EP0066014A1
Expired / Lapsed
EP
⏱️ 0.0 years remaining
Manipulator with two opposing arms
Assignee: Comau SpA
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Filing: 1981-10-06
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Granted: —
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Expires: 2001-10-06
Abstract
Abstract A manipulator comprises two rigid arms in diametrically opposite positions about the axis around which they rotate through 180° on a base. To the end of each arm there is connected a working head which can translate along the axis of the arms to assume two positions, namely an extended position and a retracted position, the working heads (robots) carry gripper or sucker support units which can be positioned about mutually perpendicular axes. One application of the manipulator is to simultaneously pick up and deposit, by means of the grippers or suckers carried by the two heads, pieces being worked in successive presses of the production line in which the manipulator is disposed. On termination of this operation, the heads are retracted, the arms are rotated through 180'. and the heads are then extended in order to each carry out the reverse operation to the preceding. The presses operate on the workpiece during the rotation of the arms.
Inventors
- 👤 Paolo Bianco
- 👤 Alessandro Romagnoli
- 👤 Mario Roscio
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-03 21:51
CPC Classifications
B; B25; B25J; B25J15/00; B25J15/0052; B23; B23Q; B23Q1/00; B23Q1/25; B23Q1/44; B23Q1/50; B25J9/00; B25J9/02; B25J9/04; B25J9/10; B25J9/106; B25J9/1065; B25J9/107
Claims Analysis
Total Claims: 7
Claim 1
Independent Claim
126 words
A manipulator characterised by comprising a base, a support carried by said base and rotating about an axis perpendicular thereto, and two rigid arms extending from said support in diametrically opposite directions about the axis of rotation of the support with which they are integral, each arm carrying at its free end a working head operating with a sequence of movements of several degrees of freedom and connected to the relative arm by linkages which allow the working heads to move with translatory motion parallel to themselves along the arm axes in order to assume end positions which are retracted and extended respectively, there being provided actuator means for effecting the rotary and translatory movements of said elements, and control apparatus for sequentially controlling said actuators.
Claim 2
Dependent Claim
126 words
A manipulator characterised by comprising a base, a support carried by said base and rotating about an axis perpendicular thereto, and two rigid arms extending from said support in diametrically opposite directions about the axis of rotation of the support with which they are integral, each arm carrying at its free end a working head operating with a sequence of movements of several degrees of freedom and connected to the relative arm by linkages which allow the working heads to move with translatory motion parallel to themselves along the arm axes in order to assume end positions which are retracted and extended respectively, there being provided actuator means for effecting the rotary and translatory movements of said elements, and control apparatus for sequentially controlling said actuators.
Claim 3
Dependent Claim
29 words
A manipulator as claimed in claim 1, characterised in that the base rests on the ground, and the axis of rotation of the support carrying the arms is vertical.
Claim 4
Dependent Claim
87 words
A manipulator as claimed in claim 1, characterised in that the rotary motion of the support takes place in accordance with a cycloidal relationship through an angle of 180 0 by means of a bevel gear pair rotated by a motor and carrying rigid therewith a gear wheel engaging in a ring gear, said ring gear driving a gear carrier about a gear wheel fixed to the base, the gear carrier being provided with a pin slidable in a slot in the support pivoted to the base.
Claim 5
Dependent Claim
67 words
A manipulator as claimed in claim 1, characterised in that the working heads slidable along the arm axis are constituted by grippers or suckers mounted on units which rotate about three mutually perpendicular axes and slide along an axis which lies in a plane defined by the axis on which the heads slide along the arms and the axis on which the support rotates about the base.
Claim 6
Dependent Claim
180 words
A manipulator as claimed in claim 1, characterised in that the translatory motion of the working heads takes place in accordance with a cycloidal relationship by providing a motor, the shaft of which rotates a gear wheel about a fixed ring gear, there being connected to the gear wheel a gear carrier which carries a pin engaged with a rack, this latter translating along the arm axis and engaged at each of its ends with gear wheels keyed on to two pairs of connecting rods for each arm, these latter being hinged to a like number of connecting rods hinged to the working heads, the coupling arrangements being such that each movement of translation of the rack in one direction causes both the pairs of connecting rods to rotate in an outward direction, so retracting the heads towards the axis of rotation of the support, whereas each movement of translation in the opposite direction causes both the pairs of connecting rods to rotate in an inward direction, so extending the heads away from the axis of rotation of the support.
Claim 7
Dependent Claim
49 words
A manipulator as claimed in claim 5, characterised in that one of the two connecting rods of each pair disposed between the arm and the connecting rods hinged to the heads comprises further gears for causing said connecting rod to rotate rigidly with the adjacent one hinged to it.
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