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FR2422482A1 - Pivoting transfer arm for column press - has elbow joint with folding parallelogram frames holding outer boom vertical as workpiece follows up=and=over orbital path - Google Patents

Pivoting transfer arm for column press - has elbow joint with folding parallelogram frames holding outer boom vertical as workpiece follows up=and=over orbital path

Info

Publication number
FR2422482A1
FR2422482A1 FR7810956A FR7810956A FR2422482A1 FR 2422482 A1 FR2422482 A1 FR 2422482A1 FR 7810956 A FR7810956 A FR 7810956A FR 7810956 A FR7810956 A FR 7810956A FR 2422482 A1 FR2422482 A1 FR 2422482A1
Authority
FR
France
Prior art keywords
arm
transfer arm
aforementioned
elbow joint
orbital path
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.)
Pending
Application number
FR7810956A
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.)
Renault SA
Original Assignee
Renault 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 Renault SA filed Critical Renault SA
Priority to FR7810956A priority Critical patent/FR2422482A1/en
Publication of FR2422482A1 publication Critical patent/FR2422482A1/en
Pending 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
    • B25J9/10—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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Press Drives And Press Lines (AREA)

Abstract

Dispositif de transfert de pièces comprenant, monté pivotant dans un support, suivant un axe sensiblement horizontal, un bras à mouvement angulaire commandé évoluant dans un plan sensiblement vertical, principalement au-dessus du plan horizontal passant par l'axe précité et auquel sont associés des moyens de préhension des pièces, caractérisé en ce que lesdits moyens de préhension sont montés à l'extrémité avec l'extrémité libre du premier bras précité et qui présente une liaison par bielles formant un parallélogramme articulé avec le support précité dans des plans décalés par rapport aux deux bras, de sorte que le second bras est positivement maintenu et déplacé à l'état vertical dans toute la zone d'évolution angulaire du premier bras précitité.Device for transferring parts comprising, pivotally mounted in a support, along a substantially horizontal axis, an arm with controlled angular movement moving in a substantially vertical plane, mainly above the horizontal plane passing through the aforementioned axis and to which are associated gripping means of the parts, characterized in that said gripping means are mounted at the end with the free end of the aforementioned first arm and which has a connection by connecting rods forming a parallelogram articulated with the aforementioned support in planes offset with respect to to the two arms, so that the second arm is positively held and moved in the vertical state throughout the zone of angular evolution of the aforementioned first arm.

FR7810956A 1978-04-13 1978-04-13 Pivoting transfer arm for column press - has elbow joint with folding parallelogram frames holding outer boom vertical as workpiece follows up=and=over orbital path Pending FR2422482A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR7810956A FR2422482A1 (en) 1978-04-13 1978-04-13 Pivoting transfer arm for column press - has elbow joint with folding parallelogram frames holding outer boom vertical as workpiece follows up=and=over orbital path

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR7810956A FR2422482A1 (en) 1978-04-13 1978-04-13 Pivoting transfer arm for column press - has elbow joint with folding parallelogram frames holding outer boom vertical as workpiece follows up=and=over orbital path

Publications (1)

Publication Number Publication Date
FR2422482A1 true FR2422482A1 (en) 1979-11-09

Family

ID=9207094

Family Applications (1)

Application Number Title Priority Date Filing Date
FR7810956A Pending FR2422482A1 (en) 1978-04-13 1978-04-13 Pivoting transfer arm for column press - has elbow joint with folding parallelogram frames holding outer boom vertical as workpiece follows up=and=over orbital path

Country Status (1)

Country Link
FR (1) FR2422482A1 (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0019596A1 (en) * 1979-05-11 1980-11-26 BASFER S.p.A. Robot with light-weight, inertia-free programming device
FR2483300A1 (en) * 1980-05-28 1981-12-04 Expl Mat Indls Const Articulated mechanical handling arm - is on swivel base and uses two fixed jacks to counter torque at joints and moment of front arm about shoulder joint
FR2539661A1 (en) * 1983-01-20 1984-07-27 Citroen Sa PIECE EXTRACTOR CHARGER WITH ONE CONTROL MOTOR
DE3310107A1 (en) * 1983-03-21 1984-10-04 Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Industrial robot having arm parts connected in series
EP0435285A1 (en) * 1989-12-28 1991-07-03 Kawasaki Jukogyo Kabushiki Kaisha Industrial robot
WO2004020160A1 (en) * 2002-08-23 2004-03-11 Hubertus Boehm Weight compensation system for devices with axes of rotation

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1475018A (en) * 1966-02-18 1967-03-31 Commissariat Energie Atomique Remote manipulator
US3561614A (en) * 1969-03-31 1971-02-09 Aida Tekkosho Kk Article transfer apparatus adapted to cyclically transfer an article from a position to another position
FR2350930A1 (en) * 1976-05-12 1977-12-09 Fuchs Johannes DEVICE FOR MANUAL LOAD MOVEMENT
FR2354856A1 (en) * 1976-06-18 1978-01-13 Richter Hans INDUSTRIAL ROBOT

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1475018A (en) * 1966-02-18 1967-03-31 Commissariat Energie Atomique Remote manipulator
US3561614A (en) * 1969-03-31 1971-02-09 Aida Tekkosho Kk Article transfer apparatus adapted to cyclically transfer an article from a position to another position
FR2350930A1 (en) * 1976-05-12 1977-12-09 Fuchs Johannes DEVICE FOR MANUAL LOAD MOVEMENT
FR2354856A1 (en) * 1976-06-18 1978-01-13 Richter Hans INDUSTRIAL ROBOT

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0019596A1 (en) * 1979-05-11 1980-11-26 BASFER S.p.A. Robot with light-weight, inertia-free programming device
FR2483300A1 (en) * 1980-05-28 1981-12-04 Expl Mat Indls Const Articulated mechanical handling arm - is on swivel base and uses two fixed jacks to counter torque at joints and moment of front arm about shoulder joint
FR2539661A1 (en) * 1983-01-20 1984-07-27 Citroen Sa PIECE EXTRACTOR CHARGER WITH ONE CONTROL MOTOR
EP0114774A3 (en) * 1983-01-20 1984-08-15 Automobiles Citroen Loader and unloader for work pieces with a single driving motor
DE3310107A1 (en) * 1983-03-21 1984-10-04 Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Industrial robot having arm parts connected in series
EP0435285A1 (en) * 1989-12-28 1991-07-03 Kawasaki Jukogyo Kabushiki Kaisha Industrial robot
US5357824A (en) * 1989-12-28 1994-10-25 Kawasaki Jukogyo Kabushiki Kaisha Industrial robot
WO2004020160A1 (en) * 2002-08-23 2004-03-11 Hubertus Boehm Weight compensation system for devices with axes of rotation

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