CN109202953B - 带锁定机构的柔性单元 - Google Patents

带锁定机构的柔性单元 Download PDF

Info

Publication number
CN109202953B
CN109202953B CN201810726939.4A CN201810726939A CN109202953B CN 109202953 B CN109202953 B CN 109202953B CN 201810726939 A CN201810726939 A CN 201810726939A CN 109202953 B CN109202953 B CN 109202953B
Authority
CN
China
Prior art keywords
locking
lock
piston
mentioned
reset
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
CN201810726939.4A
Other languages
English (en)
Chinese (zh)
Other versions
CN109202953A (zh
Inventor
佐藤太平
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.)
SMC Corp
Original Assignee
SMC Corp
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
Application filed by SMC Corp filed Critical SMC Corp
Publication of CN109202953A publication Critical patent/CN109202953A/zh
Application granted granted Critical
Publication of CN109202953B publication Critical patent/CN109202953B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
    • B25B11/02—Assembly jigs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/10—Aligning parts to be fitted together
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/0063—Connecting non-slidable parts of machine tools to each other
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • B25J17/0233—Compliance devices with radial compliance, i.e. perpendicular to the longitudinal wrist axis

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Actuator (AREA)
CN201810726939.4A 2017-07-06 2018-07-05 带锁定机构的柔性单元 Active CN109202953B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-132898 2017-07-06
JP2017132898A JP6999094B2 (ja) 2017-07-06 2017-07-06 ロック機構付きコンプライアンスユニット

Publications (2)

Publication Number Publication Date
CN109202953A CN109202953A (zh) 2019-01-15
CN109202953B true CN109202953B (zh) 2022-10-28

Family

ID=62904258

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810726939.4A Active CN109202953B (zh) 2017-07-06 2018-07-05 带锁定机构的柔性单元

Country Status (6)

Country Link
US (1) US10710218B2 (enExample)
EP (1) EP3424652B1 (enExample)
JP (1) JP6999094B2 (enExample)
KR (1) KR102452989B1 (enExample)
CN (1) CN109202953B (enExample)
TW (1) TWI752236B (enExample)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11931888B2 (en) * 2019-01-10 2024-03-19 Ati Industrial Automation, Inc. Robotic tool having selectable compliance modes
CN111185926A (zh) * 2020-01-07 2020-05-22 宁波海迈克自动化科技有限公司 一种大负载且可切换定位方式的气动旋转装置
CN111958514A (zh) * 2020-07-10 2020-11-20 广州市昊志机电股份有限公司 一种零点定位装置
CN113001584B (zh) * 2021-03-05 2022-06-14 电子科技大学 一种可变刚度的机器人柔性关节
CN113829278B (zh) * 2021-10-27 2023-06-09 东风汽车有限公司东风日产乘用车公司 一种车轮定位方法
CN116276695B (zh) * 2021-12-20 2025-11-04 苏州微创关节医疗科技有限公司 用于股骨髁的加工夹具
CN114905537B (zh) * 2022-06-02 2023-09-05 洛阳尚奇机器人科技有限公司 一种具有柔性的机器人末端法兰接口
CN116441907B (zh) * 2023-05-22 2025-09-23 中日龙(襄阳)机电技术开发有限公司 一种误差修正装置

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4801240A (en) * 1987-02-19 1989-01-31 Hautau Charles F Robot compliance apparatus
JP2000288871A (ja) * 1999-04-02 2000-10-17 Koganei Corp 調心装置
JP2001334485A (ja) * 2000-05-26 2001-12-04 ▲桜▼井精技株式会社 コンプライアンス装置
JP2002326183A (ja) * 2001-04-26 2002-11-12 Smc Corp コンプライアンスユニット
CN203817744U (zh) * 2014-04-21 2014-09-10 比克希线束电子（苏州）有限公司 一种用于零件插入的自适应浮动修正定位机构
CN104470662A (zh) * 2012-07-11 2015-03-25 阿尔梅里诺·卡努托 用于补偿在自动锁定系统中的偏移的装置
CN105500401A (zh) * 2016-01-04 2016-04-20 山东省科学院自动化研究所 一种具有转矩限制功能的柔顺转动关节
CN206048233U (zh) * 2016-10-13 2017-03-29 侯治国 一种机器人工件自动快换装置及使用其的机器人

Family Cites Families (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1047161B (it) * 1975-09-03 1980-09-10 Olivetti & Co Spa Centro di lavorazione per automazione programmabile con dispositivo tattile autoadattivo
FR2527968A1 (fr) * 1982-06-08 1983-12-09 Jaz Ind Poignet souple sensitif pour organe de manipulation
JPS59110593A (ja) * 1982-12-17 1984-06-26 松下電器産業株式会社 物品插入装置
DE3407551A1 (de) * 1984-03-01 1985-09-05 FRENCO Verzahnungslehren GmbH, 8500 Nürnberg Aufnahmekopf fuer mess- und/oder montagevorgaenge
US4789292A (en) * 1984-04-06 1988-12-06 Holcomb Gregory W End effector for robotic equipment
GB8501654D0 (en) * 1985-01-23 1985-02-27 Emi Ltd Compliant coupling mechanism
US4717003A (en) * 1986-04-21 1988-01-05 Eoa Systems Breakaway clutch for robot end-of-arm tooling
US4848546A (en) * 1986-04-21 1989-07-18 Mccormick Peter E Programmable breakaway clutch system for robot end-of-arm tooling
US4708175A (en) * 1986-08-25 1987-11-24 Gmf Robotics Corporation Method and apparatus for automated filling of a container with a fluid
US4896431A (en) * 1987-11-06 1990-01-30 Canon Kabushiki Kaisha Alignment apparatus
JPH01121193A (ja) * 1987-11-06 1989-05-12 Canon Inc 芯合せ装置
JP2705736B2 (ja) * 1991-08-30 1998-01-28 キヤノン株式会社 ロボツトのハンド機構
DE4314629C2 (de) * 1993-05-04 1995-10-19 Erowa Ag Vorrichtung zum positionsdefinierten Aufspannen eines Werkstücks am Arbeitsplatz einer Bearbeitungsmaschine
JPH0796487A (ja) * 1993-08-04 1995-04-11 Asahi Kosan Kk ハンドのフローティング支持装置
JP2945611B2 (ja) 1995-06-23 1999-09-06 トーヨーカネツ株式会社 溶接方法
JP3554740B2 (ja) 1995-10-03 2004-08-18 株式会社近藤製作所 位置決め誤差吸収装置の防塵方法
US6224121B1 (en) * 1999-06-18 2001-05-01 Wilburn B. Laubach Quick disconnect articulated chuck apparatus and method
JP4072745B2 (ja) * 1999-11-05 2008-04-09 Ｓｍｃ株式会社 コンプライアンスユニット
JP2002307366A (ja) * 2001-04-11 2002-10-23 Smc Corp コンプライアンスユニット
DE50203354D1 (de) * 2002-09-09 2005-07-14 Hermle Berthold Maschf Ag Festspanneinrichtung zum Festspannen zweier Teile aneinander
AU2003296123A1 (en) * 2003-12-25 2005-07-21 Koganei Corporation Handling device
DE602004030952D1 (de) * 2004-05-19 2011-02-17 Pascal Eng Corp Positionierungs- und befestigungsvorrichtung
EP2464884B1 (en) 2009-08-10 2014-01-15 RE2, Inc. Automated tool change assembly for robotic arm
JP5572449B2 (ja) * 2010-06-03 2014-08-13 パスカルエンジニアリング株式会社 物体位置決め固定装置
KR101224042B1 (ko) * 2010-09-07 2013-01-18 한국에스엠씨공압(주) 센터링 유닛
US8794418B1 (en) * 2013-03-14 2014-08-05 Ati Industrial Automation, Inc. Ball lock compensator for use with a robotic tool
US9151343B2 (en) * 2013-03-14 2015-10-06 Ati Industrial Automation, Inc. Ball lock compensator for use with a robotic device
CN104999462B (zh) * 2015-07-15 2017-01-11 成都天创精密模具有限公司 一种用于机械手的浮动机构
DE102015214003A1 (de) * 2015-07-24 2017-01-26 Robert Bosch Gmbh Ausgleichsvorrichtung für eine Handhabungseinrichtung sowie Handhabungseinrichtung mit der Ausgleichsvorrichtung

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4801240A (en) * 1987-02-19 1989-01-31 Hautau Charles F Robot compliance apparatus
JP2000288871A (ja) * 1999-04-02 2000-10-17 Koganei Corp 調心装置
JP2001334485A (ja) * 2000-05-26 2001-12-04 ▲桜▼井精技株式会社 コンプライアンス装置
JP2002326183A (ja) * 2001-04-26 2002-11-12 Smc Corp コンプライアンスユニット
CN104470662A (zh) * 2012-07-11 2015-03-25 阿尔梅里诺·卡努托 用于补偿在自动锁定系统中的偏移的装置
CN203817744U (zh) * 2014-04-21 2014-09-10 比克希线束电子（苏州）有限公司 一种用于零件插入的自适应浮动修正定位机构
CN105500401A (zh) * 2016-01-04 2016-04-20 山东省科学院自动化研究所 一种具有转矩限制功能的柔顺转动关节
CN206048233U (zh) * 2016-10-13 2017-03-29 侯治国 一种机器人工件自动快换装置及使用其的机器人

Also Published As

Publication number Publication date
KR102452989B1 (ko) 2022-10-11
EP3424652A3 (en) 2019-03-06
US20190009391A1 (en) 2019-01-10
KR20190005755A (ko) 2019-01-16
US10710218B2 (en) 2020-07-14
JP2019014012A (ja) 2019-01-31
TWI752236B (zh) 2022-01-11
EP3424652B1 (en) 2020-04-01
CN109202953A (zh) 2019-01-15
JP6999094B2 (ja) 2022-01-18
EP3424652A2 (en) 2019-01-09
TW201906700A (zh) 2019-02-16

Similar Documents

Publication Publication Date Title
CN109202953B (zh) 带锁定机构的柔性单元
US8601667B2 (en) Rotating coupling for robotic tool changer with actuation mechanism
TWI630994B (zh) 機械手之耦接裝置
US8601918B2 (en) Toolholder assembly
JP5212830B2 (ja) クランプ装置
TWI716645B (zh) 順應性單元
US20240342927A1 (en) Manual Robotic Tool Changer with Generally Opposed Decoupling Actuation Force and Safety Latch Actuation Force
JP2020062694A (ja) 調心装置
US11679513B2 (en) End effector exchange device
JP5027133B2 (ja) 工具用又はワーク用の位置決め・クランプ装置
TW202421330A (zh) 部件交換裝置
JP2010046786A (ja) ワークの位置決め装置
WO2006046303A1 (ja) 支持体と可動体の連結装置
JP2011245603A (ja) ロケート装置
JP4609295B2 (ja) ワーク搬送装置
JPH02160442A (ja) ワークのチャック兼支持装置
JP4246234B2 (ja) 流体圧シリンダ
JP2924322B2 (ja) ワーク搬送用ロボット
JP2006297499A (ja) 取付け治具
JPS5943070Y2 (ja) 等速ジヨイントのアウタ−部材の搬送用保持装置
JP6756593B2 (ja) チャック装置
JP2010105098A (ja) 調芯治具
JP2002055018A (ja) 洩れ検査用シール装置
JP2011161598A (ja) チャック
JP2005297106A (ja) 位置決め誤差吸収装置

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant