ES2034935T1 - Dispositivo equilibrador de fuerzas, de gravedad principalmente que actua sobre un brazo de robot o analogo. - Google Patents

Dispositivo equilibrador de fuerzas, de gravedad principalmente que actua sobre un brazo de robot o analogo.

Info

Publication number
ES2034935T1
ES2034935T1 ES198989400426T ES89400426T ES2034935T1 ES 2034935 T1 ES2034935 T1 ES 2034935T1 ES 198989400426 T ES198989400426 T ES 198989400426T ES 89400426 T ES89400426 T ES 89400426T ES 2034935 T1 ES2034935 T1 ES 2034935T1
Authority
ES
Spain
Prior art keywords
robot arm
analog
balancing device
force balancing
mainly acting
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
ES198989400426T
Other languages
English (en)
Other versions
ES2034935T3 (es
Inventor
Rene Oppermann
Christian Salesse
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Publication of ES2034935T1 publication Critical patent/ES2034935T1/es
Application granted granted Critical
Publication of ES2034935T3 publication Critical patent/ES2034935T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • B25J19/0016—Balancing devices using springs
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/28—Counterweights, i.e. additional weights counterbalancing inertia forces induced by the reciprocating movement of masses in the system, e.g. of pistons attached to an engine crankshaft; Attaching or mounting same
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Manipulator (AREA)
  • Testing Of Balance (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)

Abstract

DISPOSITIVO DE EQUILIBRADO DE FUERZAS ACTUANDO SOBRE UN BRAZO DE ROBOT (10) ARTICULADO EN ROTACION ALREDEDOR DE UN EJE (A), ESTE DISPOSITIVO COMPRENDE UN NUMERO PAR DE PIEZAS AUXILIARES (24'',24'''') ARTICULADAS ALREDEDOR DE EJES B1, B2) PARALELOS ENTRE ELLOS Y PARALELOS AL EJE (A) DEL BRAZO, CADA UNA DE DICHAS PIEZAS SOPORTAN DOS BRAZOS TRANSVERSALES (28, 30) CUYOS EXTREMOS APTOS PARA APOYARSE CONTRA UNA PARTE RECTILINEA (48) DE UN ORGANO MOVIL (50) SOMETIDOS A UN ESFUERZO DE LLAMADA HACIA UNA POSICION INICIAL, LAS PIEZAS AUXILIARES (24, 24'''') ESTAN ARRASTRADAS POR VELOCIDADES ANGULARES IGUALES EN VALOR ABSOLUTO PERO DOS A DOS EN SENTIDOS OPUESTOS E IGUALES TAMBIEN A LA MITAD DE LA VELOCIDAD ANGULAR DEL BRAZO DEL ROBOT.
ES198989400426T 1988-02-26 1989-02-15 Dispositivo equilibrador de fuerzas, de gravedad principalmente que actua sobre un brazo de robot o analogo. Expired - Lifetime ES2034935T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR8802423A FR2627718A1 (fr) 1988-02-26 1988-02-26 Dispositif d'equilibrage des forces, notamment de pesanteur, agissant sur un bras de robot ou analogue

Publications (2)

Publication Number Publication Date
ES2034935T1 true ES2034935T1 (es) 1993-04-16
ES2034935T3 ES2034935T3 (es) 1993-10-01

Family

ID=9363694

Family Applications (1)

Application Number Title Priority Date Filing Date
ES198989400426T Expired - Lifetime ES2034935T3 (es) 1988-02-26 1989-02-15 Dispositivo equilibrador de fuerzas, de gravedad principalmente que actua sobre un brazo de robot o analogo.

Country Status (7)

Country Link
US (1) US4901591A (es)
EP (1) EP0330548B1 (es)
JP (1) JPH0635118B2 (es)
AT (1) ATE88405T1 (es)
DE (1) DE68906055T2 (es)
ES (1) ES2034935T3 (es)
FR (1) FR2627718A1 (es)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
FR2727346B1 (fr) * 1994-11-25 1997-01-10 Loriot Jean Marc Dispositif d'equilibrage des forces agissant sur un bras sollicite par une charge
FR2794048B1 (fr) * 1999-05-25 2001-09-28 Process Conception Ing Sa Agencement d'actionnement d'une charge en forme d'un bras oscillant
FR2813814B1 (fr) * 2000-09-14 2003-02-07 Christian Salesse Dispositif d'equilibrage d'une force, a hautes performances
FR2813815B1 (fr) * 2000-09-14 2003-02-21 Christian Salesse Dispositif d'equilibrage d'une force, a hautes performances
FR2814449B1 (fr) 2000-09-25 2003-02-07 Christian Salesse Dispositif de deplacement d'une charge
EP1578566A1 (de) * 2002-08-23 2005-09-28 Hubertus Boehm Gewichtsausgleichssystem für geräte mit drehachsen
US7703246B2 (en) * 2007-07-31 2010-04-27 Beautiful World Llc Solar panel mounting structure
FR2955353B1 (fr) 2010-01-20 2014-11-28 Total Sa Dispositif de decouplage pour colonne de forage, et systeme de forage comportant un tel dispositif de decouplage.
FR3134437B1 (fr) 2022-04-12 2024-03-29 Kendrinov perfectionnement d'équilibreur rotatif

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2565153B1 (fr) * 1984-05-29 1986-09-26 Ecole Centrale Arts Manufactur Dispositif d'equilibrage des forces de pesanteur dans un bras robotique
SU1202863A1 (ru) * 1984-07-16 1986-01-07 Всесоюзный заочный машиностроительный институт Уравновешенный манипул тор
AT380818B (de) * 1984-10-08 1986-07-10 Voest Alpine Ag Gewichtsausgleichsvorrichtung fuer den fuehrungsarm einer handhabungseinrichtung
US4756204A (en) * 1987-02-11 1988-07-12 Cincinnati Milacron Inc. Counterbalance assembly for rotatable robotic arm and the like

Also Published As

Publication number Publication date
FR2627718A1 (fr) 1989-09-01
DE68906055T2 (de) 1993-08-26
ATE88405T1 (de) 1993-05-15
FR2627718B1 (es) 1994-08-19
JPH0635118B2 (ja) 1994-05-11
ES2034935T3 (es) 1993-10-01
JPH01264793A (ja) 1989-10-23
DE68906055D1 (de) 1993-05-27
US4901591A (en) 1990-02-20
EP0330548B1 (fr) 1993-04-21
EP0330548A1 (fr) 1989-08-30

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