FR2424795A1 - Dispositif de manutention, notamment pour robots industriels - Google Patents
Dispositif de manutention, notamment pour robots industrielsInfo
- Publication number
- FR2424795A1 FR2424795A1 FR7837115A FR7837115A FR2424795A1 FR 2424795 A1 FR2424795 A1 FR 2424795A1 FR 7837115 A FR7837115 A FR 7837115A FR 7837115 A FR7837115 A FR 7837115A FR 2424795 A1 FR2424795 A1 FR 2424795A1
- Authority
- FR
- France
- Prior art keywords
- handling device
- parallelogram
- industrial robots
- members
- support
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- 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
- Y10S414/00—Material or article handling
- Y10S414/13—Handlers utilizing parallel links
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
DISPOSITIF DE MANIPULATION A BRAS ARTICULE FORME DE TROIS MEMBRES DONT LE DERNIER PORTE UNE PINCE DE PREHENSION. LE PREMIER MEMBRE 11 EST UN ELEMENT D'UN PREMIER PARALLELOGRAMME DEFORMABLE 31, LES SECOND 13 ET TROISIEME 15, DES ELEMENTS D'UN SECOND PARALLELOGRAMME 33. LES PARALLELOGRAMMES ONT UN ELEMENT COMMUN 35. UN SYSTEME A LEVIERS 43 PIVOTE SUR LE SECOND PARALLELOGRAMME 33 ET UN SUPPORT 17 POUR DETERMINER L'ELEVATION DE LA PINCE 21. DES ORGANES MOTEURS 63, 65 MONTES SUR LE SUPPORT 17 AMENENT LES MEMBRES EN POSITION ANGULAIRE DETERMINEE. L'INVENTION S'APPLIQUE AUX ROBOTS INDUSTRIELS POUR MANIPULER AVEC PRECISION DES PIECES DE FAIBLES DIMENSIONS.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CH1616477A CH617559GA3 (fr) | 1977-12-29 | 1977-12-29 |
Publications (2)
Publication Number | Publication Date |
---|---|
FR2424795A1 true FR2424795A1 (fr) | 1979-11-30 |
FR2424795B1 FR2424795B1 (fr) | 1984-01-20 |
Family
ID=4414964
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR7837115A Granted FR2424795A1 (fr) | 1977-12-29 | 1978-12-26 | Dispositif de manutention, notamment pour robots industriels |
FR7913738A Granted FR2424796A1 (fr) | 1977-12-29 | 1979-05-28 | Procede de programmation d'un dispositif de manipulation |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR7913738A Granted FR2424796A1 (fr) | 1977-12-29 | 1979-05-28 | Procede de programmation d'un dispositif de manipulation |
Country Status (7)
Country | Link |
---|---|
US (1) | US4329110A (fr) |
JP (1) | JPS54132963A (fr) |
CH (1) | CH617559GA3 (fr) |
DE (1) | DE2855132C3 (fr) |
FR (2) | FR2424795A1 (fr) |
GB (1) | GB2011572B (fr) |
IT (1) | IT1203213B (fr) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2509886A1 (fr) * | 1981-07-16 | 1983-01-21 | Kessis Jean Jacques | Mecanisme cartesien |
Families Citing this family (34)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CH637869A5 (de) * | 1979-06-19 | 1983-08-31 | Microbo Ag | Handhabungseinrichtung, insbesondere fuer industrieroboter. |
US4367998A (en) * | 1979-09-13 | 1983-01-11 | United Kingdom Atomic Energy Authority | Manipulators |
US4527446A (en) * | 1982-03-26 | 1985-07-09 | U.S. Automation Company | Cam-actuated robotic manipulator system |
JPS5971742U (ja) * | 1982-11-08 | 1984-05-16 | ぺんてる株式会社 | 熱転写式プリンタのリボン送り装置 |
US4551058A (en) * | 1983-07-20 | 1985-11-05 | Robotics, Inc. | Low cost articulating/articulating and rotating wrist mechanism for automatic machine tool and automatic machine tool employing the same |
DE3326962A1 (de) * | 1983-07-27 | 1985-02-07 | Josef 4790 Paderborn Göllner jun. | Industrieroboter mit zweigliedrigem gelenkarm |
JPS6051500A (ja) * | 1983-08-29 | 1985-03-22 | Hitachi Ltd | ロボットの動作制御装置 |
AU3583084A (en) * | 1983-12-10 | 1985-06-13 | Aida Engineering Ltd. | Playback grinding robot |
DE3404553C2 (de) * | 1984-02-09 | 1986-04-17 | Carl Hurth Maschinen- und Zahnradfabrik GmbH & Co, 8000 München | Handhabungseinrichtung, insbesondere zum Be- und Entladen von Werkzeugmaschinen |
EP0160305B1 (fr) * | 1984-05-02 | 1989-10-25 | Kabushiki Kaisha Tokuda Seisakusho | Dispositif de support |
JPS6143062U (ja) * | 1984-08-22 | 1986-03-20 | 富士通株式会社 | 熱転写フイルムカセツト |
JPH0357497Y2 (fr) * | 1984-10-31 | 1991-12-27 | ||
DE3501771A1 (de) * | 1985-01-21 | 1986-07-24 | Robert Bosch Gmbh, 7000 Stuttgart | Beuteluebergabevorrichtung |
JPS61244475A (ja) * | 1985-04-22 | 1986-10-30 | 株式会社東芝 | 産業用ロボツト |
JPS6241560U (fr) * | 1985-08-30 | 1987-03-12 | ||
CH668379A5 (de) * | 1986-08-07 | 1988-12-30 | Ernst Ochsner | Haltevorrichtung fuer einen allflaechig zu behandelnden gegenstand. |
US4756655A (en) * | 1986-12-15 | 1988-07-12 | Jameson John W | Mechanical manipulator |
US4762016A (en) * | 1987-03-27 | 1988-08-09 | The Regents Of The University Of California | Robotic manipulator having three degrees of freedom |
KR970004947B1 (ko) * | 1987-09-10 | 1997-04-10 | 도오교오 에레구토론 가부시끼가이샤 | 핸들링장치 |
US4796357A (en) * | 1988-02-16 | 1989-01-10 | International Business Machines Corporation | Method and apparatus for positioning electrical components |
US5117992A (en) * | 1991-01-28 | 1992-06-02 | Virginia International Terminals, Inc. | System for learning control commands to robotically move a load, especially suitable for use in cranes to reduce load sway |
WO1996036847A1 (fr) * | 1995-05-16 | 1996-11-21 | Brown & Sharpe Manufacturing Company | Machine de mesure de coordonnees possedant un bras articule |
US5616917A (en) * | 1995-05-16 | 1997-04-01 | Brown & Sharpe Manufacturing Company | Device for measuring an angle between pivotally-connected members |
SE511804C2 (sv) * | 1996-03-14 | 1999-11-29 | Abb Ab | Anordning för relativ förflyttning av två element |
SE508890C2 (sv) * | 1996-03-14 | 1998-11-16 | Asea Brown Boveri | Manipulator |
US6336374B1 (en) | 1997-01-14 | 2002-01-08 | Asea Brown Boveri A.B. | Device for relative displacement of two elements |
SE512931C2 (sv) * | 1998-04-29 | 2000-06-05 | Abb Ab | Anordning för relativ förflyttning av två element |
SE513328C2 (sv) | 1998-11-11 | 2000-08-28 | Abb Ab | Manipulator och förfarande vid framställning av en manipulator |
IT1309275B1 (it) * | 1999-05-31 | 2002-01-16 | Cosmopack S R L | Testa di presa per l' afferramento, la traslazione ed il rilascio dioggetti di varia forma |
ATE521457T1 (de) * | 2008-01-18 | 2011-09-15 | Fundacion Fatronik | Paralleler manipulator mit zwei freiheitsgraden |
CN104096998A (zh) * | 2014-06-27 | 2014-10-15 | 广西大学 | 一种多自由度并联机构式点焊机器人 |
CN107414365B (zh) * | 2017-07-13 | 2019-03-15 | 柳州福能机器人开发有限公司 | 滑轮式焊接用机器人机械臂 |
CN111152194B (zh) * | 2020-01-15 | 2021-03-30 | 北京交通大学 | 一种单自由度无限翻转机构 |
CN112174048B (zh) * | 2020-10-22 | 2021-10-22 | 华北水利水电大学 | 基于双四连杆机构的双层叉车 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3247978A (en) * | 1962-12-12 | 1966-04-26 | Programmed & Remote Syst Corp | Manipulator hand |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3259254A (en) * | 1964-04-16 | 1966-07-05 | James M Mitchell | Motion device |
US3648143A (en) * | 1969-08-25 | 1972-03-07 | Harper Associates Inc | Automatic work-repeating mechanism |
US3630389A (en) * | 1970-09-30 | 1971-12-28 | Gen Electric | Material-handling apparatus |
US3703968A (en) * | 1971-09-20 | 1972-11-28 | Us Navy | Linear linkage manipulator arm |
US3792782A (en) * | 1971-12-10 | 1974-02-19 | Programmed & Remote Syst Corp | Grapple assembly |
JPS4961577A (fr) * | 1972-09-25 | 1974-06-14 | ||
JPS5842118B2 (ja) * | 1973-07-27 | 1983-09-17 | オオジセイキコウギヨウ カブシキガイシヤ | カクダイサレタハンイデヘイコウウンドウスルユアツクレ−ンソウチ |
US3934702A (en) * | 1973-09-13 | 1976-01-27 | Chicago Display Company | Article transfer apparatus |
DE2452345C3 (de) * | 1974-11-05 | 1979-11-08 | Volkswagenwerk Ag, 3180 Wolfsburg | Handhabungsautomat |
-
1977
- 1977-12-29 CH CH1616477A patent/CH617559GA3/xx unknown
-
1978
- 1978-12-20 DE DE2855132A patent/DE2855132C3/de not_active Expired
- 1978-12-20 GB GB7849303A patent/GB2011572B/en not_active Expired
- 1978-12-26 FR FR7837115A patent/FR2424795A1/fr active Granted
- 1978-12-28 IT IT69965/78A patent/IT1203213B/it active
- 1978-12-29 JP JP16460978A patent/JPS54132963A/ja active Granted
-
1979
- 1979-05-28 FR FR7913738A patent/FR2424796A1/fr active Granted
-
1980
- 1980-08-12 US US06/177,497 patent/US4329110A/en not_active Expired - Lifetime
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3247978A (en) * | 1962-12-12 | 1966-04-26 | Programmed & Remote Syst Corp | Manipulator hand |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2509886A1 (fr) * | 1981-07-16 | 1983-01-21 | Kessis Jean Jacques | Mecanisme cartesien |
Also Published As
Publication number | Publication date |
---|---|
CH617559GA3 (fr) | 1980-06-13 |
GB2011572B (en) | 1982-06-30 |
FR2424796A1 (fr) | 1979-11-30 |
JPS5621557B2 (fr) | 1981-05-20 |
IT7869965A0 (it) | 1978-12-28 |
JPS54132963A (en) | 1979-10-16 |
DE2855132C3 (de) | 1981-10-15 |
DE2855132A1 (de) | 1979-07-05 |
FR2424795B1 (fr) | 1984-01-20 |
IT1203213B (it) | 1989-02-15 |
GB2011572A (en) | 1979-07-11 |
CH617559B (fr) | |
DE2855132B2 (de) | 1981-02-05 |
US4329110A (en) | 1982-05-11 |
FR2424796B1 (fr) | 1984-03-30 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
TP | Transmission of property | ||
ST | Notification of lapse |