CN106470806B - 用于操纵仪器的保护方法和保护装置 - Google Patents

用于操纵仪器的保护方法和保护装置 Download PDF

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Publication number
CN106470806B
CN106470806B CN201580036376.0A CN201580036376A CN106470806B CN 106470806 B CN106470806 B CN 106470806B CN 201580036376 A CN201580036376 A CN 201580036376A CN 106470806 B CN106470806 B CN 106470806B
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CN
China
Prior art keywords
protective element
pressure
robot
manipulator
protective
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.)
Active
Application number
CN201580036376.0A
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English (en)
Chinese (zh)
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CN106470806A (zh
Inventor
M.兹里奇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Blue Danube Robotics GmbH
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Blue Danube Robotics GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
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Publication of CN106470806A publication Critical patent/CN106470806A/zh
Application granted granted Critical
Publication of CN106470806B publication Critical patent/CN106470806B/zh
Active legal-status Critical Current
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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
    • B25J19/06—Safety devices
    • B25J19/063—Safety devices working only upon contact with an outside object
    • 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
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • B25J19/0079—Means for protecting the manipulator from its environment or vice versa using an internal pressure system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/086—Proximity sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • 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
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • 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
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
    • F16P3/142—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using image capturing devices

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
CN201580036376.0A 2014-07-03 2015-06-30 用于操纵仪器的保护方法和保护装置 Active CN106470806B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
ATA50463/2014 2014-07-03
ATA50463/2014A AT516097B1 (de) 2014-07-03 2014-07-03 Schutzverfahren und Schutzvorrichtung für Handhabungsgerät
PCT/AT2015/000094 WO2016000005A1 (de) 2014-07-03 2015-06-30 Schutzverfahren und schutzvorrichtung für handhabungsgerät

Publications (2)

Publication Number Publication Date
CN106470806A CN106470806A (zh) 2017-03-01
CN106470806B true CN106470806B (zh) 2019-11-05

Family

ID=54427513

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201580036376.0A Active CN106470806B (zh) 2014-07-03 2015-06-30 用于操纵仪器的保护方法和保护装置

Country Status (11)

Country Link
US (1) US10518424B2 (https=)
EP (1) EP3164246B1 (https=)
JP (1) JP6649285B2 (https=)
KR (1) KR102019571B1 (https=)
CN (1) CN106470806B (https=)
AT (1) AT516097B1 (https=)
CA (1) CA2954001C (https=)
DK (1) DK3164246T3 (https=)
ES (1) ES2672385T3 (https=)
TR (1) TR201808857T4 (https=)
WO (1) WO2016000005A1 (https=)

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JP2017170596A (ja) * 2016-03-25 2017-09-28 セイコーエプソン株式会社 ロボットおよび外力検知装置
ITUA20163522A1 (it) * 2016-05-17 2017-11-17 Comau Spa "Copertura sensorizzata per un dispositivo industriale"
JP6794800B2 (ja) * 2016-11-29 2020-12-02 セイコーエプソン株式会社 ロボット
WO2018195569A1 (de) * 2017-04-24 2018-11-01 Blue Danube Robotics Gmbh Erkennung einer kollision eines handhabungsgeräts mit einem hindernis
AT519655B1 (de) * 2017-04-24 2018-09-15 Blue Danube Robotics Gmbh Erkennung einer Kollision eines Handhabungsgeräts mit einem Hindernis
FR3070022B1 (fr) * 2017-08-10 2020-11-06 Fogale Nanotech Element d’habillage capacitif pour robot, robot muni d’un tel element d’habillage
DE102017218229A1 (de) 2017-10-12 2019-04-18 Dr. Doll Engineering Gmbh Schutzvorrichtung für einen Industrieroboter sowie Schutzelement für eine solche Schutzvorrichtung
KR102432663B1 (ko) 2017-11-30 2022-08-12 엘지디스플레이 주식회사 전계 발광 표시장치
CN108032303A (zh) * 2018-01-03 2018-05-15 杭州艾米机器人有限公司 机器人的碰撞检测机构以及机器人
AT521204B1 (de) 2018-04-20 2020-02-15 Blue Danube Robotics Gmbh Vorrichtung zum Steuern eines Handhabungsgeräts
JP7156865B2 (ja) * 2018-08-30 2022-10-19 川崎重工業株式会社 緩衝装置及びそれを備えるロボット
AT521642B1 (de) 2018-09-13 2021-08-15 Blue Danube Robotics Gmbh Verfahren zur Herstellung eines Polsters
KR102001569B1 (ko) 2019-02-26 2019-07-18 윤양수 기계장치 보호용 에어패드
EP4069472A4 (en) * 2019-12-05 2024-03-20 MAGNA Powertrain GmbH & Co KG METHOD AND CONFIGURATION IN THE CONTEXT OF BARRIER-FREE ROBOTICS
FR3117912B1 (fr) 2020-12-18 2023-05-19 Commissariat Energie Atomique Robot de co-manipulation à loi de commande en effort mixte offrant une forte sensibilité de l’effecteur et permettant l’interaction avec le corps du robot.
US12447606B2 (en) 2021-07-05 2025-10-21 Mantis Robotics, Inc. Safety system for hand-guiding a robot
US12552034B2 (en) 2021-12-25 2026-02-17 Mantis Robotics, Inc. Robot system
US12409550B2 (en) 2022-01-12 2025-09-09 Mantis Robotics, Inc. Robot system with casing elements
DE102022102347A1 (de) * 2022-02-01 2023-08-03 Neura Robotics GmbH Armabschnitt für einen Roboterarm sowie Roboterarm
US12449546B2 (en) * 2022-04-15 2025-10-21 Zebra Technologies Corporation Lidar sensor system for enabling or disabling use of a robotic arm

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CN103786677A (zh) * 2012-10-31 2014-05-14 比亚迪股份有限公司 一种充气安全带系统

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Also Published As

Publication number Publication date
DK3164246T3 (en) 2018-07-02
KR102019571B1 (ko) 2019-09-06
CN106470806A (zh) 2017-03-01
AT516097A1 (de) 2016-02-15
US20170136633A1 (en) 2017-05-18
KR20170026462A (ko) 2017-03-08
ES2672385T3 (es) 2018-06-14
WO2016000005A1 (de) 2016-01-07
TR201808857T4 (tr) 2018-07-23
CA2954001A1 (en) 2016-01-07
AT516097B1 (de) 2016-09-15
US10518424B2 (en) 2019-12-31
CA2954001C (en) 2020-04-07
EP3164246A1 (de) 2017-05-10
EP3164246B1 (de) 2018-04-11
JP2017526540A (ja) 2017-09-14
JP6649285B2 (ja) 2020-02-19

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