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FR2409827A1 - INDUSTRIAL ROBOT WITH FIVE POINTS OF ARTICULATION - Google Patents

INDUSTRIAL ROBOT WITH FIVE POINTS OF ARTICULATION

Info

Publication number
FR2409827A1
FR2409827A1 FR7833042A FR7833042A FR2409827A1 FR 2409827 A1 FR2409827 A1 FR 2409827A1 FR 7833042 A FR7833042 A FR 7833042A FR 7833042 A FR7833042 A FR 7833042A FR 2409827 A1 FR2409827 A1 FR 2409827A1
Authority
FR
France
Prior art keywords
lever
articulation
points
industrial robot
circle
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.)
Withdrawn
Application number
FR7833042A
Other languages
French (fr)
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.)
HA Schlatter AG
Original Assignee
HA Schlatter AG
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 HA Schlatter AG filed Critical HA Schlatter AG
Publication of FR2409827A1 publication Critical patent/FR2409827A1/en
Withdrawn legal-status Critical Current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
    • 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
    • B25J9/046—Revolute coordinate type
    • 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
    • B25J19/002—Balancing devices using counterweights
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

ROBOT INDUSTRIEL A CINQ POINTS D'ARTICULATION, COMPORTANT DES PREMIER, SECOND ET TROISIEME LEVIERS ARTICULES. L'ARTICULATION DE PIVOTEMENT 1 DU SECOND LEVIER 8 SUR LE BRAS 6 EST SITUE A UNE DISTANCE DE L'ARTICULATION DE PIVOTEMENT 2 DU PREMIER LEVIER SUR LE BRAS 6 POUR LAQUELLE LA PREMIERE ARTICULATION DE PIVOTEMENT 1 DECRIT DES ARCS DE CERCLE 12 DE RAYONS R SENSIBLEMENT EGAUX, LORSQUE L'ORGANE DE PREHENSION M SE DEPLACE DANS LA ZONE DE TRAVAIL 11 SUIVANT DES TRAJETS HORIZONTAUX 10, ET LA SECONDE ARTICULATION DE PIVOTEMENT 3 DU SECOND LEVIER 8 AVEC LE TROISIEME LEVIER 9 PEUT PIVOTER SUR UN ARC DE CERCLE 14 QUI REUNIT APPROXIMATIVEMENT LES CENTRES 13 DES PREMIERS ARCS DE CERCLE 12. APPLICATION: CHARGEMENT ET DECHARGEMENT DE MARCHANDISES.INDUSTRIAL ROBOT WITH FIVE POINTS OF ARTICULATION, INCLUDING FIRST, SECOND AND THIRD HINGED LEVERS. SWIVEL JOINT 1 OF SECOND LEVER 8 ON ARM 6 IS LOCATED A DISTANCE FROM SWIVEL JOINT 2 OF FIRST LEVER ON ARM 6 FOR WHICH FIRST SWIVEL JOINT 1 DESCRIBES 12-SPOKE CIRCLE ARCS SENSITIVELY EQUAL, WHEN THE GRIPPER M MOVES IN THE WORK ZONE 11 FOLLOWING HORIZONTAL PATHS 10, AND THE SECOND PIVOTING JOINT 3 OF THE SECOND LEVER 8 WITH THE THIRD LEVER 9 CAN ROTATE ON AN ARC OF A CIRCLE 14 APPROXIMATELY THE CENTERS 13 OF THE FIRST ARKS OF CIRCLE 12. APPLICATION: LOADING AND UNLOADING OF GOODS.

FR7833042A 1977-11-26 1978-11-23 INDUSTRIAL ROBOT WITH FIVE POINTS OF ARTICULATION Withdrawn FR2409827A1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE2752812 1977-11-26

Publications (1)

Publication Number Publication Date
FR2409827A1 true FR2409827A1 (en) 1979-06-22

Family

ID=6024681

Family Applications (1)

Application Number Title Priority Date Filing Date
FR7833042A Withdrawn FR2409827A1 (en) 1977-11-26 1978-11-23 INDUSTRIAL ROBOT WITH FIVE POINTS OF ARTICULATION

Country Status (4)

Country Link
JP (1) JPS5486162A (en)
FR (1) FR2409827A1 (en)
GB (1) GB2009353A (en)
SE (1) SE7812127L (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2459111A1 (en) * 1979-06-15 1981-01-09 Sormel Sa ACCURATE HANDLING AUTOMATE WITH HIGH CADENCE

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL8102616A (en) * 1981-05-29 1982-12-16 Philips Nv GAMMATOMOGRAPH WITH PARALLELOGRAM SUSPENSION.
FR2592607B1 (en) * 1986-01-06 1988-04-08 Outiperret Sa THREE-DIMENSIONAL EFFORT MULTIPLIER MANIPULATOR DEVICE.

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2459111A1 (en) * 1979-06-15 1981-01-09 Sormel Sa ACCURATE HANDLING AUTOMATE WITH HIGH CADENCE

Also Published As

Publication number Publication date
SE7812127L (en) 1979-05-27
JPS5486162A (en) 1979-07-09
GB2009353A (en) 1979-06-13

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Legal Events

Date Code Title Description
ST Notification of lapse