EP3320049A2 - Système de robot présentant une unité entraînée et procédé d'application - Google Patents

Système de robot présentant une unité entraînée et procédé d'application

Info

Publication number
EP3320049A2
EP3320049A2 EP16739064.0A EP16739064A EP3320049A2 EP 3320049 A2 EP3320049 A2 EP 3320049A2 EP 16739064 A EP16739064 A EP 16739064A EP 3320049 A2 EP3320049 A2 EP 3320049A2
Authority
EP
European Patent Office
Prior art keywords
protective layer
driven unit
robot device
thermoplastic
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.)
Withdrawn
Application number
EP16739064.0A
Other languages
German (de)
English (en)
Inventor
Richard Maier
Peter Maier
Enver Huber
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.)
Walischmiller Engineering GmbH
Waelischmiller Eng GmbH
Wallischmiller Engineering GmbH
Original Assignee
Walischmiller Engineering GmbH
Waelischmiller Eng GmbH
Wallischmiller Engineering 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
Application filed by Walischmiller Engineering GmbH, Waelischmiller Eng GmbH, Wallischmiller Engineering GmbH filed Critical Walischmiller Engineering GmbH
Publication of EP3320049A2 publication Critical patent/EP3320049A2/fr
Withdrawn legal-status Critical Current

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
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D1/00—Processes for applying liquids or other fluent materials
    • B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D1/00—Processes for applying liquids or other fluent materials
    • B05D1/18—Processes for applying liquids or other fluent materials performed by dipping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • C—CHEMISTRY; METALLURGY
    • C09—DYES; PAINTS; POLISHES; NATURAL RESINS; ADHESIVES; COMPOSITIONS NOT OTHERWISE PROVIDED FOR; APPLICATIONS OF MATERIALS NOT OTHERWISE PROVIDED FOR
    • C09D—COATING COMPOSITIONS, e.g. PAINTS, VARNISHES OR LACQUERS; FILLING PASTES; CHEMICAL PAINT OR INK REMOVERS; INKS; CORRECTING FLUIDS; WOODSTAINS; PASTES OR SOLIDS FOR COLOURING OR PRINTING; USE OF MATERIALS THEREFOR
    • C09D5/00—Coating compositions, e.g. paints, varnishes or lacquers, characterised by their physical nature or the effects produced; Filling pastes
    • C09D5/24—Electrically-conducting paints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • 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
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • F16H19/04—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising a rack
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/14—Arm movement, spatial
    • Y10S901/15—Jointed arm
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/49—Protective device

Definitions

  • Such robotic devices become, for example
  • Object of the present invention is therefore to provide for the initially discussed facilities the requirements for a robotic use, which are not yet practical feasible to fulfill, in particular to enable work in critical environmental conditions by robotic devices advantageously such as working in potentially explosive atmospheres.
  • robotic devices advantageously such as working in potentially explosive atmospheres.
  • different specifications or guidelines apply worldwide, which are relevant in the field of explosion protection, for example in Europe the so-called ATEX directives.
  • the invention is based on a robot device with a driven unit which is designed for starting surfaces, in particular with a movable robot arm.
  • the robot device may in particular comprise a stationary part and a mobile robot arm
  • Robot arm is connected at a positionally fixed connection point with the stationary part.
  • the robot arm is
  • the essence of the invention is that the driven unit with a protective layer of a
  • Coating material is coated, which is electrically conductive and has a thickness of at least 4 millimeters, in particular at least 6 millimeters to about 20 millimeters having.
  • the thickness of the protective layer is measured perpendicular to an outer surface of the driven unit, on which the protective layer adjoins. This will be
  • the robot device according to the invention is characterized in addition to a robotics function by the possibility of movement in a hazardous area.
  • explosion-triggering processes or states such as corresponding mechanically induced interactions of the driven unit with the surroundings or adjacent objects
  • Due to the inventive design it is absolutely reliable possible that even with a blow to the driven unit in particular a sharp blow from the outside on the unit can not lead to explosion and / or contact-related relative movements of the driven unit with adjacent objects or surfaces such triggers. Because a sparking, a static charge or a charge separation and / or high temperatures is inventively avoided or safely in a completely
  • the protective layer is in particular a static charge of the driven
  • the minimum thickness of the protective layer of at least 4 mm, in particular at least 6 mm to about 20 leads even with friction operations of the unit with objects in the Environment, which can never be ruled out in practice, and sharp blow to the fact that no spark can occur in the vicinity of the driven unit.
  • no friction of the protective layer on opposite sections no
  • the protective layer may be single or multi-layered.
  • a protective arm coated according to the invention or a driven unit is thus in danger of explosion
  • the driven unit or its outer side comprises in particular a housing on which the protective layer is present outside, for example coated. On the outer surface of the outside closes the
  • the protective layer advantageously directly or directly to.
  • the protective layer advantageously forms a cohesive one with the outside of the driven unit
  • remote area is operable and controllable.
  • the robot device according to the invention can be used in particular advantageously in containers with a comparatively large internal volume, wherein the inner volume is filled with gas or mixed with air and regularly with high probability represents a potentially explosive environment or an explosive gas mixture.
  • containers are for example containers in chemical or
  • inventive driven unit such as a
  • the protective layer consists of a coating material, wherein the coating material is preferably fluid when applied to the driven unit liquid.
  • the coating material is also curable, but without any tendency to
  • the protective layer is uniform or uniform and can be applied completely with the predetermined desired thickness.
  • defects in the protective layer are due to a lack of or insufficiently formed
  • Coating be used, with which the liquid or flowable in the initial state and sprayable or spreadable coating material
  • Suitable coating or application methods are in particular coating, spraying, spraying, casting or
  • Coating material other forms of state are conceivable, such as the application of a solid in the initial state, such as flat or powdery
  • the applied protective layer under a mechanical stress state forms a particularly closed force ring on the outside around the driven unit.
  • the power ring expresses that the driven unit is surrounded by the protective layer continuously enclosing from the outside or circumferentially closed.
  • the protective layer can be applied in the manner of a temperature-dependent shrink film in an initial state on the outside of the driven unit and then subjected to a non-reversible shrinking or compression process, for example by increasing the temperature.
  • a pressing effect becomes so effective that the protective layer firmly clings to the outside of the driven unit in an advantageously permanently prestressed state.
  • the protective layer such. B. the shrink film is immediately tight and fixed connected to the
  • Protective layer advantageously possible. This can be a higher value than other protective layers, if necessary
  • Coating with the protective layer can be achieved.
  • a protective layer in the multilayer structure is advantageously made up of a plurality of identical or different ones
  • a multilayer structure can consist of individual layers applied, for example, in liquid form.
  • a coherent protective layer which consists of a superimposed winding applied material.
  • a continuous windable film may be applied to the driven unit by wrapping.
  • a multilayer applied on the outside of the driven unit is such as for example glued-on film in the manner of a multilayer composite
  • Abieitrich with a resistivity between 10 4 ohms * meter and 10 ⁇ ohms * meter has. This is based on 23 ° Celsius and 50% relative humidity.
  • a corresponding article or device has a surface resistance between 10 4 ohm * meter and 10 9 ohm * meter, measured at 23 ° Celsius and 50% relative humidity, or between 10 4 ohms * Meters and
  • Carrier or charges on or in the protective layer derived in particular further to the areas of
  • Areas such as the housing of the driven unit are regularly themselves electrically conductive, for example of a metal material and preferably electrically grounded.
  • the protective layer according to the invention can with respect to their
  • the material of the protective layer is based on a thermoplastic.
  • a thermoplastic is a thermoplastic
  • thermoplastic plastic which as a
  • Standard material is available in a variety of different material properties and which is advantageous from the processing.
  • a thermoplastic is easily miscible with a variety of other materials and processable with best practices and facilities.
  • Material of the protective layer can also be based on a mixture of different thermoplastics or optionally
  • a composite material based on a thermoplastic is also conceivable as a protective layer.
  • a substrate to be protected of the driven unit is coatable or coatable together with the thermoplastic.
  • the protective layer is not connected, but the complete surface to be protected is completely covered by the protective layer.
  • Protective layer can be advantageously provided in the transition areas, which is a special challenge.
  • the protective layer contains a distributed in a base material of the protective layer existing electrically dissipative component, wherein a
  • the protective layer can be specified.
  • the desired Abieiten the thermoplastic is realized.
  • the base material of the protective layer is preferably made of the thermoplastic, with a relatively small amount of the component dispersed therein, which provides the electrical conductivity of the finished protective layer in the mixture.
  • the other material such. Legs
  • admixture with the thermoplastic makes up about 1 to about 25 weight percent of the protective layer.
  • the protective layer consists predominantly of a basic matrix of a thermoplastic with a uniformly distributed electrically dissipative component.
  • Suitable admixtures are, in particular, particles and / or fibrous materials, for example carbon material such as graphite, for example.
  • the admixed component may advantageously be added to the granulated thermoplastic prior to melting the thermoplastic and mixed therein with the thermoplastic.
  • the protective layer is integrally connected to a surface of the driven unit.
  • the protective layer is applied directly and over the whole area or tightly on the relevant surface of the driven unit.
  • Protective layer on the surface takes place in particular by adhesion effects and / or a positive connection.
  • connection of the protective layer to the driven unit may be used to form an adhesive bond between the protective layer and the respective surface of the driven unit.
  • adhesives may be used to form an adhesive bond between the protective layer and the respective surface of the driven unit.
  • the adhesive itself has the
  • a further advantageous modification of the invention is characterized in that the protective layer is applied to the driven unit in such a way that between the Protective layer and the surface of the unit no voids or uncritical cavities are present. It should be excluded cavities, which are closed or open to an environment of the unit. This is sure to exclude one possibly
  • explosive gas mixture can collect in the area of the protective layer or superficially to the coated driven unit. This becomes one possible
  • the protective layer is provided on the driven unit such that a
  • Temperature increase of surfaces of the robot device takes place by friction effects. This can be a
  • Friction effects is conditional to be excluded.
  • a tube-like or tubular casing of the driven unit which is movable relative to the grounded unit is therefore unsuitable, since relative movement between the casing and the surface of the driven unit is possible, which can lead to static charging or charge separation.
  • Protective layer usually a foam material unsuitable as well as a foamed protective layer or a chamber-like structure of a protective layer with cavities or hollow chambers.
  • the robot device is designed to be movable with the driven unit to allow movement in a hazardous area.
  • a driven vehicle may represent the robot device or the robot.
  • robotic equipment may be remotely controlled
  • Robot or a remote-controlled vehicle for working on inner walls of a container for example, the remote-controlled vehicle can be adhered to horizontal, vertical and / or other spatially oriented surfaces in a container.
  • the driven unit comprises a driven robot arm having a plurality of segments for a variably adjustable length and / or orientation of the robot arm.
  • tube-like sections with different diameters may be telescoped or connected in a telescoping manner, which are hollow in the interior, and thus a space for means for driving the driven unit or segments and / or a tool on the robot arm or at a front end of a have foremost segment.
  • Segments are coated according to the invention with the protective layer as explained above.
  • the invention also extends to a robot device with a driven unit which is suitable for starting up
  • Protective layer is coated from a coating material, wherein the coating material has a melting temperature of 135 Degrees Celsius (° C) or lower than 135 degrees Celsius.
  • Explosion protection regulations which are relevant for the robot device for use in potentially explosive environments, for example based on the so-called ATEX guidelines, are advantageously met.
  • ATEX guidelines are advantageously met.
  • Frictional contact of the robot device or the protective layer with the environment or a corresponding mating surface which takes place under a relative movement, starting from a
  • uncritical temperature of the protective layer usually the ambient temperature, which is always below the melting temperature of the coating material, by the friction energy, a temperature increase up to a maximum of the melting temperature of the
  • Coating material does not increase or the
  • the protective layer envelops the penetrating part of the object so that there is no room for one
  • the protective layer has a Abieitrich with a
  • the minimum thickness of the protective layer is four millimeters. This will be requirements for the
  • the protective layer has a conductivity with a resistivity between 10 4 ohm * meter and 10 9 ohm * meter.
  • Plastic can protect the protective layer by heating the z.
  • the cooled thermoplastic is preferably bonded cohesively to the respective surface areas of the driven unit. For a desired adhesion of the thermoplastic on the
  • a robot device is conceivable with a driven unit which is designed for starting surfaces, in particular with a movable robot arm, the driven unit being provided with a protective layer comprising a porous layer which can be filled with a liquid.
  • the liquid-filled porous layer can work in
  • the liquid is preferably water.
  • the porous layer can with the.
  • the porous layer can be any porous layer. Liquid to be filled.
  • the porous layer can be any porous layer.
  • Liquid is filled.
  • the porous layer is formed such that a capillary effect is achieved with the open pores.
  • Liquid in the pores of the porous layer advantageously take place.
  • Protective layer which comprises a fillable with a gas and / or liquid hollow body, which is enclosed by an outer skin.
  • the gas is not one
  • the liquid is a non-explosive liquid.
  • the outer skin is preferably gas and liquid-tight.
  • the outer skin is also particularly dimensionally variable, for example, elastic.
  • the closed in Nutz Scheme hollow body is preferably formed in the manner of a balloon.
  • another alternative robotic device comprises a driven unit with a protective layer comprising plastic shell elements adapted to the driven unit, which can be applied to the rubbed unit.
  • the plastic is preferably a
  • Thermoplastic Thermoplastic.
  • the adapted shell parts nestle in the attached state to the outer surfaces of the driven unit. This will also work in
  • thermoplastic shell parts for example, can be applied to the driven unit in a variety of ways, for example by screwing, gluing and / or positive locking.
  • Coating material that is porous with a liquid filled layer, the protective layer comprising a hollow body which can be filled with a gas and / or a liquid, and the protective layer which comprises plastic shell elements adapted to the driven unit, have sufficient protection against explosion. The protection is ensured in particular during the striping of the driven unit along a surface and in the event of impact with the driven unit with the coating. All types of coatings also have one as above
  • said defined high Abieitrich in particular with a resistivity between 10 4 ohm * meter and 10 ⁇ ohm * meter.
  • Protective layer melt this strip and prevent the formation of a firing condition.
  • Figure 1 is a highly schematic section of a
  • FIG. 2 schematically shows a front section of a driven unit of an alternative robot device according to the invention
  • FIG. 1 shows a highly schematic representation of a functional unit that can be used as a controlled, positionable nozzle system 1
  • the nozzle system 1 comprises a controllable or pivotable nozzle 2, through which a liquid such. B. Water is applied under pressure to the inner surfaces.
  • the nozzle system 1 has the supply side outside of a housing 4 with an opening 3 on a supplied from the outside with water or a cleaning or auxiliary device according to inflow Rl water supply 5 for a total Wasserzula, which is acted upon by a controllable total water pressure.
  • the edge of the opening 3 represents a
  • the pressure feed line 5 branches into an inlet 6 to a hydraulic unit 7 and an inlet 8 to a water nozzle unit 9.
  • Figure 1 is the connection to the water nozzle unit 9 with the incoming water according to Wasserdüsenzu slaughterment R not realistically represented via the inlet 8, but for the better
  • the hydraulic unit 7 comprises a cylinder 10 and a piston 11 reversibly guided displaceably in accordance with R2 and R3, to which a piston rod 12 engages fixedly connected.
  • the piston rod 12 is guided in a liquid-tight manner through a passage 17 in the cylinder 10 and extends from the cylinder 10 to the outside to or through the opening 3.
  • On the piston 11 of the hydraulic unit 7 is on the water side of the water pressure pl of the water inlet in the inlet 6 at.
  • Hydraulic unit 7 serves to control the alignment of the nozzle 2.
  • the nozzle 2 is exemplified as a water nozzle 13 such as a high-pressure nozzle for cleaning surfaces.
  • a spring unit 15 with the spring 16 for example a helical spring, generates a counterforce on the piston rod 12 with the piston 11 which acts against the piston 11 against a force generated by the hydraulic pressure-loaded hydraulic unit 7.
  • the spring 16 is between the
  • a hinge 19 is provided, wherein on the working element 18, the water nozzle 13 is present.
  • the rotary joint 19 acts between a pinion 20, which is held in a fixed position on the working element 18, and a toothed rack 22 with a toothed section 23 which meshes with a pinion section 21 of the pinion 20.
  • FIG. 2 shows a front illustrated schematically
  • the driven unit is exemplified as a robot arm 27 with a plurality of articulated
  • Arm sections formed.
  • the several arm sections comprise a section shown in Figure 2
  • Arm portion 28 and other arm portions 29 to 31 relate to the front part of the arm portion 28 which is pivotally connected via a hinge 32 with the adjoining arm portion 29.
  • the arm portion 29 is in turn pivotally connected to the arm portion 30 via a hinge 33.
  • the arm portion 30 is pivotally connected via a hinge 34 with the end-side arm portion 31.
  • a functional unit 35 for example, with an inspection camera not shown, for example, to inspect an interior of a container can.
  • a protective layer 26 provided according to the invention with a protective layer 26.
  • FIG. 3 shows a section or a sample geometry of the arm section 29, which is cut in the longitudinal direction.
  • the arm portion 29 as a profile with a
  • Profile wall 25 configured.
  • the profile may be, for example, tubular.
  • the profile wall 25 is for example made of a metallic material such. B. formed a steel material.
  • the protective layer 26 is consistently present in close contact and firmly connected to the profile wall 25.
  • the layer thickness S of the protective layer 26, which is preferably at least 4 millimeters to about 20
  • Millimeter preferably has a thickness of about 6 millimeters and is preferably consistent in the design over all outer surfaces of the

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Materials Engineering (AREA)
  • Wood Science & Technology (AREA)
  • Organic Chemistry (AREA)
  • Spray Control Apparatus (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un système de robot présentant une unité entraînée (27) conçue pour se diriger vers des surfaces. Selon l'invention, l'unité entraînée (27) est revêtue d'une couche protectrice (26) constituée d'un matériau de revêtement électroconducteur qui présente une épaisseur d'au moins 4 millimètres.
EP16739064.0A 2015-07-10 2016-07-07 Système de robot présentant une unité entraînée et procédé d'application Withdrawn EP3320049A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015111170 2015-07-10
PCT/EP2016/066082 WO2017009162A2 (fr) 2015-07-10 2016-07-07 Système de robot présentant une unité entraînée et procédé d'application

Publications (1)

Publication Number Publication Date
EP3320049A2 true EP3320049A2 (fr) 2018-05-16

Family

ID=56413636

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16739064.0A Withdrawn EP3320049A2 (fr) 2015-07-10 2016-07-07 Système de robot présentant une unité entraînée et procédé d'application

Country Status (4)

Country Link
US (1) US20180141220A1 (fr)
EP (1) EP3320049A2 (fr)
DE (1) DE102016112452A1 (fr)
WO (1) WO2017009162A2 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114603568A (zh) * 2020-12-08 2022-06-10 广东博智林机器人有限公司 机械臂装置及涂敷机器人
JP7504011B2 (ja) * 2020-12-09 2024-06-21 株式会社安川電機 ロボットシステム

Citations (2)

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Publication number Priority date Publication date Assignee Title
US20090158864A1 (en) * 2005-12-28 2009-06-25 Honda Motor Co., Ltd. Robot Skin
US20110307097A1 (en) * 2009-02-27 2011-12-15 Commissariat A L'energie Atomique Et Aux Energies Alternatives Protective skin for robots

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Publication number Priority date Publication date Assignee Title
JPS6119593A (ja) * 1984-07-04 1986-01-28 フアナツク株式会社 内圧防爆ロボツトの安全装置
DE202007006121U1 (de) * 2007-04-26 2007-08-16 Rps Gmbh Robot Protection Systems Schutzvorrichtung für einen Industrieroboter
TW201023715A (en) * 2008-12-04 2010-06-16 Pegatron Corp Fiber-reinforced polymeric casing and method of fabricating the same
JP2011189416A (ja) * 2010-03-12 2011-09-29 Yaskawa Electric Corp ロボットアームおよびその修復方法
WO2012150541A2 (fr) * 2011-05-01 2012-11-08 Adroc Tech S.R.O. Dispositif de mouvement et d'action dans un environnement explosif
JP5763607B2 (ja) * 2012-11-19 2015-08-12 株式会社安川電機 ロボット
DE102017218229A1 (de) * 2017-10-12 2019-04-18 Dr. Doll Engineering Gmbh Schutzvorrichtung für einen Industrieroboter sowie Schutzelement für eine solche Schutzvorrichtung
CN107866824A (zh) * 2017-11-21 2018-04-03 深圳市优必选科技有限公司 机器人电子皮肤

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090158864A1 (en) * 2005-12-28 2009-06-25 Honda Motor Co., Ltd. Robot Skin
US20110307097A1 (en) * 2009-02-27 2011-12-15 Commissariat A L'energie Atomique Et Aux Energies Alternatives Protective skin for robots

Also Published As

Publication number Publication date
WO2017009162A3 (fr) 2017-03-16
DE102016112452A1 (de) 2017-01-12
US20180141220A1 (en) 2018-05-24
WO2017009162A2 (fr) 2017-01-19

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