Load handling robot arm includes load sensor detecting apparent load variations and providing actuator force to support operator movements

摘要

The arm includes a deformable linkage with a load sensor, enabling detection of operator movement and consequent feedback to supporting actuator. The robot arm type handling device comprises a system (10) in mechanical equilibrium with a low reaction time, including an arm (20) whose near end (22) is locked on a pivot pin (18). The axis of the pivot pin is horizontal. The remote end (26) is adapted to support a load (10). A force sensor (30) is positioned in order to detect apparent weight variation of the load arising from force being exerted on the load by an operator's movement. A servo feedback device (32) is actuated by the force sensor (30) and controls an actuator (34) which is connected to the arm in order to assist the operator's movement.