High performance device for balancing a force

Details High performance device for balancing a force High performance device for balancing a force

B - Operations, Transporting

25

J

B25J 19/00 (2006.01) B60L 5/28 (2006.01)

Patent

CA 2422113

The invention concerns a device for balancing a force comprising an articulated mechanism (10) consisting of a proximal arm (12) borne by a support wedged on a first hinge pin (20) and a distal arm (14) borne by the proximal arm and wedged on a second hinge pin (24) extending parallel to the first pin, the distal arm having a free end (26) supporting a load (F). The device further comprises first balancing means (18, 20) with high bandwidth acting on the proximal arm (12), second balancing means (18, 22) with high bandwidth acting on the distal arm (4), and co-ordinating means interposed between the first balancing means and the second balancing means to co-ordinate the respective rotational movements of the proximal arm and of the distal arm. The invention is applicable to mechanical manipulators, to transfer devices and to railway pantographs.

Un dispositif d'équilibrage d'une force comprend un mécanisme articulé (10) formé d'un bras proximal (12) porté par un support calé sur un premier axe de rotation (20) et d'un bras distal (14) porté par le bras proximal et calé sur un deuxième axe de rotation (24) qui s'étend parallèlement au premier axe, le bras distal ayant une extrémité libre (26) portant une charge (F). Le dispositif comprend en outre des premiers moyens d'équilibrage (18, 20) à forte bande passante agissant sur le bras proximal (12), des seconds moyens d'équilibrage (18, 22) à forte bande passante agissant sur le bras distal (4), ainsi que des moyens de coordination interposés entre les premiers moyens d'équilibrage et les seconds moyens d'équilibrage pour coordonner les mouvements de rotation respectifs du bras proximal et du bras distal. Application notamment aux manipulateurs mécaniques, aux dispositifs de transfert et aux pantographes ferroviaires.

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