CN103958133A - 抗冲击结构 - Google Patents
抗冲击结构 Download PDFInfo
- Publication number
- CN103958133A CN103958133A CN201280056743.XA CN201280056743A CN103958133A CN 103958133 A CN103958133 A CN 103958133A CN 201280056743 A CN201280056743 A CN 201280056743A CN 103958133 A CN103958133 A CN 103958133A
- Authority
- CN
- China
- Prior art keywords
- installation elements
- rope
- elements structure
- structure described
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F13/00—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F13/00—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs
- F16F13/005—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a wound spring and a damper, e.g. a friction damper
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F13/00—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs
- F16F13/04—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a plastics spring and a damper, e.g. a friction damper
- F16F13/06—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a plastics spring and a damper, e.g. a friction damper the damper being a fluid damper, e.g. the plastics spring not forming a part of the wall of the fluid chamber of the damper
- F16F13/24—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a plastics spring and a damper, e.g. a friction damper the damper being a fluid damper, e.g. the plastics spring not forming a part of the wall of the fluid chamber of the damper the central part of the unit being supported by one element and both extremities of the unit being supported by a single other element, i.e. double acting mounting
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/50—Special means providing automatic damping adjustment, i.e. self-adjustment of damping by particular sliding movements of a valve element, other than flexions or displacement of valve discs; Special means providing self-adjustment of spring characteristics
- F16F9/512—Means responsive to load action, i.e. static load on the damper or dynamic fluid pressure changes in the damper, e.g. due to changes in velocity
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Manipulator (AREA)
- Dovetailed Work, And Nailing Machines And Stapling Machines For Wood (AREA)
Abstract
Description
Claims (16)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FI20115923 | 2011-09-21 | ||
FI20115923A FI20115923A0 (fi) | 2011-09-21 | 2011-09-21 | Iskunvaimennusrakenne |
PCT/FI2012/050909 WO2013041773A1 (en) | 2011-09-21 | 2012-09-21 | Shock tolerant structure |
Publications (2)
Publication Number | Publication Date |
---|---|
CN103958133A true CN103958133A (zh) | 2014-07-30 |
CN103958133B CN103958133B (zh) | 2016-08-17 |
Family
ID=44718828
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201280056743.XA Active CN103958133B (zh) | 2011-09-21 | 2012-09-21 | 抗冲击结构 |
Country Status (9)
Country | Link |
---|---|
US (1) | US9713875B2 (zh) |
EP (1) | EP2758216B1 (zh) |
JP (1) | JP6126101B2 (zh) |
CN (1) | CN103958133B (zh) |
DK (1) | DK2758216T3 (zh) |
ES (1) | ES2645746T3 (zh) |
FI (1) | FI20115923A0 (zh) |
RU (1) | RU2606684C2 (zh) |
WO (1) | WO2013041773A1 (zh) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106003019A (zh) * | 2015-03-31 | 2016-10-12 | 精工爱普生株式会社 | 机器人控制装置、机器人系统以及机器人控制方法 |
CN107020634A (zh) * | 2017-03-20 | 2017-08-08 | 江苏明联电子科技有限公司 | 一种射频连接器装配机器人的控制系统 |
CN108284075A (zh) * | 2017-12-29 | 2018-07-17 | 深圳市越疆科技有限公司 | 一种机器人分拣物品的方法、装置及机器人 |
CN109849035A (zh) * | 2019-04-04 | 2019-06-07 | 福建南方路面机械有限公司 | 一种机器人抓手抗冲击结构 |
CN114635938A (zh) * | 2022-02-22 | 2022-06-17 | 哈尔滨工程大学 | 一种张拉式蛋壳板防撞缓冲组件及防撞缓冲装置 |
CN116553055A (zh) * | 2023-06-27 | 2023-08-08 | 南京智欧智能技术研究院有限公司 | 一种智能化物流仓库系统及部署方法 |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5817142B2 (ja) * | 2011-02-22 | 2015-11-18 | セイコーエプソン株式会社 | 水平多関節ロボット |
SE543130C2 (en) | 2018-04-22 | 2020-10-13 | Zenrobotics Oy | A waste sorting robot gripper |
SE544741C2 (en) | 2018-05-11 | 2022-11-01 | Genie Ind Bv | Waste Sorting Gantry Robot and associated method |
Citations (8)
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US5116190A (en) * | 1990-08-02 | 1992-05-26 | General Atomics | Remotely adjustable compliance for end effector tooling |
US5455497A (en) * | 1992-04-20 | 1995-10-03 | Honda Giken Kogyo Kabushiki Kaisha | Legged mobile robot and a system for controlling the same |
JPH11320461A (ja) * | 1998-05-12 | 1999-11-24 | Sony Corp | 人工足部 |
CN1291537A (zh) * | 1999-10-12 | 2001-04-18 | 速睦喜股份有限公司 | 带缓冲功能的电动机械手 |
CN1651295A (zh) * | 2004-02-06 | 2005-08-10 | 三星电子株式会社 | 人形机器人的脚部结构及具有该脚部结构的机器人 |
CN101088720A (zh) * | 2006-06-15 | 2007-12-19 | 财团法人工业技术研究院 | 避障与防掉落系统及其方法 |
US7327112B1 (en) * | 2006-03-06 | 2008-02-05 | Adrian Gregory Hlynka | Multiple leg tumbling robot |
CN101471546A (zh) * | 2007-12-26 | 2009-07-01 | 中国科学院沈阳自动化研究所 | 一种具有故障释放功能的巡线机器人行走夹持机构 |
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US4098001A (en) * | 1976-10-13 | 1978-07-04 | The Charles Stark Draper Laboratory, Inc. | Remote center compliance system |
SU1222538A1 (ru) * | 1984-06-15 | 1986-04-07 | Институт Машиноведения Им.А.А.Благонравова | @ -Координатный пространственный механизм (его варианты) |
JPH048068Y2 (zh) * | 1985-01-18 | 1992-03-02 | ||
US4921393A (en) | 1988-03-09 | 1990-05-01 | Sri International | Articulatable structure with adjustable end-point compliance |
JPH0489687A (ja) | 1990-07-25 | 1992-03-23 | Oki Electric Ind Co Ltd | 同期式バーストアクセスメモリ |
JPH0489687U (zh) * | 1990-07-31 | 1992-08-05 | ||
JP2649187B2 (ja) | 1990-11-07 | 1997-09-03 | 川崎重工業株式会社 | マニピュレータ |
JPH06280935A (ja) | 1993-03-30 | 1994-10-07 | Nippon Seiko Kk | 制振ユニット |
US5987726A (en) | 1996-03-11 | 1999-11-23 | Fanuc Robotics North America, Inc. | Programmable positioner for the stress-free assembly of components |
CA2251243C (en) * | 1998-10-21 | 2006-12-19 | Robert Dworkowski | Distance tracking control system for single pass topographical mapping |
JP2003031636A (ja) | 2001-07-16 | 2003-01-31 | Dainippon Screen Mfg Co Ltd | 基板搬送アーム、基板搬送ロボットおよび基板処理装置 |
JP3652643B2 (ja) | 2001-12-25 | 2005-05-25 | 本田技研工業株式会社 | 脚式移動ロボットの着床衝撃緩衝装置 |
JP2007160431A (ja) * | 2005-12-12 | 2007-06-28 | Takatori Corp | ワイヤソーによる切断方法とワイヤソーの切断ワーク受け部材 |
EP1810795A1 (en) | 2006-01-19 | 2007-07-25 | Abb Ab | Safety device for an industrial robot with elastic sealed bag comprising a fluid or gas |
JP5560794B2 (ja) * | 2010-03-16 | 2014-07-30 | ソニー株式会社 | 制御装置、制御方法およびプログラム |
-
2011
- 2011-09-21 FI FI20115923A patent/FI20115923A0/fi not_active Application Discontinuation
-
2012
- 2012-09-21 EP EP12781129.7A patent/EP2758216B1/en active Active
- 2012-09-21 DK DK12781129.7T patent/DK2758216T3/da active
- 2012-09-21 WO PCT/FI2012/050909 patent/WO2013041773A1/en active Application Filing
- 2012-09-21 CN CN201280056743.XA patent/CN103958133B/zh active Active
- 2012-09-21 JP JP2014531283A patent/JP6126101B2/ja active Active
- 2012-09-21 US US14/346,349 patent/US9713875B2/en active Active
- 2012-09-21 RU RU2014114439A patent/RU2606684C2/ru not_active IP Right Cessation
- 2012-09-21 ES ES12781129.7T patent/ES2645746T3/es active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5116190A (en) * | 1990-08-02 | 1992-05-26 | General Atomics | Remotely adjustable compliance for end effector tooling |
US5455497A (en) * | 1992-04-20 | 1995-10-03 | Honda Giken Kogyo Kabushiki Kaisha | Legged mobile robot and a system for controlling the same |
JPH11320461A (ja) * | 1998-05-12 | 1999-11-24 | Sony Corp | 人工足部 |
CN1291537A (zh) * | 1999-10-12 | 2001-04-18 | 速睦喜股份有限公司 | 带缓冲功能的电动机械手 |
CN1651295A (zh) * | 2004-02-06 | 2005-08-10 | 三星电子株式会社 | 人形机器人的脚部结构及具有该脚部结构的机器人 |
US7327112B1 (en) * | 2006-03-06 | 2008-02-05 | Adrian Gregory Hlynka | Multiple leg tumbling robot |
CN101088720A (zh) * | 2006-06-15 | 2007-12-19 | 财团法人工业技术研究院 | 避障与防掉落系统及其方法 |
CN101471546A (zh) * | 2007-12-26 | 2009-07-01 | 中国科学院沈阳自动化研究所 | 一种具有故障释放功能的巡线机器人行走夹持机构 |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106003019A (zh) * | 2015-03-31 | 2016-10-12 | 精工爱普生株式会社 | 机器人控制装置、机器人系统以及机器人控制方法 |
CN107020634A (zh) * | 2017-03-20 | 2017-08-08 | 江苏明联电子科技有限公司 | 一种射频连接器装配机器人的控制系统 |
CN108284075A (zh) * | 2017-12-29 | 2018-07-17 | 深圳市越疆科技有限公司 | 一种机器人分拣物品的方法、装置及机器人 |
CN109849035A (zh) * | 2019-04-04 | 2019-06-07 | 福建南方路面机械有限公司 | 一种机器人抓手抗冲击结构 |
CN114635938A (zh) * | 2022-02-22 | 2022-06-17 | 哈尔滨工程大学 | 一种张拉式蛋壳板防撞缓冲组件及防撞缓冲装置 |
CN114635938B (zh) * | 2022-02-22 | 2024-01-09 | 哈尔滨工程大学 | 一种张拉式蛋壳板防撞缓冲组件及防撞缓冲装置 |
CN116553055A (zh) * | 2023-06-27 | 2023-08-08 | 南京智欧智能技术研究院有限公司 | 一种智能化物流仓库系统及部署方法 |
CN116553055B (zh) * | 2023-06-27 | 2024-01-26 | 南京线控机器人科技有限公司 | 一种智能化物流仓库系统及部署方法 |
Also Published As
Publication number | Publication date |
---|---|
ES2645746T3 (es) | 2017-12-07 |
RU2606684C2 (ru) | 2017-01-10 |
CN103958133B (zh) | 2016-08-17 |
US9713875B2 (en) | 2017-07-25 |
JP2014527918A (ja) | 2014-10-23 |
RU2014114439A (ru) | 2015-10-27 |
EP2758216B1 (en) | 2017-08-02 |
DK2758216T3 (da) | 2017-11-13 |
JP6126101B2 (ja) | 2017-05-10 |
FI20115923A0 (fi) | 2011-09-21 |
WO2013041773A1 (en) | 2013-03-28 |
EP2758216A1 (en) | 2014-07-30 |
US20140236355A1 (en) | 2014-08-21 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20221021 Address after: Old Gastel, Netherlands Patentee after: JENNY INDUSTRIES Ltd. Address before: Helsinki, Finland Patentee before: ZENROBOTICS OY |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20230420 Address after: Helsinki, Finland Patentee after: MP Zeen Robotics Technology Co.,Ltd. Address before: Old Gastel, Netherlands Patentee before: JENNY INDUSTRIES Ltd. |
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TR01 | Transfer of patent right |