EP4079470A4 - FABRIC AND CABLE COVERING FOR ROBOT ARM - Google Patents

FABRIC AND CABLE COVERING FOR ROBOT ARM Download PDF

Info

Publication number
EP4079470A4
EP4079470A4 EP20901092.5A EP20901092A EP4079470A4 EP 4079470 A4 EP4079470 A4 EP 4079470A4 EP 20901092 A EP20901092 A EP 20901092A EP 4079470 A4 EP4079470 A4 EP 4079470A4
Authority
EP
European Patent Office
Prior art keywords
fabric
robot arm
cable covering
cable
covering
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.)
Granted
Application number
EP20901092.5A
Other languages
German (de)
French (fr)
Other versions
EP4079470B1 (en
EP4079470A1 (en
Inventor
Masato SEKIYAMA
Yuki Ninomiya
Masaru Harada
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.)
Toray Industries Inc
Original Assignee
Toray Industries Inc
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 Toray Industries Inc filed Critical Toray Industries Inc
Publication of EP4079470A1 publication Critical patent/EP4079470A1/en
Publication of EP4079470A4 publication Critical patent/EP4079470A4/en
Application granted granted Critical
Publication of EP4079470B1 publication Critical patent/EP4079470B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • D—TEXTILES; PAPER
    • D03—WEAVING
    • D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
    • D03D15/00—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used
    • D03D15/20—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used characterised by the material of the fibres or filaments constituting the yarns or threads
    • D03D15/208—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used characterised by the material of the fibres or filaments constituting the yarns or threads cellulose-based
    • D03D15/225—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used characterised by the material of the fibres or filaments constituting the yarns or threads cellulose-based artificial, e.g. viscose
    • D—TEXTILES; PAPER
    • D03—WEAVING
    • D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
    • D03D15/00—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used
    • D03D15/40—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used characterised by the structure of the yarns or threads
    • D03D15/47—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used characterised by the structure of the yarns or threads multicomponent, e.g. blended yarns or threads
    • D—TEXTILES; PAPER
    • D02—YARNS; MECHANICAL FINISHING OF YARNS OR ROPES; WARPING OR BEAMING
    • D02G—CRIMPING OR CURLING FIBRES, FILAMENTS, THREADS, OR YARNS; YARNS OR THREADS
    • D02G3/00—Yarns or threads, e.g. fancy yarns; Processes or apparatus for the production thereof, not otherwise provided for
    • D02G3/02—Yarns or threads characterised by the material or by the materials from which they are made
    • D02G3/04—Blended or other yarns or threads containing components made from different materials
    • D02G3/045—Blended or other yarns or threads containing components made from different materials all components being made from artificial or synthetic material
    • D—TEXTILES; PAPER
    • D02—YARNS; MECHANICAL FINISHING OF YARNS OR ROPES; WARPING OR BEAMING
    • D02G—CRIMPING OR CURLING FIBRES, FILAMENTS, THREADS, OR YARNS; YARNS OR THREADS
    • D02G3/00—Yarns or threads, e.g. fancy yarns; Processes or apparatus for the production thereof, not otherwise provided for
    • D02G3/44—Yarns or threads characterised by the purpose for which they are designed
    • D—TEXTILES; PAPER
    • D03—WEAVING
    • D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
    • D03D13/00—Woven fabrics characterised by the special disposition of the warp or weft threads, e.g. with curved weft threads, with discontinuous warp threads, with diagonal warp or weft
    • D03D13/004—Woven fabrics characterised by the special disposition of the warp or weft threads, e.g. with curved weft threads, with discontinuous warp threads, with diagonal warp or weft with weave pattern being non-standard or providing special effects
    • D—TEXTILES; PAPER
    • D03—WEAVING
    • D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
    • D03D13/00—Woven fabrics characterised by the special disposition of the warp or weft threads, e.g. with curved weft threads, with discontinuous warp threads, with diagonal warp or weft
    • D03D13/008—Woven fabrics characterised by the special disposition of the warp or weft threads, e.g. with curved weft threads, with discontinuous warp threads, with diagonal warp or weft characterised by weave density or surface weight
    • D—TEXTILES; PAPER
    • D03—WEAVING
    • D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
    • D03D15/00—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used
    • D03D15/20—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used characterised by the material of the fibres or filaments constituting the yarns or threads
    • D03D15/283—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used characterised by the material of the fibres or filaments constituting the yarns or threads synthetic polymer-based, e.g. polyamide or polyester fibres
    • D—TEXTILES; PAPER
    • D03—WEAVING
    • D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
    • D03D15/00—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used
    • D03D15/20—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used characterised by the material of the fibres or filaments constituting the yarns or threads
    • D03D15/292—Conjugate, i.e. bi- or multicomponent, fibres or filaments
    • D—TEXTILES; PAPER
    • D03—WEAVING
    • D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
    • D03D15/00—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used
    • D03D15/40—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used characterised by the structure of the yarns or threads
    • D03D15/41—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used characterised by the structure of the yarns or threads with specific twist
    • D—TEXTILES; PAPER
    • D03—WEAVING
    • D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
    • D03D15/00—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used
    • D03D15/50—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used characterised by the properties of the yarns or threads
    • D03D15/513—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used characterised by the properties of the yarns or threads heat-resistant or fireproof
    • D—TEXTILES; PAPER
    • D03—WEAVING
    • D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
    • D03D15/00—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used
    • D03D15/50—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used characterised by the properties of the yarns or threads
    • D03D15/56—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used characterised by the properties of the yarns or threads elastic
    • D—TEXTILES; PAPER
    • D03—WEAVING
    • D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
    • D03D15/00—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used
    • D03D15/50—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used characterised by the properties of the yarns or threads
    • D03D15/573—Tensile strength
    • D—TEXTILES; PAPER
    • D03—WEAVING
    • D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
    • D03D15/00—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used
    • D03D15/50—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used characterised by the properties of the yarns or threads
    • D03D15/58—Woven fabrics characterised by the material, structure or properties of the fibres, filaments, yarns, threads or other warp or weft elements used characterised by the properties of the yarns or threads characterised by the coefficients of friction
    • D—TEXTILES; PAPER
    • D10—INDEXING SCHEME ASSOCIATED WITH SUBLASSES OF SECTION D, RELATING TO TEXTILES
    • D10B—INDEXING SCHEME ASSOCIATED WITH SUBLASSES OF SECTION D, RELATING TO TEXTILES
    • D10B2321/00—Fibres made from polymers obtained by reactions only involving carbon-to-carbon unsaturated bonds
    • D10B2321/04—Fibres made from polymers obtained by reactions only involving carbon-to-carbon unsaturated bonds polymers of halogenated hydrocarbons
    • D10B2321/042—Fibres made from polymers obtained by reactions only involving carbon-to-carbon unsaturated bonds polymers of halogenated hydrocarbons polymers of fluorinated hydrocarbons, e.g. polytetrafluoroethene [PTFE]
    • D—TEXTILES; PAPER
    • D10—INDEXING SCHEME ASSOCIATED WITH SUBLASSES OF SECTION D, RELATING TO TEXTILES
    • D10B—INDEXING SCHEME ASSOCIATED WITH SUBLASSES OF SECTION D, RELATING TO TEXTILES
    • D10B2331/00—Fibres made from polymers obtained otherwise than by reactions only involving carbon-to-carbon unsaturated bonds, e.g. polycondensation products
    • D10B2331/02—Fibres made from polymers obtained otherwise than by reactions only involving carbon-to-carbon unsaturated bonds, e.g. polycondensation products polyamides
    • D10B2331/021—Fibres made from polymers obtained otherwise than by reactions only involving carbon-to-carbon unsaturated bonds, e.g. polycondensation products polyamides aromatic polyamides, e.g. aramides
    • D—TEXTILES; PAPER
    • D10—INDEXING SCHEME ASSOCIATED WITH SUBLASSES OF SECTION D, RELATING TO TEXTILES
    • D10B—INDEXING SCHEME ASSOCIATED WITH SUBLASSES OF SECTION D, RELATING TO TEXTILES
    • D10B2331/00—Fibres made from polymers obtained otherwise than by reactions only involving carbon-to-carbon unsaturated bonds, e.g. polycondensation products
    • D10B2331/04—Fibres made from polymers obtained otherwise than by reactions only involving carbon-to-carbon unsaturated bonds, e.g. polycondensation products polyesters, e.g. polyethylene terephthalate [PET]
    • D—TEXTILES; PAPER
    • D10—INDEXING SCHEME ASSOCIATED WITH SUBLASSES OF SECTION D, RELATING TO TEXTILES
    • D10B—INDEXING SCHEME ASSOCIATED WITH SUBLASSES OF SECTION D, RELATING TO TEXTILES
    • D10B2331/00—Fibres made from polymers obtained otherwise than by reactions only involving carbon-to-carbon unsaturated bonds, e.g. polycondensation products
    • D10B2331/14—Fibres made from polymers obtained otherwise than by reactions only involving carbon-to-carbon unsaturated bonds, e.g. polycondensation products polycondensates of cyclic compounds, e.g. polyimides, polybenzimidazoles
    • D—TEXTILES; PAPER
    • D10—INDEXING SCHEME ASSOCIATED WITH SUBLASSES OF SECTION D, RELATING TO TEXTILES
    • D10B—INDEXING SCHEME ASSOCIATED WITH SUBLASSES OF SECTION D, RELATING TO TEXTILES
    • D10B2401/00—Physical properties
    • D10B2401/06—Load-responsive characteristics
    • D10B2401/061—Load-responsive characteristics elastic
    • D—TEXTILES; PAPER
    • D10—INDEXING SCHEME ASSOCIATED WITH SUBLASSES OF SECTION D, RELATING TO TEXTILES
    • D10B—INDEXING SCHEME ASSOCIATED WITH SUBLASSES OF SECTION D, RELATING TO TEXTILES
    • D10B2401/00—Physical properties
    • D10B2401/06—Load-responsive characteristics
    • D10B2401/063—Load-responsive characteristics high strength

Landscapes

  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Woven Fabrics (AREA)
EP20901092.5A 2019-12-20 2020-10-27 Fabric, and cable cover for robot arm Active EP4079470B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019230476 2019-12-20
PCT/JP2020/040195 WO2021124687A1 (en) 2019-12-20 2020-10-27 Fabric, and cable cover for robot arm

Publications (3)

Publication Number Publication Date
EP4079470A1 EP4079470A1 (en) 2022-10-26
EP4079470A4 true EP4079470A4 (en) 2023-12-27
EP4079470B1 EP4079470B1 (en) 2025-03-05

Family

ID=76477193

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20901092.5A Active EP4079470B1 (en) 2019-12-20 2020-10-27 Fabric, and cable cover for robot arm

Country Status (7)

Country Link
US (1) US20230027891A1 (en)
EP (1) EP4079470B1 (en)
JP (1) JP7739713B2 (en)
CN (1) CN114829689B (en)
MX (1) MX2022007319A (en)
TW (1) TWI865646B (en)
WO (1) WO2021124687A1 (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7794124B2 (en) * 2021-03-29 2026-01-06 東レ株式会社 Fabrics and sliding materials
GB202210346D0 (en) 2022-07-14 2022-08-31 Rolls Royce Plc Woven structure, method and apparatus for a flanged composite component
CN116330284B (en) * 2023-03-24 2025-07-04 杭州电子科技大学 A method and system for autonomous control of a robotic arm suitable for grasping obstructed objects
TWI873962B (en) * 2023-06-30 2025-02-21 家崎科技股份有限公司 Apparatus and method for automatic maintenance
WO2025261375A1 (en) * 2024-06-19 2025-12-26 东丽纤维研究所（中国）有限公司 Fluorine-containing fiber substrate and gasket made of the fluorine-containing fiber substrate, and use

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1813835B1 (en) * 2006-01-31 2013-05-15 Mitsuboshi Belting Ltd. Toothed power transmission belt with cloth component thereon
EP3333289A1 (en) * 2015-08-05 2018-06-13 Toray Industries, Inc. Self lubricating fabric, method for production and use thereof

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JPH0135063Y2 (en) * 1985-04-26 1989-10-25
JPH0215052Y2 (en) * 1985-04-26 1990-04-24
JP4188449B2 (en) * 1998-04-24 2008-11-26 東レ株式会社 Textile and belt
JP2005220487A (en) * 2004-02-06 2005-08-18 Toray Ind Inc Fluorofiber fabric and composite material
JP2005220486A (en) * 2004-02-06 2005-08-18 Toray Ind Inc Fluorofiber interwoven fabrics and composite materials
JP2007232211A (en) * 2006-01-31 2007-09-13 Mitsuboshi Belting Ltd Toothed belt and tooth cloth used therefor
JP5045043B2 (en) * 2006-09-20 2012-10-10 東レ株式会社 Protective fabric
JP5288862B2 (en) * 2008-04-07 2013-09-11 日東電工株式会社 Adhesive sheet
JP5595705B2 (en) * 2009-09-30 2014-09-24 オイレス工業株式会社 Sliding face material and multilayer sliding member provided with the sliding face material
CN103572454B (en) * 2012-08-07 2016-08-10 东丽纤维研究所（中国）有限公司 A kind of Fabric with low friction coefficient and application thereof
EP3026162A4 (en) * 2013-07-25 2017-03-29 Toray Industries, Inc. Wear-resistant multi-ply woven fabric
JP6398189B2 (en) * 2013-12-26 2018-10-03 東レ株式会社 Heat and abrasion resistant multiple fabric
FR3023880B1 (en) * 2014-07-16 2017-05-26 Hydromecanique & Frottement AUTOLUBRICATING FRICTION COMPOSITE PIECE
US9988758B2 (en) * 2015-06-15 2018-06-05 W. L. Gore & Associates, Inc. Fabrics containing expanded polytetrafluoroethylene fibers
CN109790656A (en) * 2016-10-20 2019-05-21 东丽株式会社 Slide cloth and silk
CN113166985B (en) * 2018-12-26 2022-05-31 东丽株式会社 Sliding fabric
JP6762413B1 (en) * 2019-12-20 2020-09-30 日鉄エンジニアリング株式会社 Sliding seismic isolation device

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1813835B1 (en) * 2006-01-31 2013-05-15 Mitsuboshi Belting Ltd. Toothed power transmission belt with cloth component thereon
EP3333289A1 (en) * 2015-08-05 2018-06-13 Toray Industries, Inc. Self lubricating fabric, method for production and use thereof

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2021124687A1 *

Also Published As

Publication number Publication date
JPWO2021124687A1 (en) 2021-06-24
CN114829689A (en) 2022-07-29
MX2022007319A (en) 2022-07-13
EP4079470B1 (en) 2025-03-05
US20230027891A1 (en) 2023-01-26
EP4079470A1 (en) 2022-10-26
TWI865646B (en) 2024-12-11
JP7739713B2 (en) 2025-09-17
TW202124801A (en) 2021-07-01
WO2021124687A1 (en) 2021-06-24
CN114829689B (en) 2023-06-16

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