FR2436656A1 - Dispositif d'equilibrage de poids pour un manipulateur - Google Patents

Dispositif d'equilibrage de poids pour un manipulateur

Info

Publication number
FR2436656A1
FR2436656A1 FR7922771A FR7922771A FR2436656A1 FR 2436656 A1 FR2436656 A1 FR 2436656A1 FR 7922771 A FR7922771 A FR 7922771A FR 7922771 A FR7922771 A FR 7922771A FR 2436656 A1 FR2436656 A1 FR 2436656A1
Authority
FR
France
Prior art keywords
manipulator
balancing device
weight balancing
weight
forearm
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
Application number
FR7922771A
Other languages
English (en)
Other versions
FR2436656B1 (fr
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.)
KUKA SE and Co KGaA
Original Assignee
Industrie Werke Karlsruhe Ausburg AG
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 Industrie Werke Karlsruhe Ausburg AG filed Critical Industrie Werke Karlsruhe Ausburg AG
Publication of FR2436656A1 publication Critical patent/FR2436656A1/fr
Application granted granted Critical
Publication of FR2436656B1 publication Critical patent/FR2436656B1/fr
Granted legal-status Critical Current

Links

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S700/00—Data processing: generic control systems or specific applications
    • Y10S700/90—Special robot structural element
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/18—Mechanical movements
    • Y10T74/18888—Reciprocating to or from oscillating
    • Y10T74/1892—Lever and slide
    • Y10T74/18928—Straight line motions
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/18—Mechanical movements
    • Y10T74/18888—Reciprocating to or from oscillating
    • Y10T74/1892—Lever and slide
    • Y10T74/18944—Link connections
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/18—Mechanical movements
    • Y10T74/18888—Reciprocating to or from oscillating
    • Y10T74/1892—Lever and slide
    • Y10T74/18952—Lever and slide toggle transmissions
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20576—Elements
    • Y10T74/20582—Levers
    • Y10T74/20588—Levers toggle

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
  • Jib Cranes (AREA)

Abstract

A.MANIPULATEUR. B.IL COMPREND UN AVANT-BRAS 1 QUI EST DEPLACE PAR UN SYSTEME ARTICULE 3, 4, 5, 6 QUI EST RELIE A UN ORGANE 2 DE PREHENSION ET DONT LE POIDS ET LA CHARGE SONT COMPENSES PAR UN DISPOSITIF 9 A 13 D'EQUILIBRAGE DU POIDS. C.INDUSTRIE MECANIQUE.
FR7922771A 1978-09-22 1979-09-12 Dispositif d'equilibrage de poids pour un manipulateur Granted FR2436656A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE2841183A DE2841183C2 (de) 1978-09-22 1978-09-22 Handhabungsgerät mit einem Auslegerarm

Publications (2)

Publication Number Publication Date
FR2436656A1 true FR2436656A1 (fr) 1980-04-18
FR2436656B1 FR2436656B1 (fr) 1984-06-15

Family

ID=6050082

Family Applications (1)

Application Number Title Priority Date Filing Date
FR7922771A Granted FR2436656A1 (fr) 1978-09-22 1979-09-12 Dispositif d'equilibrage de poids pour un manipulateur

Country Status (8)

Country Link
US (1) US4297908A (fr)
JP (1) JPS5932279B2 (fr)
DE (1) DE2841183C2 (fr)
ES (1) ES8100946A1 (fr)
FR (1) FR2436656A1 (fr)
GB (1) GB2033336B (fr)
IT (1) IT1123241B (fr)
SE (1) SE445097B (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0074830A3 (fr) * 1981-09-14 1983-09-21 University Of Surrey Bras de robot
EP0069991A3 (en) * 1981-07-15 1983-10-26 Firma Johannes Fuchs Lifting device for manually moving loads
FR2614288A1 (fr) * 1987-04-23 1988-10-28 Takraf Schwermasch Dispositif de levage, notamment pour chariot elevateur a fourches.
WO1996031325A1 (fr) * 1995-04-07 1996-10-10 Kuka Roboter Gmbh Robot industriel avec equilibrage des masses

Families Citing this family (33)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5754089A (fr) * 1980-09-14 1982-03-31 Dainichi Kiko Kk
NO147229C (no) * 1981-02-11 1983-03-02 Kverneland As Anordning ved hengsle, saerlig for jordbruksredskaper
DE3107013A1 (de) * 1981-02-25 1982-09-30 GdA, Gesellschaft für digitale Automation mbH, 8000 München Vorrichtung zum gewichtsausgleich bei einem industrieroboter
US4527446A (en) * 1982-03-26 1985-07-09 U.S. Automation Company Cam-actuated robotic manipulator system
DE3570058D1 (en) * 1984-02-27 1989-06-15 Thyssen Industrie Manipulator
DE3524033A1 (de) * 1984-09-25 1986-04-03 Friedrich Wilh. Schwing Gmbh, 4690 Herne Zweizylinder-dickstoffpumpe mit rohrweiche
DD229387A1 (de) * 1984-12-07 1985-11-06 Vta Leipzig Paul Froehlich Veb Hubvorrichtung, insbesondere fuer gabelstapler
US4635493A (en) * 1985-04-01 1987-01-13 Rimrock Corporation Reciprocator for die-casting machine
DE3617981A1 (de) * 1986-05-28 1987-12-03 Overbeck Gmbh & Co Vorrichtung zum halten und/oder positionieren von werkstuecken und/oder werkzeugen oder dergleichen
US4756204A (en) * 1987-02-11 1988-07-12 Cincinnati Milacron Inc. Counterbalance assembly for rotatable robotic arm and the like
SE457744B (sv) * 1987-05-29 1989-01-23 Asea Ab Utbalanseringsenhet foer t ex en roerlig arm i en industrirobot
DE3808121C2 (de) * 1988-03-11 1994-10-20 Wilfried Baeder Handhabungsgerät zum Greifen und Bewegen von Gegenständen
JP2627648B2 (ja) * 1988-08-22 1997-07-09 株式会社ナブコ 駆動装置及びその駆動装置を用いたブレーキ装置
CA2010247C (fr) * 1989-03-03 2000-08-01 John Sharpless Pistolet de pulverisation pouvant fonctionner dans cinq directions
US5141165A (en) * 1989-03-03 1992-08-25 Nordson Corporation Spray gun with five axis movement
SE466244B (sv) * 1990-02-28 1992-01-20 Asea Brown Boveri Balanseringssystem foer robot
US5214749A (en) * 1991-06-12 1993-05-25 Massachusetts Institute Of Technology Dynamic control of a robot with its center of mass decoupled from an end effector by a redundant linkage
JP2647301B2 (ja) * 1992-03-05 1997-08-27 ファナック株式会社 ロボットアームのバランサ装置
US5316219A (en) * 1992-07-08 1994-05-31 Nordson Corporation Coating apparatus with pattern width control
ITGE940057A1 (it) * 1994-05-11 1995-11-11 Sasib Spa Dispositivo trasferitore ed in particolare macchina impacchettatrice di sigarette, o simili provvista di detti dispositivi trasferitori.
US5462511A (en) * 1994-07-14 1995-10-31 Giddings & Lewis, Inc. Tool changer configured for use with machine tools
US5569328A (en) * 1995-01-10 1996-10-29 Petvai; Steve I. Silicon semiconductor wafer test
JP3614383B2 (ja) * 2001-07-30 2005-01-26 川崎重工業株式会社 ロボット
NL1024253C2 (nl) * 2003-09-10 2005-03-14 Arie Koenraad Janrokus Horden Samenstel van een balanceerinrichting en een gereedschap zoals een sloophamer.
JP4903719B2 (ja) * 2006-01-13 2012-03-28 ナブテスコ株式会社 関節機構
DE102006022889A1 (de) * 2006-05-15 2007-11-22 Kuka Roboter Gmbh Gelenkroboter
US8219245B2 (en) 2006-05-15 2012-07-10 Kuka Roboter Gmbh Articulated arm robot
DE602006012491D1 (de) * 2006-09-27 2010-04-08 Abb Ab Industrieroboter mit Druckluftzufuhr in Gewichtsausgleichsvorrichtung
US7918636B1 (en) * 2007-10-24 2011-04-05 T&T Engineering Services Pipe handling apparatus and method
US9556689B2 (en) 2009-05-20 2017-01-31 Schlumberger Technology Corporation Alignment apparatus and method for a boom of a pipe handling system
US9476267B2 (en) 2013-03-15 2016-10-25 T&T Engineering Services, Inc. System and method for raising and lowering a drill floor mountable automated pipe racking system
CN104959998B (zh) * 2015-06-30 2017-04-12 山东科技大学 机械手大臂支撑力可调平衡装置及其参数优化设计方法
CN104989914B (zh) * 2015-07-07 2017-03-22 北京工业大学 一种高适应多功能管道机器人

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2348020A1 (fr) * 1976-04-12 1977-11-10 Signaux Entr Electriques Structure articulee perfectionnee du genre compas, notamment pour manipulateurs industriels

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1282853A (en) * 1917-10-05 1918-10-29 Sears B Condit Jr Straight-line motion.
GB253424A (en) 1925-01-24 1926-06-17 Naamlooze Vennootschap Werf Gu An improved balancing arrangement for luffing cranes
GB291590A (en) 1927-05-05 1928-06-07 Demag Ag Improvements relating to cranes
GB322574A (en) 1928-10-01 1929-12-12 Caswell Cranes & Erection Ltd Improvements in and connected with tower cranes
GB327478A (en) 1929-01-17 1930-04-10 Claude Martineau Toplis Improvement in jib cranes
GB402344A (en) 1933-05-12 1933-11-30 William Hugh Watkins Improvements in or relating to self-stabilising jib-cranes
GB604852A (en) 1943-09-22 1948-07-12 Jan Jongerius N V Improvements in and relating to cranes
GB685351A (en) 1950-02-15 1952-12-31 Asea Ab Jib crane
US2767262A (en) * 1954-02-02 1956-10-16 Gen Electric Sequential switch
US3181408A (en) * 1960-12-21 1965-05-04 J A Richards Co Reciprocating tool actuated by toggle joint means
FR1397240A (fr) * 1964-01-27 1965-04-30 Entech Corp Appareil d'équilibrage, de levage et de mise en place d'une pièce à usiner, d'un outil mécanique et d'objets similaires
US3266636A (en) 1965-06-30 1966-08-16 Arrow Mfg Company Automatically counterbalanced tractor side-boom crane
US3263516A (en) * 1965-09-10 1966-08-02 Dow Chemical Co Mechanical linkage for generating a curved surface
GB1110475A (en) 1965-12-17 1968-04-18 Beteiligungs & Patentverw Gmbh Counterbalanced boom
SE331969B (fr) * 1966-12-22 1971-01-18 Contractors Plant Ltd
GB1169060A (en) 1967-11-13 1969-10-29 Pacific Car & Foundry Co Front End Loaders
IT1027363B (it) 1975-01-24 1978-11-20 Fiat Allis Macch Movi Trattore cingolato con gru a braccio mobile inclinabile lateralmente
FR2332221A1 (fr) 1975-11-19 1977-06-17 Buzzichelli Lilian Moyen de levage comportant une fleche et un support de contrepoids a positions respectives reglables
DE2701151C2 (de) 1977-01-13 1983-09-01 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Manipulator in Form einer Viergelenkkette

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2348020A1 (fr) * 1976-04-12 1977-11-10 Signaux Entr Electriques Structure articulee perfectionnee du genre compas, notamment pour manipulateurs industriels

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0069991A3 (en) * 1981-07-15 1983-10-26 Firma Johannes Fuchs Lifting device for manually moving loads
EP0074830A3 (fr) * 1981-09-14 1983-09-21 University Of Surrey Bras de robot
FR2614288A1 (fr) * 1987-04-23 1988-10-28 Takraf Schwermasch Dispositif de levage, notamment pour chariot elevateur a fourches.
WO1996031325A1 (fr) * 1995-04-07 1996-10-10 Kuka Roboter Gmbh Robot industriel avec equilibrage des masses

Also Published As

Publication number Publication date
FR2436656B1 (fr) 1984-06-15
JPS5932279B2 (ja) 1984-08-07
IT7925862A0 (it) 1979-09-20
ES484346A0 (es) 1980-12-01
US4297908A (en) 1981-11-03
JPS5544497A (en) 1980-03-28
SE7907819L (sv) 1980-03-23
SE445097B (sv) 1986-06-02
DE2841183A1 (de) 1980-04-03
GB2033336A (en) 1980-05-21
DE2841183C2 (de) 1982-07-15
IT1123241B (it) 1986-04-30
GB2033336B (en) 1983-02-09
ES8100946A1 (es) 1980-12-01

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Legal Events

Date Code Title Description
TP Transmission of property
ST Notification of lapse