FR2348020A1 - Mechanical compass arm for remote handling by slave arm - has secondary framing forming pin-jointed parallelogram and has jack negating arm weight - Google Patents
Mechanical compass arm for remote handling by slave arm - has secondary framing forming pin-jointed parallelogram and has jack negating arm weightInfo
- Publication number
- FR2348020A1 FR2348020A1 FR7610644A FR7610644A FR2348020A1 FR 2348020 A1 FR2348020 A1 FR 2348020A1 FR 7610644 A FR7610644 A FR 7610644A FR 7610644 A FR7610644 A FR 7610644A FR 2348020 A1 FR2348020 A1 FR 2348020A1
- Authority
- FR
- France
- Prior art keywords
- arm
- jack
- joint
- pin
- compass
- 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
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
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
- B25J3/04—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
The mechanical compass type handling arm (FBA) has secondary framing (EDC) with a hydraulic jack (R) to negate the effects of gravity. The arm cantilevers from a static pin joint (F) and has an intermediate knuckle joint (B). It may be used to operate a remote-controlled slave arm of similar compass form in handling e.g. radio-active materials. The secondary framing comprises two further straight members (ED, DC) which are pinned (E, C) to the main compass arms (FB, BA) to form a pin-jointed parallelogram. The jack may acton the pin-joint (D) between the two secondary members, and may apply a vertical lifting force (R) of constant magnitude to the joint. In this way the self weight of the frame is negated during horizontal movements of the arm tip (A).
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR7610644A FR2348020A1 (en) | 1976-04-12 | 1976-04-12 | Mechanical compass arm for remote handling by slave arm - has secondary framing forming pin-jointed parallelogram and has jack negating arm weight |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR7610644A FR2348020A1 (en) | 1976-04-12 | 1976-04-12 | Mechanical compass arm for remote handling by slave arm - has secondary framing forming pin-jointed parallelogram and has jack negating arm weight |
Publications (2)
Publication Number | Publication Date |
---|---|
FR2348020A1 true FR2348020A1 (en) | 1977-11-10 |
FR2348020B1 FR2348020B1 (en) | 1978-08-25 |
Family
ID=9171693
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR7610644A Granted FR2348020A1 (en) | 1976-04-12 | 1976-04-12 | Mechanical compass arm for remote handling by slave arm - has secondary framing forming pin-jointed parallelogram and has jack negating arm weight |
Country Status (1)
Country | Link |
---|---|
FR (1) | FR2348020A1 (en) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2841183A1 (en) * | 1978-09-22 | 1980-04-03 | Karlsruhe Augsburg Iweka | WEIGHT COMPENSATION SYSTEM FOR A HANDLING DEVICE |
EP0019596A1 (en) * | 1979-05-11 | 1980-11-26 | BASFER S.p.A. | Robot with light-weight, inertia-free programming device |
EP0043105A2 (en) * | 1980-06-28 | 1982-01-06 | Alb. Klein GmbH & Co. KG | System for feeding back a load pressure, comprising at least one actuating valve |
EP0174437A1 (en) * | 1984-06-19 | 1986-03-19 | Thyssen Industrie Ag | Pantograph-type manipulator |
CN103203751A (en) * | 2013-04-22 | 2013-07-17 | 青岛嘉龙自动化设备有限公司 | Manipulator control system and manipulator control method |
CN103203749A (en) * | 2013-04-22 | 2013-07-17 | 青岛嘉龙自动化设备有限公司 | Manipulator control system and manipulator control method |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2019505A1 (en) * | 1968-09-28 | 1970-07-03 | Intranszmas Magyar Bolga | |
FR2206266A1 (en) * | 1972-11-14 | 1974-06-07 | Motoda Electronics | |
FR2231586A1 (en) * | 1973-06-04 | 1974-12-27 | Conco Inc |
-
1976
- 1976-04-12 FR FR7610644A patent/FR2348020A1/en active Granted
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2019505A1 (en) * | 1968-09-28 | 1970-07-03 | Intranszmas Magyar Bolga | |
FR2206266A1 (en) * | 1972-11-14 | 1974-06-07 | Motoda Electronics | |
FR2231586A1 (en) * | 1973-06-04 | 1974-12-27 | Conco Inc |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2841183A1 (en) * | 1978-09-22 | 1980-04-03 | Karlsruhe Augsburg Iweka | WEIGHT COMPENSATION SYSTEM FOR A HANDLING DEVICE |
FR2436656A1 (en) * | 1978-09-22 | 1980-04-18 | Karlsruhe Augsburg Iweka | WEIGHT BALANCING DEVICE FOR A MANIPULATOR |
EP0019596A1 (en) * | 1979-05-11 | 1980-11-26 | BASFER S.p.A. | Robot with light-weight, inertia-free programming device |
EP0043105A2 (en) * | 1980-06-28 | 1982-01-06 | Alb. Klein GmbH & Co. KG | System for feeding back a load pressure, comprising at least one actuating valve |
EP0043105A3 (en) * | 1980-06-28 | 1982-01-20 | Alb. Klein Gmbh & Co. Kg | System for feeding back a load pressure, comprising at least one actuating valve |
WO1982000112A1 (en) * | 1980-06-28 | 1982-01-21 | Stolpp S | Device for the transmission of the load pressure comprising at least a valve for the control of an apparatus |
US4516894A (en) * | 1980-06-28 | 1985-05-14 | Alb Klein Gmbh & Co. Kg | Load pressure feedback system having at least one control valve for controlling an apparatus |
EP0174437A1 (en) * | 1984-06-19 | 1986-03-19 | Thyssen Industrie Ag | Pantograph-type manipulator |
CN103203751A (en) * | 2013-04-22 | 2013-07-17 | 青岛嘉龙自动化设备有限公司 | Manipulator control system and manipulator control method |
CN103203749A (en) * | 2013-04-22 | 2013-07-17 | 青岛嘉龙自动化设备有限公司 | Manipulator control system and manipulator control method |
CN103203751B (en) * | 2013-04-22 | 2016-03-30 | 青岛嘉龙自动化设备有限公司 | Manipulator control system and control method |
Also Published As
Publication number | Publication date |
---|---|
FR2348020B1 (en) | 1978-08-25 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
ST | Notification of lapse |