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.

Abstract: This female element of a quick connector that connects to a male element and has a hollow body, which extends along an insertion axis and which delimits a receiving volume for the male element. Radial openings, formed in the body along a radial axis, open into the receiving volume. Each radial opening receives a latch, translatable in relation to the body along the corresponding radial axis, between a locked and an unlocked position. The female element has an actuating ring arranged about the body and translatable between a locked and an unlocked position. The ring has guide grooves, which interact with pins of each latch. The guide grooves associated with each latch are geometrically carried by a guide plane inclined in relation to the insertion axis so that each latch is driven between its locked and unlocked positions when the actuating ring is moved between its locked and unlocked positions.

Abstract: A textile machine (4) for a weaving loom having an input shaft which is coupled to a weaving loom. The drive mechanism is driven by the input shaft to move frames or collars of the weaving loom through a sequence of predefined positions. The electronic control device is programmed to monitor the change in position of each frame or collar during each step of the predefined sequence of positions and to count the number of times each frame or collar reproduces a particular configuration.

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: 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: 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 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: A male element (10) for a fluid connection with a male body (12) including a tubular extension (20) and a crown (22) fixed around the tubular extension and having at least one radial recess opening onto an inner face (44) and onto an outer face of the crown (22). The male element comprises an integral ring (16) mounted around the crown, and for each radial recess, a locking element (14), movable between an inner position and an outer position, the outward movement of which is limited by the ring. Each radial recess is delimited by an inner wall (52) forming part of the crown and extending around a radial central axis of the radial recess. The ring has at least one longitudinal slot, which passes radially through the ring, and comprises a resiliently deformable end portion (112) with at least one inner tooth which is engaged in an outer groove, recessed in the crown.

Abstract: The connection assembly (100) which includes a flange (140) has two internal orifices (150) crossing through and centered on orifice axes (A150) parallel to each other, a front surface (142) and a rear surface (144) parallel to a transverse plane (P140) transverse to the orifice axes (A150), two fluidic coupling elements (170), that have a male body (172) received in a corresponding internal orifice, and a cover (120), configured for being attached to a support (110) in a mounted configuration of the connection assembly. The flange can move with respect to the cover according to a movement supported by the transverse plane, whereas for each male body, a second gasket (188) is interposed radially between the male body and an internal radial surface (S162) of the corresponding internal orifice, each male body being mounted in the corresponding internal orifice and can be tilted with respect to the corresponding orifice axis.

Abstract: This quick coupling (2) comprises a male element (4) and a female element (6) which respectively comprise a male (42) or female (62) tubular body, a distal mouth and a movable shutter (46) or a plunger (64) and a spool (66). A first seal (48) is partially housed in a groove in the male tubular body (42) and rests radially on a cylindrical surface of the movable shutter (46) in the advanced position. A second seal (68) rests radially on a cylindrical wall of the plunger (64). The first seal (48) comprises a front surface (S48) which is further advanced than a first edge plane (P4) along a longitudinal axis (X4) of the male tubular body (42). The second seal (68) comprises a front surface (S68) which is further advanced than a second edge plane (P6) along a longitudinal axis (X6) of the female tubular body (62). The first and second front surfaces are adapted to contact each other when the male (4) and female (6) elements are fitted together.

Abstract: A pulling mechanism for controlling the heald frames of a loom equipped with a shedding machine includes a set of connecting rods and oscillating levers (72) coupled to the set of connecting rods, for each heald frame, for returning a movement of the shedding machine to the heald frame. The pulling mechanism includes at least one measuring portion (72C), equipped with a target (100) configured to interact with a sensor (110). For easier mounting and dismounting of the targets on the measuring portions, each measuring portion is provided on a peripheral wall of one of the oscillating levers (72), or a stabilizer of the pulling mechanism, the target being reversibly mounted on the measuring portion (72C).

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: Output lever (11) with cam follower rollers, where the lever has two follower rollers (24A, 24B) connected to a body (110). The body defines a median plane (P11) which has a central portion (116), with two opposing surfaces (117A, 117B), and two attachment portions (122A, 122B), each connected, by means of a respective attachment device (28), to a respective follower roller. Each attachment device has an inner fastener (28A) and an outer fastener (28B), each of which has one or more flanges (30, 32, 34; 30, 32, 34, 70). The flanges are each formed in a plate and bear bears in parallel planes against each other. Each follower roller is clevis-mounted between the inner and outer fastener so that contact surfaces (S242) of the two follower rollers are located on either side of the median plane.