DE112020004708T5 - Robotervorrichtung und flüssigkeitszufuhrvorrichtung - Google Patents

Robotervorrichtung und flüssigkeitszufuhrvorrichtung Download PDF

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Publication number
DE112020004708T5
DE112020004708T5 DE112020004708.3T DE112020004708T DE112020004708T5 DE 112020004708 T5 DE112020004708 T5 DE 112020004708T5 DE 112020004708 T DE112020004708 T DE 112020004708T DE 112020004708 T5 DE112020004708 T5 DE 112020004708T5
Authority
DE
Germany
Prior art keywords
pressure
liquid
spool
artificial muscle
supply device
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.)
Withdrawn
Application number
DE112020004708.3T
Other languages
German (de)
English (en)
Inventor
Masahiro Asai
Tomomi Ishikawa
Tomonari Okamoto
Shinya Ichikawa
Noriomi Fujii
Ryo Takada
Jin Izawa
Hiroki Takata
Hiroshi Yamada
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 Corp
Original Assignee
Aisin 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 Aisin Corp filed Critical Aisin Corp
Publication of DE112020004708T5 publication Critical patent/DE112020004708T5/de
Withdrawn legal-status Critical Current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)
DE112020004708.3T 2019-09-30 2020-09-14 Robotervorrichtung und flüssigkeitszufuhrvorrichtung Withdrawn DE112020004708T5 (de)

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
DE112020004708T5 true DE112020004708T5 (de) 2022-08-11

Family

ID=75337998

Family Applications (1)

Application Number Title Priority Date Filing Date
DE112020004708.3T Withdrawn DE112020004708T5 (de) 2019-09-30 2020-09-14 Robotervorrichtung und flüssigkeitszufuhrvorrichtung

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=)

Families Citing this family (3)

* 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
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
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 (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011137516A (ja) 2009-12-28 2011-07-14 Chuo Univ 流体注入型アクチュエータ
JP2012125847A (ja) 2010-12-13 2012-07-05 Canon Inc 関節駆動装置
JP2018035930A (ja) 2016-09-02 2018-03-08 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

Family Cites Families (15)

* 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
JPH038851Y2 (https=) * 1985-07-12 1991-03-05
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
JP3533479B2 (ja) * 1995-06-29 2004-05-31 ジヤトコ株式会社 調圧弁
JP2003166669A (ja) * 2001-11-30 2003-06-13 Smc Corp 流体圧バルブ
KR20060123737A (ko) * 2003-11-10 2006-12-04 가부시키가이샤 히타치 메디코 유압 액츄에이터
JP2007198476A (ja) * 2006-01-25 2007-08-09 Toyota Motor Corp 油圧制御装置
WO2008046566A1 (de) * 2006-10-13 2008-04-24 Robotics Technology Leaders Gmbh Wurmförmiger mechanismus
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
EP3043089B1 (de) * 2010-07-21 2018-09-19 hofer mechatronik GmbH Hydraulikmittelaufbereitung einer getriebehydraulik und verfahren zum betrieb der getriebehydraulik
WO2015066286A1 (en) * 2013-11-02 2015-05-07 Cornell University System and methods for actuating an object
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
JP6190916B1 (ja) * 2016-04-28 2017-08-30 Ｋｙｂ株式会社 作業機の昇降制御装置
JP6715493B2 (ja) * 2016-08-29 2020-07-01 パナソニックＩｐマネジメント株式会社 アクチュエータおよびその駆動方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011137516A (ja) 2009-12-28 2011-07-14 Chuo Univ 流体注入型アクチュエータ
JP2012125847A (ja) 2010-12-13 2012-07-05 Canon Inc 関節駆動装置
JP2018035930A (ja) 2016-09-02 2018-03-08 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

Also Published As

Publication number Publication date
WO2021065453A1 (ja) 2021-04-08
US20220331950A1 (en) 2022-10-20
JPWO2021065453A1 (https=) 2021-04-08
CN114364884A (zh) 2022-04-15

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