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 weight

Info

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
Application number
FR7610644A
Other languages
French (fr)
Other versions
FR2348020B1 (en
Inventor
Paul Gerard
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.)
Compagnie de Signaux et dEntreprises Electriques SA
Original Assignee
Compagnie de Signaux et dEntreprises Electriques SA
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 Compagnie de Signaux et dEntreprises Electriques SA filed Critical Compagnie de Signaux et dEntreprises Electriques SA
Priority to FR7610644A priority Critical patent/FR2348020A1/en
Publication of FR2348020A1 publication Critical patent/FR2348020A1/en
Application granted granted Critical
Publication of FR2348020B1 publication Critical patent/FR2348020B1/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
    • 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).
FR7610644A 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 Granted FR2348020A1 (en)

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)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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

Patent Citations (3)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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

Similar Documents

Publication Publication Date Title
ES433227A1 (en) Anchorage of floating structures
GB1421307A (en) Lift mechanism
GB1432732A (en) Hoist for use with nuclear reactors
FR2348020A1 (en) Mechanical compass arm for remote handling by slave arm - has secondary framing forming pin-jointed parallelogram and has jack negating arm weight
GB1461970A (en) Cranes
GB1362059A (en) Fluid transfer apparatus
GB1520957A (en) Offshore artificial island structure
ES393629A1 (en) Lifting device with swinging arms
GB806963A (en) Masted lift truck attachment
ES403725A1 (en) Vertically collapsible upright for lifting gantries and the like
ES473887A1 (en) Telescoping aerial lift
GB821383A (en) Power-operated lifting truck
GB870866A (en) Improvements in or relating to gripping means for lifting loading or stacking equipment
GB918575A (en) Liquid delivery devices
GB538298A (en) Improvements in or relating to retractable undercarriages for aircraft
FR2373417A1 (en) Auxiliary lifting gear for lorry - has fork lift frame carried on sliding telescopic lifting frame fitted to vehicle
US2974929A (en) Panel lifting device
GB1487119A (en) Lifting devices
GB712739A (en) Improvements in or relating to devices for supporting surfaces such as floors or ceilings under construction
US2685423A (en) Bomb and like loading apparatus for aircraft
GB539625A (en) Improvements in or relating to retractable parts of aircraft
FR2442212A1 (en) Articulated grab for material handling - has parallelogram linkage hydraulic arm to allow universal movement of grab
GB799176A (en) Apparatus for lifting and conveying tubular objects
GB762056A (en) A metallic telescopic support
ES459207A1 (en) Overhead maintenance platform lifting mechanism - has boom sections telescoping in both directions urged by single hydraulic ram

Legal Events

Date Code Title Description
ST Notification of lapse