Abstract: A fluidic connection device, including a flange, and a nozzle through which passes a distal internal channel, and which is configured so as to be fluidically coupled to a complementary connection device. The nozzle, mounted in the flange with the possibility of tilting relative to the flange, includes a rear end, and a front end. The invention also includes a rod including an intermediate internal channel; a front end, mounted in sealed cooperation with the rear end of the nozzle with the possibility of tilting of the rod relative to the nozzle and relative to the flange, for fluidic communication between the distal internal channel of the nozzle and the intermediate internal channel of the rod; and a rear end for fluidic communication between a proximal internal conduit and the intermediate internal channel.

Abstract: This female element of a quick connector is intended to be coupled with a complementary male element and comprises a female body defining an insertion channel receiving the male element, the locking members, which are received in housings arranged in the female body, a plunger, which is movable along a central axis of the female element and pushes each locking member toward a distal position where this locking member projects into the insertion channel, and an operating ring, which surrounds the female body and is configured to drive the plunger. For simpler, more compact construction, each locking member and the plunger are configured to be magnetically attracted to each other, while the plunger is able to magnetically drive each locking member to its proximal position when the plunger is displaced to its back position.

Abstract: A quick-coupling element including a body and a pusher captive and movable within the monobloc body. The body is provided with at least one inner radial guiding surface. The pusher is provided with at least one outer radial guiding surface which cooperates with the inner radial guiding surface. Sections of a proximal opening and of a distal mouth of the body have maximum dimensions less than a radial size of the pusher. The pusher is movable, in an internal volume of the body, to a reference position, wherein the outer radial surface of the pusher is disengaged from any inner radial surface of the body, and vice versa.

Abstract: The fluidic coupling member includes a body defining an internal conduit configured to accommodate a mating end-piece. The body includes a proximal part, which is in one-piece and delimits a proximal part of the internal conduit, and a distal part which is in one-piece, which defines a proximal part of the internal conduit and is fitted into the proximal part in an assembled configuration of the body. The proximal part includes an internal groove whereas the distal part includes an external groove that radially faces the internal groove at least partially when the body is in the assembled configuration. The fluidic coupling element further includes an obstacle which is elastically deformable and which, in the assembled configuration of the body, is partially accommodated in the external groove and in the internal groove so as to prevent the separation of the distal and proximal parts.

Abstract: A connector element (1), for a quick connect coupling to a terminal (3) having an interface (33) with a cylindrical enclosure, the connector element with a body delimiting an inner passage (43) for the fluid. In order for the connector to be able to be coupled reliably with terminals of variable dimensions and interface quality, the invention provides that the body has a conical portion (45) and that the connector element (1) has a movable bush (5), an elastic return member (8), which applies an elastic return force (F8) on the bush (5), and clamping pads (6) received in a respective housing (51) of the bush (5), the clamping pads being translated radially relative to the bush by mechanical cooperation with the conical portion, between a radial withdrawn position and a radial clamping position, to cooperate mechanically with the interface.

Abstract: A coupling element comprising a cannula, a body and at least one first jaw movable in rotation about a first axis of rotation. In a clamping position, the first jaw presses a hose against the cannula in a zone defined by a boundary plane spaced from the first axis of rotation by a first distance. The coupling element further comprises a movable pusher having a first bearing surface configured to exert a movement force on a force-receiving surface of the first jaw. When the first jaw is in the clamping position thereof, a first radial gap between the first axis of rotation and a contact point of the force-receiving surface and of the first bearing surface has a value greater than the value of the first distance.

Abstract: A connector element comprising a body, a locking mechanism and a seal. The seal comprises a base arranged facing, backward to a proximal surface and facing, forward to a distal surface of the body, as well as a lip. The lip extends parallel to a longitudinal axis of the body and forward, protruding from the base and defining a free front edge. The seal presents a peripheral notch that is arranged, radially to the longitudinal axis, between the base and the lip, which opens to the front of the seal and a bottom of which is delimited on the rear by a joining portion of the seal connecting the base and the lip. The seal is configured to press backward against the proximal surface, in alignment with the free front edge of the lip, according to a direction parallel to the longitudinal axis.

Abstract: A process of controlling an industrial robot includes the steps of calculating, in a calculation module, a control articular force setpoint of the axis controller module; calculating, in an articular converter, the articular conversion matrix from articular positions; providing the axis controller module with the multi-dimensional external forces exerted on the effector; calculating, in the axis controller module, the vector of the articular forces; calculating, in the axis controller module, the current loop control setpoints, taking into account the articular force vector and the articular force setpoint; and calculating, in the axis controller module, the control setpoints for the power units according to the control setpoints for the current loops.

Abstract: The present process of controlling an industrial robot includes steps consisting of calculating a time-dependent composite setpoint defining articular forces and/or velocities, according to a target trajectory and to an operating mode; calculating (S106) a behavior matrix which describes a desired behavior of the robot arm, defining directions along which the calculated composite setpoint is to be applied; calculating (S108) an articular force setpoint for controlling the axis controller module and calculating the time derivative of a homogeneous internal state at an articular position. The articular force setpoint for controlling the axis controller module is calculated from a control function which adjusts the difference between the articular position and the internal state determined by integrating said time derivative of the internal state.

Abstract: Quick-coupling female element. The female element includes a nipple configured for being fitted into a hose and which is rigidly attached to a hollow body extending along a longitudinal axis and which defines a receiving volume. Radial openings provided in the body along a guide axis emerge into the receiving volume and each receive a lock which is guided in translation between a locking position and an unlocking position. The female element includes an operating ring mounted to slide around the body between a locking position and an unlocking position and which comprises guide grooves which cooperate with pins of each lock. The guide grooves associated with each lock are geometrically supported by a guide plane inclined with respect to the longitudinal axis, so that each lock is driven between the locking and unlocking positions thereof when the operating ring is moved between the locking and unlocking positions thereof.

Abstract: A method for automatically calibrating an external force measuring device of an industrial robot. The industrial robot has a multi-axis robot arm, the robot arm has, for each joint axis, an electric actuator (M1, . . . M6) and a position sensor (C1, . . . C6) able to measure the joint position of the corresponding joint. The robot has a force measuring device. The force measuring device has at least one measuring sensor capable of measuring the forces applied to the robot arm. The method updates an applied force correction coefficient by incrementing it with a value proportional to the average force of the external forces exerted if certain conditions are met.

Abstract: The present process of controlling an industrial robot includes steps consisting of calculating, in the modules implemented by the central unit, a time-dependent composite setpoint defining articular forces and velocities, according to a target trajectory and to an operating mode; calculating, in modules implemented by the central unit, a behavior matrix which describes a desired behavior of the robot arm, defining directions along which the calculated composite setpoint is to be applied; calculating, in a module implemented by the in auxiliary unit, an articular force setpoint for controlling the axis controller module; and calculating, in the axis controller module implemented by the auxiliary unit, the control setpoints for the power units according to the articular force setpoint.

Abstract: A coupling element for a terminal with cylindrical shell includes a coupling body; a valve; a barrel body movable in translation; clamping tabs, moved by cooperation with a tapered portion of the coupling body, between initial and clamping radial positions; means of transmission. The barrel body or the clamping tabs being apt to drive the valve via the means of transmission, from a forward position of closing of the body to a rear open position, when the clamping tabs move from the initial radial position to the radial clamping position; and a port in the coupling body letting through the means of transmission when the valve is in the rear position.

Abstract: A shedding assembly with a shedding machine includes an eccentric system which defines an eccentric center distance, a first connecting rod, actuated by the eccentric system to actuate a first lever and defining a connecting rod center distance, and a second connecting rod, making the first lever pivot in conjunction with that of a second lever to actuate a heald frame. To facilitate adjustment, the shedding machine includes an adjustment system, which allows at least one adjustment configuration where one of the center-to-center distances is adjustable, as well as a follower member equipping the second connecting rod. The shedding assembly comprises a flap for moving the second connecting rod by driving the follower member for adjusting the center distance when the adjustment system is in the adjustment configuration.

Abstract: This coupling element has a body and a nozzle. The body delimits a housing for partially receiving the nozzle. The nozzle has a tubular part and a flange received in the housing. Two sealing barriers formed by at least one sealing joint are interposed between a rear surface of the flange and a front face of the body, between a front surface of the flange and a rear face of the body, respectively. A plug caps an inner conduit. Portions of the inner conduit communicate through at least one passage opening into an inner volume of the nozzle, forward of the plug, and on an outer peripheral surface of the flange. An inner chamber is separated from the inner conduit by the body, the flange, the plug and the first sealing barrier.

Abstract: A shedding machine includes an eccentric system rotatable about a main axis; a lever; and a transmission rod, coupled to the eccentric system and pivotally to the lever about the eccentric axis and connecting rod axis spaced apart by a connecting rod center distance, the main axis and the eccentric axis being spaced apart by an eccentric center distance. To facilitate the adjustment of the stroke of a heald frame operated by the machine, which includes an adjustment system, allowing an adjustment configuration where the eccentric distance or connecting rod distance is adjustable, and a locked configuration where these distances are fixed. The machine also includes a locking system, which allows lever locking and lever release configurations.

Abstract: A male element of a fluidic coupling intended to be coupled with a female element. The male element includes a ring, defining an annular space and in which ring radial housings are formed. Locking balls are received in the radial housings and are able to move radially between an inward position and an outward position. The balls are retained within their respective radial housings by narrowings having inner and outer projections provided where each respective radial housing meets the inner and outer faces of the ring. The ring has a first part and a second annular part, which parts are secured to one another. Longitudinal slots are provided in one of either the first or second parts of the ring.

Abstract: A coupling element for a terminal with cylindrical shell includes a coupling body; a valve; a barrel body movable in translation; clamping tabs, moved by cooperation with a tapered portion of the coupling body, between initial and clamping radial positions; means of transmission. The barrel body or the clamping tabs being apt to drive the valve via the means of transmission, from a forward position of closing of the body to a rear open position, when the clamping tabs move from the initial radial position to the radial clamping position; and a port in the coupling body letting through the means of transmission when the valve is in the rear position.

Abstract: A quick coupling (2) includes a male element and a female element, each with a male or female tubular body, a distal mouth and a movable shutter or a plunger and a spool. A first seal is partially housed in the male tubular body and rests radially on a cylindrical surface of the movable shutter in an advanced position. A second seal rests radially on a cylindrical wall of the plunger. The first seal includes a front surface which is further advanced than a first edge plane along a longitudinal axis of the male tubular body. The second seal includes a front surface which is further advanced than a second edge plane along a longitudinal axis of the female tubular body. The first and second front surfaces contact each other when the male and female elements are fitted together.