Load handling device with servo feed-back control
OwnerChristian Salesse, Jean-Marc Loriotinventors
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Abstract
The invention concerns a handling device comprising, in combination, a mechanical equilibrium mechanism (10) with low reaction time, having an arm (20) whereof the proximal end (22) is locked on a pivot pin (18) and whereof the distal end (26) is adapted to support a load (10), a force sensor (30) positioned in a selected site for detecting apparent weight variation of the load (10) resulting from a force being exerted on said load in response to an operator's movement, servo feed-back means (32) actuated by the force sensor (30), and an actuator (34) controlled by the servo feed-back means (32) and connected to the arm (20) to assist the operator's movement. The invention is applicable in particular to robot arms or the like.
Claims6
Device for handling a load, characterised in that it comprises in combination:
- a mechanical equaliser (10) with a rapid response time, comprising counterbalancing means (16) acting on a rotary shaft (18), as well as an arm (20) whose proximal end (22) is fixed to the rotary shaft and whose distal end (26) is capable of supporting the load (28),
- an effort sensor (30) located at a selected site in order to detect a variation in apparent weight of the load (28) consequent upon a force exerted on that load following a movement of an operator, servo means (32) actuated by the effort sensor (30), and an actuator (34) piloted by the servo means (32) and connected to the arm (20) in order to assist the movement of the operator.
Dependencies are inferred from the claim text.