WO2004053470A3 - Balancing spring for articulated mechanism, in particular for robot arm - Google Patents

Balancing spring for articulated mechanism, in particular for robot arm Download PDF

Info

Publication number
WO2004053470A3
WO2004053470A3 PCT/FR2003/050149 FR0350149W WO2004053470A3 WO 2004053470 A3 WO2004053470 A3 WO 2004053470A3 FR 0350149 W FR0350149 W FR 0350149W WO 2004053470 A3 WO2004053470 A3 WO 2004053470A3
Authority
WO
WIPO (PCT)
Prior art keywords
robot arm
spring
balancing spring
articulated mechanism
segments
Prior art date
Application number
PCT/FR2003/050149
Other languages
French (fr)
Other versions
WO2004053470A2 (en
Inventor
Yann Perrot
Original Assignee
Commissariat Energie Atomique
Cogema
Yann Perrot
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 Commissariat Energie Atomique, Cogema, Yann Perrot filed Critical Commissariat Energie Atomique
Publication of WO2004053470A2 publication Critical patent/WO2004053470A2/en
Publication of WO2004053470A3 publication Critical patent/WO2004053470A3/en

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
    • F16F1/00—Springs
    • F16F1/36—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers
    • F16F1/366—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers made of fibre-reinforced plastics, i.e. characterised by their special construction from such materials
    • 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
    • F16F1/00—Springs
    • F16F1/36—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers
    • F16F1/42—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers characterised by the mode of stressing
    • F16F1/46—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers characterised by the mode of stressing loaded mainly in tension

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • Child & Adolescent Psychology (AREA)
  • Springs (AREA)

Abstract

The invention concerns a balancing spring (8) between two articulated segments (2, 3), in particular of a robot arm, comprising a core made of composite material whereof the fibers have elongation direction identical to the spring tensile direction, in the alignment of the fastening points to the segments. Such a spring is compact and has high spring rate in said application.
PCT/FR2003/050149 2002-12-03 2003-12-02 Balancing spring for articulated mechanism, in particular for robot arm WO2004053470A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR02/15201 2002-12-03
FR0215201A FR2847958B1 (en) 2002-12-03 2002-12-03 BALANCING SPRING, FOR ARTICULATED MECHANISM, IN PARTICULAR FOR ROBOT ARMS.

Publications (2)

Publication Number Publication Date
WO2004053470A2 WO2004053470A2 (en) 2004-06-24
WO2004053470A3 true WO2004053470A3 (en) 2004-07-22

Family

ID=32309955

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/FR2003/050149 WO2004053470A2 (en) 2002-12-03 2003-12-02 Balancing spring for articulated mechanism, in particular for robot arm

Country Status (2)

Country Link
FR (1) FR2847958B1 (en)
WO (1) WO2004053470A2 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012110956A1 (en) * 2012-11-14 2014-05-28 Leichtbau-Zentrum Sachsen Gmbh feather
DE102013010418A1 (en) * 2013-06-21 2014-12-24 Audi Ag torsion spring

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE675502C (en) * 1937-05-22 1939-05-10 Continental Gummi Werke Akt Ge Cushioning, especially for motor vehicles
DE960044C (en) * 1952-03-22 1957-03-14 Arthur Huppertsberg Fa Rubber elastic suspension element
FR1161994A (en) * 1955-12-09 1958-09-08 Gomma Antivibranti Applic high flexibility elastic traction elements
FR1453646A (en) * 1965-11-12 1966-06-03 Elastic suspension against vibrations
DE2502925A1 (en) * 1974-01-30 1975-07-31 Allied Polymer Group Ltd Energy absorber for seat safety belts - is made from progressively stretched elastomer elements for ensuring changing energy absorption
EP0132048A1 (en) * 1983-06-20 1985-01-23 Secretary of State for Trade and Industry in Her Britannic Majesty's Gov. of the U.K. of Great Britain and Northern Ireland Springs for high specific energy storage
US4546233A (en) * 1983-01-26 1985-10-08 Mitsubishi Denki Kabushiki Kaisha Robot arm having bearing support
US5013013A (en) * 1986-11-15 1991-05-07 Gkn Technology Limited Spring assemblies

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE515130C2 (en) * 1995-02-24 2001-06-11 Abb Ab Manipulator

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE675502C (en) * 1937-05-22 1939-05-10 Continental Gummi Werke Akt Ge Cushioning, especially for motor vehicles
DE960044C (en) * 1952-03-22 1957-03-14 Arthur Huppertsberg Fa Rubber elastic suspension element
FR1161994A (en) * 1955-12-09 1958-09-08 Gomma Antivibranti Applic high flexibility elastic traction elements
FR1453646A (en) * 1965-11-12 1966-06-03 Elastic suspension against vibrations
DE2502925A1 (en) * 1974-01-30 1975-07-31 Allied Polymer Group Ltd Energy absorber for seat safety belts - is made from progressively stretched elastomer elements for ensuring changing energy absorption
US4546233A (en) * 1983-01-26 1985-10-08 Mitsubishi Denki Kabushiki Kaisha Robot arm having bearing support
EP0132048A1 (en) * 1983-06-20 1985-01-23 Secretary of State for Trade and Industry in Her Britannic Majesty's Gov. of the U.K. of Great Britain and Northern Ireland Springs for high specific energy storage
US5013013A (en) * 1986-11-15 1991-05-07 Gkn Technology Limited Spring assemblies

Also Published As

Publication number Publication date
WO2004053470A2 (en) 2004-06-24
FR2847958A1 (en) 2004-06-04
FR2847958B1 (en) 2005-08-05

Similar Documents

Publication Publication Date Title
AU1591500A (en) Manipulator and method for manufacturing the manipulator
AU2002351287A1 (en) Parallel kinematic micromanipulator with piezoelectric linear actuators
WO2003027003A3 (en) Methods of nanotube films and articles
WO2002059385A3 (en) Laser peening of components of thin cross-section
AU3940699A (en) Coupling with shape-memory material, disconnecting tool with a piston and coupling with valves
AU2002224893A1 (en) Method for producing a part and device for carrying out this method
CA2113222A1 (en) Pivoted Tool Having Integral Pivot Member and Method of Producing Same
CA2155794A1 (en) Wireless polymeric twist tie
AU2002352832A1 (en) 3-alkylated-5,5',6,6',7,7',8,8'-octahydro-2,2'-binaphthols and 3,3'-dialkylated-5,5',6,6',7,7',8,8'-octahydro-2,2'-binaphthols and processes for making them
EP1262683A3 (en) Train housing for pseudo-planetary kinematic transmission
WO1999004239A3 (en) Magnetic pin for concentrating and separating particles
CA2320706A1 (en) 20-hete antagonists and agonists
AU2002365562A1 (en) Composite structural member with longitudinal structural haunch
EP1251068A3 (en) Composite flapping flexure
AU6422500A (en) Tweezers
AU4486696A (en) Sulphonyl amino(thio)carbonyl-1,2,4-triazolin(thi)one derivatives, the production thereof and the use thereof as herbicides
EP0826644A3 (en) Ceramic and especially piezoelectric mono- or multifilament fibers and process for their production
CA2253437A1 (en) Center frame of a two-part bellows of a connecting element
AU1379000A (en) Articulated arm for an awning
WO2004053470A3 (en) Balancing spring for articulated mechanism, in particular for robot arm
CA2120831A1 (en) Connection Piece on the End of a Wire Cable
WO2003068584A8 (en) Controlled-deformation panel
AU2002226285A1 (en) Static link chain
WO2002099211A3 (en) Wood joint
WO2002058841A3 (en) Water-absorbing agent, method for the production thereof and use of the same

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A2

Designated state(s): JP US

AL Designated countries for regional patents

Kind code of ref document: A2

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PT RO SE SI SK TR

121 Ep: the epo has been informed by wipo that ep was designated in this application
DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
122 Ep: pct application non-entry in european phase
NENP Non-entry into the national phase

Ref country code: JP

WWW Wipo information: withdrawn in national office

Country of ref document: JP