd 手動操縦マニピュレータ

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN *

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010025522A1 (fr) * 2008-09-08 2010-03-11 Meat And Livestock Australia Limited Appareil destiné à casser une carcasse d'animal
AU2009290149B2 (en) * 2008-09-08 2013-05-09 Meat And Livestock Australia Limited An apparatus for use in breaking down an animal carcass
EP2399460A1 (fr) * 2010-06-28 2011-12-28 GSF Gesellschaft für System- und Fördertechnik mbH Dispositif d'alimentation, dispositif de cuisson et procédé de cuisson
ITRE20120065A1 (it) * 2012-10-09 2014-04-10 Fava Giorgio Axel S R L Apparecchio manipolatore
WO2014057337A1 (fr) * 2012-10-09 2014-04-17 Fava S.N.C. Di Adele Turetta & C. Appareil de manutention
US9944462B2 (en) 2012-10-09 2018-04-17 Fava S.N.C. Di Adele Turetta & C. Handling apparatus
CN109465807A (zh) * 2018-10-19 2019-03-15 上海应用技术大学 一种桁架机器人的纵轴结构和机器人

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