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1. WO1989008012 - MULTI-AXIS MECHANICAL MANIPULATOR

Publication Number WO/1989/008012
Publication Date 08.09.1989
International Application No. PCT/FR1989/000031
International Filing Date 30.01.1989
IPC
B25J 19/06 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
06Safety devices
B25J 9/10 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
10characterised by positioning means for manipulator elements
CPC
B25J 19/063
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
06Safety devices
063working only upon contact with an outside object
B25J 9/109
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
10characterised by positioning means for manipulator elements
109comprising mechanical programming means, e.g. cams
Y10T 74/18312
YSECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
10TECHNICAL SUBJECTS COVERED BY FORMER USPC
TTECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
74Machine element or mechanism
18Mechanical movements
18056Rotary to or from reciprocating or oscillating
18296Cam and slide
18304Axial cam
18312Grooved
Y10T 74/1906
YSECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
10TECHNICAL SUBJECTS COVERED BY FORMER USPC
TTECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
74Machine element or mechanism
19Gearing
19023Plural power paths to and/or from gearing
19051Single driven plural drives
1906Nonparallel
Y10T 74/19633
YSECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
10TECHNICAL SUBJECTS COVERED BY FORMER USPC
TTECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
74Machine element or mechanism
19Gearing
19633Yieldability in gear trains
Y10T 74/20006
YSECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
10TECHNICAL SUBJECTS COVERED BY FORMER USPC
TTECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
74Machine element or mechanism
20Control lever and linkage systems
20006Resilient connections
Applicants
  • S.O.P.A.P. S.A. [FR]/[FR] (AllExceptUS)
  • FREYWISS, Eric [FR]/[FR] (UsOnly)
Inventors
  • FREYWISS, Eric
Agents
  • GERARDIN, Robert, Jean, René
Priority Data
88/0228023.02.1988FR
Publication Language French (FR)
Filing Language French (FR)
Designated States
Title
(EN) MULTI-AXIS MECHANICAL MANIPULATOR
(FR) MANIPULATEUR MECANIQUE A AXES MULTIPLES
Abstract
(EN)
In a multi-axis mechanical manipulator with adjustable travel and protection against overloading, the movement is transmitted to the indexing mechanism (10) by the combination of a sliding rotor motor (2) of a reducing gear with wheel and endless screw (30) and an adjustable torque limiter (40). The law of motion of the indexing mechanism (10) is determined in this way so as to obtain constant speed over a wide range, possibly with stopping points. The rotating frame (56) is linked to the indexing mechanism (10) by a spring bushing (50). The movement is transmitted to the cylindrical cam (6) by an adjustable torque limiter (28). The manipulating arm (7) is displaced by a spring plate which permits a momenttary angular retraction of the arm (7) when it encounters an obstacle. Application: handling of loads or parts.
(FR)
L'invention concerne un manipulateur mécanique à axes multiples à course réglable et à protection contre les surcharges. Le mouvement est transmis au mécanisme d'indexage (10) par la combinaison d'un moteur frein (2) d'un réducteur à roue et vis sans fin (30) et d'un limiteur de couple réglable (40). La loi de mouvement du mécanisme d'indexage (10) est déterminée ainsi pour obtenir une vitesse constante sur une large plage, avec points d'arrêt éventuels. La liaison du bâti tournant (56) au mécanisme d'indexage (10) est obtenue par l'intermédiaire d'un boîtier à ressort (50). Le mouvement est transmis à la came cylindrique (6) par l'intermédiaire d'un limiteur de couple réglable (28). Le déplacement du bras manipulateur (7) s'effectue par l'intermédiaire d'une platine à ressorts permettant un effacement angulaire momentané du bras (7) lorsqu'il rencontre un obstacle. Application: manutention de charges ou de pièces.
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