CN114364884A - 机器人装置以及液体供给装置 - Google Patents

机器人装置以及液体供给装置 Download PDF

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Publication number
CN114364884A
CN114364884A CN202080063328.1A CN202080063328A CN114364884A CN 114364884 A CN114364884 A CN 114364884A CN 202080063328 A CN202080063328 A CN 202080063328A CN 114364884 A CN114364884 A CN 114364884A
Authority
CN
China
Prior art keywords
pressure
liquid
spool
hydraulic
artificial muscle
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.)
Pending
Application number
CN202080063328.1A
Other languages
English (en)
Chinese (zh)
Inventor
浅井雅广
石川智己
冈本朋也
市川真也
藤井规臣
高田亮
伊泽仁
高田裕树
山田洋
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.)
Aisin Co Ltd
Original Assignee
Aisin Co Ltd
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 Aisin Co Ltd filed Critical Aisin Co Ltd
Publication of CN114364884A publication Critical patent/CN114364884A/zh
Pending 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
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Program-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/142—Program-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1075—Program-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
    • F15B11/10—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor in which the servomotor position is a function of the pressure also pressure regulators as operating means for such systems, the device itself may be a position indicating system
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
    • F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
    • F15B2013/0448—Actuation by solenoid and permanent magnet
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50554—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure downstream of the pressure control means, e.g. pressure reducing valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/51—Pressure control characterised by the positions of the valve element
    • F15B2211/513—Pressure control characterised by the positions of the valve element the positions being continuously variable, e.g. as realised by proportional valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/515—Pressure control characterised by the connections of the pressure control means in the circuit
    • F15B2211/5151—Pressure control characterised by the connections of the pressure control means in the circuit being connected to a pressure source and a directional control valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/52—Pressure control characterised by the type of actuation
    • F15B2211/526—Pressure control characterised by the type of actuation electrically or electronically
    • F15B2211/527—Pressure control characterised by the type of actuation electrically or electronically with signal modulation, e.g. pulse width modulation [PWM]
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/565—Control of a downstream pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6653—Pressure control

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid Mechanics (AREA)
  • Health & Medical Sciences (AREA)
  • Rheumatology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Manipulator (AREA)
CN202080063328.1A 2019-09-30 2020-09-14 机器人装置以及液体供给装置 Pending CN114364884A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2019179916 2019-09-30
JP2019-179916 2019-09-30
PCT/JP2020/034777 WO2021065453A1 (ja) 2019-09-30 2020-09-14 ロボット装置および液体供給装置

Publications (1)

Publication Number Publication Date
CN114364884A true CN114364884A (zh) 2022-04-15

Family

ID=75337998

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080063328.1A Pending CN114364884A (zh) 2019-09-30 2020-09-14 机器人装置以及液体供给装置

Country Status (5)

Country Link
US (1) US20220331950A1 (https=)
JP (1) JPWO2021065453A1 (https=)
CN (1) CN114364884A (https=)
DE (1) DE112020004708T5 (https=)
WO (1) WO2021065453A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115302490A (zh) * 2022-10-08 2022-11-08 中国科学院沈阳自动化研究所 一种具有刚柔耦合给液功能的机械手

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114227661A (zh) * 2021-10-30 2022-03-25 关春东 一种基于电力人工肌肉的多用途机械臂
CN117245660B (zh) * 2023-10-16 2024-04-09 燕山大学 机器人液压动力源压力和流量匹配控制方法

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58142716U (ja) * 1982-03-15 1983-09-26 エスエムシ−株式会社 圧力制御装置
JPS6215667U (https=) * 1985-07-12 1987-01-30
JPH0522811U (ja) * 1991-08-30 1993-03-26 株式会社アイチコーポレーシヨン 空圧式作業装置の安全装置
JPH0914485A (ja) * 1995-06-29 1997-01-14 Jatco Corp 調圧弁
JP2003166669A (ja) * 2001-11-30 2003-06-13 Smc Corp 流体圧バルブ
WO2005045259A1 (ja) * 2003-11-10 2005-05-19 Hitachi Medical Corporation 流体圧式アクチュエータ
JP2007198476A (ja) * 2006-01-25 2007-08-09 Toyota Motor Corp 油圧制御装置
CN102345734A (zh) * 2010-07-21 2012-02-08 霍弗机电液系统公司 多离合器变速器的变速器液压系统和控制方法以及液压阀
US8201473B2 (en) * 2006-10-13 2012-06-19 Robotics Technology Leaders Gmbh Worm-like mechanism
JP2012125847A (ja) * 2010-12-13 2012-07-05 Canon Inc 関節駆動装置
JP2015145725A (ja) * 2014-01-31 2015-08-13 ボーグワーナー インコーポレーテッド ラッチソレノイドレギュレータ弁
US20180058480A1 (en) * 2016-08-29 2018-03-01 Panasonic Intellectual Property Management Co., Ltd. Actuator and method for driving the actuator
CN108882676A (zh) * 2016-04-28 2018-11-23 Ｋｙｂ株式会社 作业机的升降控制装置

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010082452A1 (ja) * 2009-01-13 2010-07-22 パナソニック株式会社 弾性体アクチュエータの制御装置及び制御方法、並びに、制御プログラム
JP4768086B2 (ja) * 2009-07-02 2011-09-07 パナソニック株式会社 ロボット、ロボットアームの制御装置、及びロボットアームの制御プログラム
JP5416580B2 (ja) 2009-12-28 2014-02-12 学校法人 中央大学 流体注入型アクチュエータ
WO2015066286A1 (en) * 2013-11-02 2015-05-07 Cornell University System and methods for actuating an object
JP6889992B2 (ja) 2016-09-02 2021-06-18 株式会社ブリヂストン 流体圧アクチュエータ
JP2020041687A (ja) 2018-09-13 2020-03-19 アイシン・エィ・ダブリュ株式会社 リニアソレノイドバルブ

Patent Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58142716U (ja) * 1982-03-15 1983-09-26 エスエムシ−株式会社 圧力制御装置
JPS6215667U (https=) * 1985-07-12 1987-01-30
JPH0522811U (ja) * 1991-08-30 1993-03-26 株式会社アイチコーポレーシヨン 空圧式作業装置の安全装置
JPH0914485A (ja) * 1995-06-29 1997-01-14 Jatco Corp 調圧弁
JP2003166669A (ja) * 2001-11-30 2003-06-13 Smc Corp 流体圧バルブ
US20070084202A1 (en) * 2003-11-10 2007-04-19 Kazuaki Hiramatsu Fluid pressure actuator
WO2005045259A1 (ja) * 2003-11-10 2005-05-19 Hitachi Medical Corporation 流体圧式アクチュエータ
JP2007198476A (ja) * 2006-01-25 2007-08-09 Toyota Motor Corp 油圧制御装置
US8201473B2 (en) * 2006-10-13 2012-06-19 Robotics Technology Leaders Gmbh Worm-like mechanism
CN102345734A (zh) * 2010-07-21 2012-02-08 霍弗机电液系统公司 多离合器变速器的变速器液压系统和控制方法以及液压阀
JP2012125847A (ja) * 2010-12-13 2012-07-05 Canon Inc 関節駆動装置
JP2015145725A (ja) * 2014-01-31 2015-08-13 ボーグワーナー インコーポレーテッド ラッチソレノイドレギュレータ弁
CN108882676A (zh) * 2016-04-28 2018-11-23 Ｋｙｂ株式会社 作业机的升降控制装置
US20180058480A1 (en) * 2016-08-29 2018-03-01 Panasonic Intellectual Property Management Co., Ltd. Actuator and method for driving the actuator

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115302490A (zh) * 2022-10-08 2022-11-08 中国科学院沈阳自动化研究所 一种具有刚柔耦合给液功能的机械手
CN115302490B (zh) * 2022-10-08 2022-12-13 中国科学院沈阳自动化研究所 一种具有刚柔耦合给液功能的机械手

Also Published As

Publication number Publication date
WO2021065453A1 (ja) 2021-04-08
US20220331950A1 (en) 2022-10-20
DE112020004708T5 (de) 2022-08-11
JPWO2021065453A1 (https=) 2021-04-08

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