WO2003032102A1 - Manipulateur de masses legeres - Google Patents

Manipulateur de masses legeres Download PDF

Info

Publication number
WO2003032102A1
WO2003032102A1 PCT/ES2002/000451 ES0200451W WO03032102A1 WO 2003032102 A1 WO2003032102 A1 WO 2003032102A1 ES 0200451 W ES0200451 W ES 0200451W WO 03032102 A1 WO03032102 A1 WO 03032102A1
Authority
WO
WIPO (PCT)
Prior art keywords
piston
loads
pneumatic
subchamber
valve
Prior art date
Application number
PCT/ES2002/000451
Other languages
English (en)
Spanish (es)
Inventor
Jacinto Angel Bacaicoa Larragueta
Original Assignee
Talleres J. Angel Bacaicoa, S.L.
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
Priority claimed from ES200102449U external-priority patent/ES1050147Y/es
Priority claimed from ES200201037A external-priority patent/ES2235563B1/es
Application filed by Talleres J. Angel Bacaicoa, S.L. filed Critical Talleres J. Angel Bacaicoa, S.L.
Publication of WO2003032102A1 publication Critical patent/WO2003032102A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/005—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with balanced jib, e.g. pantograph arrangement, the jib being moved manually
    • 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
    • B25J19/0012—Balancing devices using fluidic devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20576—Systems with pumps with multiple pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30505—Non-return valves, i.e. check valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • F15B2211/3058—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve having additional valves for interconnecting the fluid chambers of a double-acting actuator, e.g. for regeneration mode or for floating mode
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/405—Flow control characterised by the type of flow control means or valve
    • F15B2211/40515—Flow control characterised by the type of flow control means or valve with variable throttles or orifices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/45—Control of bleed-off flow, e.g. control of bypass flow to the return line
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/455—Control of flow in the feed line, i.e. meter-in control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/46—Control of flow in the return line, i.e. meter-out control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7053—Double-acting output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F15B2211/7107—Multiple output members, e.g. multiple hydraulic motors or cylinders the output members being mechanically linked
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/75—Control of speed of the output member

Definitions

  • the object of the invention relates to a weightless weight manipulator, which consists of a device formed by a pneumatic load cell, by which the point and instantaneous intensity of the force of variable loads is controlled, to regulate the action of a actuator means of said forces depending on themselves.
  • Weightless handlers operated by compressed air are known, with which an operator can easily perform the movement of objects.
  • Known manipulators of this type have the disadvantage that they are only capable of handling constant weights, that is loads of the same weight, so that in order to manipulate different or variable loads it is necessary to act on the pneumatic regulation elements, to adapt them according to the loads to be handled, which means that the use of such devices poses considerable limitations.
  • weightless manipulators whose action is controlled by an electronic cell, resulting in the realization of these very expensive manipulators, because they require an electrical installation and a pneumatic installation with the different components involved.
  • a fully pneumatic manipulator by means of which a detection of the variations of forces such as the weight of loads to be manipulated is automatically established, providing a pneumatic response that allows to regulate and control the action of an actuator means of the handling of said charges.
  • This manipulator object of the invention comprises a pneumatic action operating set and a regulation set, the operating set determining a actuator part of the action to be taken with respect to the loads and a control part, with respect to which the application loads are subjected, while the regulation set establishes a relationship between both parts of the operating set, determining a power supply or supply pneumatic variable to the a ⁇ tuadora part, depending on the weight of the loads that supports the control part.
  • the actuator part of the operating unit is constituted by a linear actuator cylinder, with pneumatic supply in one of its parts, while the other part is open to the outside; while the part of the control is constituted by a piston from which the application loads are suspended, said piston being freely slidable in a vertical chamber, whose upper part is communicated to the outside and whose lower part is connected to a built-in regulating valve in the pneumatic power supply to the cylinder of the actuator part 0.
  • a device is thus obtained that allows the variation of the weight of suspended loads of the piston of the control part to be automatically controlled, so that depending on said variations 5 it provides a pneumatic signal that is applied to the pneumatic supply regulating valve of the cylinder actuator, which thus performs an action dependent on the weight of the loads applied, allowing the weightless manipulation of these in about 0 optimal operating conditions for different loads, with a self-regulation effect depending on the variation of the loads themselves.
  • the upper part of the chamber in which the piston from which the loads are suspended can be connected to a pressure or depression supply, whereby a behavior is obtained that alters the value that the system accuses of the weight of the loads, allowing to make it accuse a value less than or greater than that of the real weight of the suspended loads, which results in an imbalance that causes the system moves the suspension of the loads up or down, in an action of raising or lowering them.
  • the operating assembly of the manipulator is included in a arranged column ( - j on a support arm that allows the movement of said column in a certain radius of action, the column being provided with a manipulation handle, through which provides a supply pressure / depression supply to the upper part 5 of the chamber in which the suspension piston of the loads goes, passing said feed through a means of government incorporated in the handle, by means of which the user can select the pressure or depression supply to the above-mentioned part of the 0 chamber of the load suspension piston, or leave it free to escape outside.
  • the balance of the load suspension piston, within the housing of said piston, is maintained by an air pressure 5 established in the lower part of said chamber, so that for the system to function properly it must be maintained.
  • a certain pressure in said lower part of the chamber for which, through the piston itself, a communication is established or between the upper part and the lower part of the chamber, through a valve with actuator in the upper part of the piston, while the lower part of the chamber is establishes in communication with a pressure supply, through a valve with an actuator in the base bottom of the camera.
  • the lower limit of the housing of the load suspension piston is established by a cover, through which the necessary conduits for the communication of said chamber with the pressure means are determined and pneumatic regulation of the system.
  • Figure 1 shows a schematic of the functional assembly of the recommended manipulator.
  • Figure 2 is a perspective of an example of practical arrangement of the recommended manipulator.
  • Figure 3 is a general section of the structural column in which the operating assembly of the manipulator is included.
  • Figure 4 is an enlarged perspective of the bearing housing of the structural column of the operating assembly of the manipulator.
  • Figure 5 is a perspective of the host assembly of the operating mechanism of the manipulator.
  • Figure 6 is an exploded perspective view of the control piston of the operating mechanism of the manipulator, with the suspension rod of the loads.
  • Figure 7 is a perspective of the guide carriage of the host assembly of the operating mechanism of the manipulator in the application column.
  • Figure 8 is a perspective view of the incorporated part of the handle for handling the column of the operating mechanism of the manipulator.
  • Figure 9 is an enlarged section of the part that includes the control mechanism in the manipulator column.
  • Figure 10 is an enlarged detail of Figure - ⁇ 5 above.
  • Figure 11 is a large-scale perspective of the lower cover of the chamber that houses the load suspension piston.
  • Figure 12 is a longitudinal sectional view 0 of said lower cover of the chamber of the load suspension piston, according to indication XII-XII indicated in the following figure.
  • Figure 13 is a plan view of said lower cover of the suspension piston chamber of the 5 loads.
  • the invention relates to a pneumatic load manipulator, provided with a self-control regulation based on the weight of the application loads (1), determining a functional behavior that makes it possible to manipulate the loads (1) under weightless conditions.
  • the manipulator comprises a fully pneumatic operating assembly, composed, as shown in Figure 1, by an actuator part (2) of the action to be taken with respect to loads (1) and a part (3) of control, in respect of which the application loads (1) are held.
  • an anti-return (7) is also included, controlled by means of a pilot (8).
  • the actuator part (2) of the operative assembly is constituted in the form of a linear actuator cylinder, whose piston (9) is established subject to a support part (10) of the entire functional assembly, the pneumatic supply (6) being connected to the cylinder chamber above the piston (9), while the lower part of said cylinder chamber is 0 connected to the outside by an outlet (11).
  • the control part (3) is in turn shaped as a cylinder, with a plunger (12) freely sliding inside, determining an upper sub chamber (13) and a lower sub chamber (14); while the piston (12) incorporates together a rod (15) that comes out from the bottom, to hang the application loads (1) from it.
  • connection (4) is also established in relation to the regulating valve (5) incorporated in the supply of the pneumatic supply (6) to the actuator part 5 (2).
  • Said regulating valve (5) acknowledges the pneumatic variation produced in the subchamber (14) due to the effect of the Q weight of the load (1), establishing according to said variation a passage of the pneumatic supply (6) towards the cylinder of the part actuator (2), so that the pressure in said cylinder compensates by acting upward the force that the weight of the load (1) exerts down on the system.
  • the valve (18) When the plunger (12) reaches the upper part of the subchamber (13), the valve (18) is actuated, which opens the communication between the subchambers (13 and 14), bringing the pressure in the subchamber (14 ) decreases.
  • a self-regulation is obtained that maintains in the subchamber (14) the pressure necessary for the operation of the system.
  • connection (19) In connection with the sub-chamber (13) a connection (19) is established, through which a selective means of functional action is connected, consisting of two valves (20 and 21) actuated by pulsation, one of which (20) establishes the passage of a pneumatic supply (22) to the connection (19); while the other valve (21) establishes the passage of the pneumatic supply (22) to an ejector (23), which by "venturi effect” creates a depression in the connection (19); while when the two valves (20 and 21) are deactivated, the connection (19) is freely open to the outside.
  • valve actuator (20) If the valve actuator (20) is pressed, it connects the pneumatic supply (22) to the connection
  • valve actuator (21) If on the contrary the valve actuator (21) is pressed, it connects the pneumatic supply (22) with the ejector (23), which causes a depression that is transmitted by the connection (19) to the sub-chamber (13) , whereby the piston (12) exerts a smaller downward thrust, as if the weight of the load (1) had decreased, so that in the subchamber (14) there is a variation in the pressure corresponding to said lower thrust of the piston (12) down and consequently the regulating valve (5) determines a lower pressure supply to the cylinder of the actuator part (2), resulting in a decrease of the entire functional assembly, with the load (1), with respect to the sustaining part (10).
  • the manipulator is arranged incorporated in a column (24), with respect to the upper part of which the piston fastener (9) of the actuating part (2) of the functional assembly is established, by means of a corresponding rod ( 25), the column (24) associated with a support arm (26) allowing the movement of said column (24) in a wide range of action, as shown in Figure 2, whose representation corresponds to a practical example of the application of the manipulator, without limitation, since the functional set, which is the characteristic of the invention, can be incorporated into any other arrangement, performing the same function.
  • the functional set of the manipulator is a
  • - n constitutes a tubular profile (27), within which the actuator (2) and control parts (3) of the operating assembly are determined, a head (28) being incorporated on the end of said profile (27), in the which is arranged a handle (29) to handle the
  • the handle (29) can be fixedly coupled on the head (28), but is preferably provided in an articulated arrangement to favor handling, incorporating in that handle (29) the controls for the
  • the functional assembly of the manipulator is determined, by means of an upper cover (34) and a lower cover (35), among which the plunger ( 12) associated with the rod (15), the sub chamber (13) remaining between the piston (12) and the upper cover (34), while the sub chamber ⁇ 14 > remains between the piston (12) and the lower cover (35).
  • a part (36) is connected to the upper cover (34), through which a communication passage (37) is determined with the exhaust outlet (11) outside the lower part of the cylinder of the actuator part ( 2) of the scheme in figure 1.
  • the lower cover (35) acts as a connection between the profile (27) and the head (28), passing through it the rod (15) that is attached to the plunger (12), for which said lower cover ( 35) it is constituted, as can be seen in figures 11, 12 and 13, by a hollow axial piece, with two end parts (38 and 39) for coupling with respect to the profile (27) and with respect to the head (28), respectively.
  • lower cover (35) determines a conduit (40), in communication with a side outlet (41), for coupling the connection (4) in relation to the regulating valve (5) according to the scheme of figure 1.
  • another duct (42) is defined in the wall of said lower cover (35), at which end a housing is defined
  • ducts (45) are also defined, which correspond to ducts (46) defined in the profile wall (27), to establish through them the connection (19) and any other necessary, the ducts that are not necessary in each application are closed by closure with plugs.
  • the conduits (40 and 42) can also be established related to respective conduits (46) of the profile wall (27), for connection (4) and communication of the pneumatic supply (16), the openings (41 and 44) being obtained. with plugs

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un manipulateur de masses légères, destiné à la manipulation de charges (1). Ce manipulateur permet d'adapter automatiquement la stabilité de l'ensemble à la masse des charges (1) et à ses variations. Ce manipulateur est constitué d'un ensemble fonctionnel formé par une partie d'entraînement (2) et par une partie de commande (3) sur laquelle sont fixées les charges (1), ainsi que d'un ensemble de régulation permettant de relier les parties (2, 3) de l'ensemble fonctionnel et de réguler l'alimentation pneumatique de la partie d'entraînement (2) pour l'adapter à la masse instantanée des charges (1) suspendues.
PCT/ES2002/000451 2001-10-05 2002-09-26 Manipulateur de masses legeres WO2003032102A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
ESU200102449 2001-10-05
ES200102449U ES1050147Y (es) 2001-10-05 2001-10-05 Celula de carga neumatica.
ESP200201037 2002-05-07
ES200201037A ES2235563B1 (es) 2002-05-07 2002-05-07 Manipulador de pesos ingravidos.

Publications (1)

Publication Number Publication Date
WO2003032102A1 true WO2003032102A1 (fr) 2003-04-17

Family

ID=26156253

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/ES2002/000451 WO2003032102A1 (fr) 2001-10-05 2002-09-26 Manipulateur de masses legeres

Country Status (1)

Country Link
WO (1) WO2003032102A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111516004A (zh) * 2020-05-19 2020-08-11 苏州市永睿特伦机械有限公司 助力机械手通用型气动平衡控制装置
ES2964635A1 (es) * 2022-09-08 2024-04-08 Talleres J Angel Bacaicoa S L Sistema regulador de presiones para manipuladores de carga ingravidos

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4533167A (en) * 1984-02-13 1985-08-06 Honeywell Inc. Robotics manipulator with gripping force control means
US4771674A (en) * 1985-09-19 1988-09-20 Mats Hugdahl Device for regulating pressure fluid cylinders
US5125322A (en) * 1989-03-09 1992-06-30 Mats Hugdahl Method and arrangement for positioning accurately the pistons of load-carrying pressure-fluid cylinder devices
EP0673875A2 (fr) * 1991-09-24 1995-09-27 MITSUI ENGINEERING & SHIPBUILDING CO., LTD Manipulateur

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4533167A (en) * 1984-02-13 1985-08-06 Honeywell Inc. Robotics manipulator with gripping force control means
US4771674A (en) * 1985-09-19 1988-09-20 Mats Hugdahl Device for regulating pressure fluid cylinders
US5125322A (en) * 1989-03-09 1992-06-30 Mats Hugdahl Method and arrangement for positioning accurately the pistons of load-carrying pressure-fluid cylinder devices
EP0673875A2 (fr) * 1991-09-24 1995-09-27 MITSUI ENGINEERING & SHIPBUILDING CO., LTD Manipulateur

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111516004A (zh) * 2020-05-19 2020-08-11 苏州市永睿特伦机械有限公司 助力机械手通用型气动平衡控制装置
CN111516004B (zh) * 2020-05-19 2021-06-01 苏州市永睿特伦机械有限公司 助力机械手通用型气动平衡控制装置
ES2964635A1 (es) * 2022-09-08 2024-04-08 Talleres J Angel Bacaicoa S L Sistema regulador de presiones para manipuladores de carga ingravidos

Similar Documents

Publication Publication Date Title
US5330314A (en) Vacuum lifting/lowering head
US8105008B2 (en) Pneumatic multi-weight balancing device
EP1249357A3 (fr) Amortisseur de suspension pneumatique auto-nivellante
RU2012156258A (ru) Система управляемой плавучести и способ ее осуществления
KR20200093050A (ko) 자동화된 리프팅 장치
WO2003032102A1 (fr) Manipulateur de masses legeres
JP3239589B2 (ja) 重量物取り扱い用姿勢調整装置
ES2235563B1 (es) Manipulador de pesos ingravidos.
CN116425013A (zh) 一种圆盘式法兰卡扣吊具
GB2101533A (en) Controlling ascent of underwater buoyancy apparatus.
US5099748A (en) Pneumatic system for telescopic hoist
CN101607516B (zh) 垂直气囊控制器
US3534659A (en) Telescopic hoist
US2188364A (en) Load lifter and balancer
US5458250A (en) Buoyant crane
WO2018093186A1 (fr) Dispositif de production de flottabilité
CA2594269C (fr) Dispositif d'equilibrage pneumatique a masses diverses
CN1084291C (zh) 自动平衡器
US8702369B2 (en) Load sensing device for manipulators and balancers
JP2005347169A (ja) 浮遊照明具
KR20220101905A (ko) 전동 디퓨저
JP4149936B2 (ja) 照明装置
CN218441624U (zh) 伸缩组件及具有伸缩功能的设备
CN219283238U (zh) 一种智能家居用照明灯
CN213065953U (zh) 一种挂壁式陶瓷烛台

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BY BZ CA CH CN CR CU CZ DE DK DZ EE ES FI GB GD GE GH GM HR ID IL IN IS JP KE KG KP KR KZ LC LR LS LT LU LV MA MD MG MK MN MX MZ NO NZ PL PT RO RU SD SE SG SK SL TJ TM TR TT TZ UA UG US UZ YU ZA

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): GH GM KE LS MW MZ SD SL SZ UG ZM ZW AM AZ BY KG KZ RU TJ TM AT BE BG CH CY CZ DK EE ES FI FR GB GR IE IT LU MC PT SE SK TR BF BJ CF CG CI GA GN GQ GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
122 Ep: pct application non-entry in european phase
NENP Non-entry into the national phase

Ref country code: JP

WWW Wipo information: withdrawn in national office

Country of ref document: JP