JP2014527918A - 衝撃許容構造 - Google Patents
衝撃許容構造 Download PDFInfo
- Publication number
- JP2014527918A JP2014527918A JP2014531283A JP2014531283A JP2014527918A JP 2014527918 A JP2014527918 A JP 2014527918A JP 2014531283 A JP2014531283 A JP 2014531283A JP 2014531283 A JP2014531283 A JP 2014531283A JP 2014527918 A JP2014527918 A JP 2014527918A
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- Prior art keywords
- element structure
- robot
- string
- string assembly
- mounting
- 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.)
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- 230000035939 shock Effects 0.000 title description 2
- 239000000463 material Substances 0.000 claims description 18
- 230000006835 compression Effects 0.000 claims description 5
- 238000007906 compression Methods 0.000 claims description 5
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims 1
- ORQBXQOJMQIAOY-UHFFFAOYSA-N nobelium Chemical compound [No] ORQBXQOJMQIAOY-UHFFFAOYSA-N 0.000 description 20
- 239000002699 waste material Substances 0.000 description 20
- 238000000034 method Methods 0.000 description 16
- 230000008901 benefit Effects 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 6
- 230000008439 repair process Effects 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 239000013013 elastic material Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000696 magnetic material Substances 0.000 description 2
- 238000011017 operating method Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
Images
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
-
- 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
- B25J19/0091—Shock absorbers
-
- 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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F13/00—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs
-
- 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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F13/00—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs
- F16F13/005—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a wound spring and a damper, e.g. a friction damper
-
- 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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F13/00—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs
- F16F13/04—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a plastics spring and a damper, e.g. a friction damper
- F16F13/06—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a plastics spring and a damper, e.g. a friction damper the damper being a fluid damper, e.g. the plastics spring not forming a part of the wall of the fluid chamber of the damper
- F16F13/24—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a plastics spring and a damper, e.g. a friction damper the damper being a fluid damper, e.g. the plastics spring not forming a part of the wall of the fluid chamber of the damper the central part of the unit being supported by one element and both extremities of the unit being supported by a single other element, i.e. double acting mounting
-
- 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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/50—Special means providing automatic damping adjustment, i.e. self-adjustment of damping by particular sliding movements of a valve element, other than flexions or displacement of valve discs; Special means providing self-adjustment of spring characteristics
- F16F9/512—Means responsive to load action, i.e. static load on the damper or dynamic fluid pressure changes in the damper, e.g. due to changes in velocity
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- 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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Manipulator (AREA)
- Dovetailed Work, And Nailing Machines And Stapling Machines For Wood (AREA)
Abstract
Description
Claims (16)
- ロボットにおける衝撃許容性を向上させるための取付要素構造であって、
当該取付要素構造が、
第1面(201)と、
ロボット工具要素へと向かう第2面(202)と、を具備し、
前記第1面(201)及び前記第2面(202)は、紐組立体(203)と接続されるように構成され、
前記紐組立体(203)は、所定レベルを超える外力を受けたとき、前記紐組立体(203)の形状を変形させることにより、前記外力により生じる損傷を低減するように構成されたことを特徴とする取付要素構造。 - 前記紐組立体の形状を変形させる前記所定レベルの力を調節するための少なくとも1つの延伸要素(401)を更に具備することを特徴とする請求項1に記載の取付要素構造。
- 前記紐組立体の形状を変形させる前記所定レベルの力の前記調節が、前記延伸要素(401)の圧縮力を制御することにより実現されることを特徴とする請求項2に記載の取付要素構造。
- 前記延伸要素(401)が、ばね、ハイドロリックシリンダー、空気圧シリンダー、ソレノイド、サーボモーターで調節されるねじのような延伸要素、空気ばね、のうちの少なくとも1つであることを特徴とする請求項2又は3に記載の取付要素構造。
- 前記延伸要素(401)が、前記紐組立体と一体化されたことを特徴とする請求項1から4のいずれか1項に記載の取付要素構造。
- 前記第1面(201)及び前記第2面(202)が、前記紐組立体の形状の前記変形の間、少なくとも部分的に交互配置するように構成されることを特徴とする請求項1から5のいずれか1項に記載の取付要素構造。
- 前記紐組立体(203)を形成する紐(203a、203b)の各々が、ぴんと張った状態で調節されることを特徴とする請求項1から6のいずれか1項に記載の取付要素構造。
- 前記紐組立体(203)における前記紐(203a、203b)が、互いに接続されていないことを特徴とする請求項1から7のいずれか1項に記載の取付要素構造。
- 前記紐組立体(203)における前記紐(203a、203b)の各々が、前記第1面(201)及び前記第2面(202)に取り付けられたことを特徴とする請求項7又は8に記載の取付要素構造。
- 前記紐組立体(203)が6本の紐で構成されることを特徴とする請求項1から9のいずれか1項に記載の取付要素構造。
- 前記紐組立体の紐材料が、本質的に非弾性であることを特徴とする請求項1から10のいずれか1項に記載の取付要素構造。
- 当該取付要素構造の配列を監視するための少なくとも1つのセンサを有することを特徴とする請求項1から11のいずれか1項に記載の取付要素構造。
- 前記センサが、レーザー距離センサ若しくは赤外線距離センサ、カメラ、エンコーダ、ひずみゲージ、ポテンショメーター、又は、ハイドロリックシリンダー若しくは空気圧シリンダー又は空気ばねの内部の圧力を監視するセンサであることを特徴とする請求項12に記載の取付要素構造。
- 異常信号が、前記少なくとも1つのセンサにより測定される当該取付要素構造の配列に基づいて生成されるように構成されたことを特徴とする請求項12又は13に記載の取付要素構造。
- 当該取付要素構造を具備するシステムが、前記センサからの読取値に応じて停止されるように構成されたことを特徴とする請求項12から14のいずれか1項に記載の取付要素構造。
- 把持された物体の重量が、前記センサの読取値に基づいて計算されるように構成されたことを特徴とする請求項12から15のいずれか1項に記載の取付要素構造。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FI20115923A FI20115923A0 (fi) | 2011-09-21 | 2011-09-21 | Iskunvaimennusrakenne |
FI20115923 | 2011-09-21 | ||
PCT/FI2012/050909 WO2013041773A1 (en) | 2011-09-21 | 2012-09-21 | Shock tolerant structure |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2014527918A true JP2014527918A (ja) | 2014-10-23 |
JP6126101B2 JP6126101B2 (ja) | 2017-05-10 |
Family
ID=44718828
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014531283A Active JP6126101B2 (ja) | 2011-09-21 | 2012-09-21 | 衝撃許容構造 |
Country Status (9)
Country | Link |
---|---|
US (1) | US9713875B2 (ja) |
EP (1) | EP2758216B1 (ja) |
JP (1) | JP6126101B2 (ja) |
CN (1) | CN103958133B (ja) |
DK (1) | DK2758216T3 (ja) |
ES (1) | ES2645746T3 (ja) |
FI (1) | FI20115923A0 (ja) |
RU (1) | RU2606684C2 (ja) |
WO (1) | WO2013041773A1 (ja) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5817142B2 (ja) * | 2011-02-22 | 2015-11-18 | セイコーエプソン株式会社 | 水平多関節ロボット |
JP2016190292A (ja) * | 2015-03-31 | 2016-11-10 | セイコーエプソン株式会社 | ロボット制御装置、ロボットシステムおよびロボット制御方法 |
CN107020634A (zh) * | 2017-03-20 | 2017-08-08 | 江苏明联电子科技有限公司 | 一种射频连接器装配机器人的控制系统 |
CN108284075B (zh) * | 2017-12-29 | 2020-06-19 | 深圳市越疆科技有限公司 | 一种机器人分拣物品的方法、装置及机器人 |
SE543130C2 (en) | 2018-04-22 | 2020-10-13 | Zenrobotics Oy | A waste sorting robot gripper |
SE544741C2 (en) | 2018-05-11 | 2022-11-01 | Genie Ind Bv | Waste Sorting Gantry Robot and associated method |
CN109849035A (zh) * | 2019-04-04 | 2019-06-07 | 福建南方路面机械有限公司 | 一种机器人抓手抗冲击结构 |
CN114635938B (zh) * | 2022-02-22 | 2024-01-09 | 哈尔滨工程大学 | 一种张拉式蛋壳板防撞缓冲组件及防撞缓冲装置 |
CN116553055B (zh) * | 2023-06-27 | 2024-01-26 | 南京线控机器人科技有限公司 | 一种智能化物流仓库系统及部署方法 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS5363700A (en) * | 1976-10-13 | 1978-06-07 | Draper Lab Charles S | Centrifugal centering means |
JPS61120667U (ja) * | 1985-01-18 | 1986-07-30 | ||
JPH02503404A (ja) * | 1988-03-09 | 1990-10-18 | エス・アール・アイ・インターナシヨナル | エンドポイントコンプライアンスが調節可能な連接構造体 |
US5116190A (en) * | 1990-08-02 | 1992-05-26 | General Atomics | Remotely adjustable compliance for end effector tooling |
JPH04176583A (ja) * | 1990-11-07 | 1992-06-24 | Kawasaki Heavy Ind Ltd | マニピュレータ |
JPH0489687U (ja) * | 1990-07-31 | 1992-08-05 | ||
JPH1069315A (ja) * | 1996-03-11 | 1998-03-10 | Fanuc Robotics North America Inc | 変形応力を伴わずに組立物品の組立を行なうための方法並びにプログラマブルポジショナ |
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-
2011
- 2011-09-21 FI FI20115923A patent/FI20115923A0/fi not_active Application Discontinuation
-
2012
- 2012-09-21 JP JP2014531283A patent/JP6126101B2/ja active Active
- 2012-09-21 WO PCT/FI2012/050909 patent/WO2013041773A1/en active Application Filing
- 2012-09-21 DK DK12781129.7T patent/DK2758216T3/da active
- 2012-09-21 RU RU2014114439A patent/RU2606684C2/ru not_active IP Right Cessation
- 2012-09-21 EP EP12781129.7A patent/EP2758216B1/en active Active
- 2012-09-21 US US14/346,349 patent/US9713875B2/en active Active
- 2012-09-21 CN CN201280056743.XA patent/CN103958133B/zh active Active
- 2012-09-21 ES ES12781129.7T patent/ES2645746T3/es active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5363700A (en) * | 1976-10-13 | 1978-06-07 | Draper Lab Charles S | Centrifugal centering means |
US4098001A (en) * | 1976-10-13 | 1978-07-04 | The Charles Stark Draper Laboratory, Inc. | Remote center compliance system |
JPS61120667U (ja) * | 1985-01-18 | 1986-07-30 | ||
JPH02503404A (ja) * | 1988-03-09 | 1990-10-18 | エス・アール・アイ・インターナシヨナル | エンドポイントコンプライアンスが調節可能な連接構造体 |
JPH0489687U (ja) * | 1990-07-31 | 1992-08-05 | ||
US5116190A (en) * | 1990-08-02 | 1992-05-26 | General Atomics | Remotely adjustable compliance for end effector tooling |
JPH04176583A (ja) * | 1990-11-07 | 1992-06-24 | Kawasaki Heavy Ind Ltd | マニピュレータ |
JPH1069315A (ja) * | 1996-03-11 | 1998-03-10 | Fanuc Robotics North America Inc | 変形応力を伴わずに組立物品の組立を行なうための方法並びにプログラマブルポジショナ |
Also Published As
Publication number | Publication date |
---|---|
DK2758216T3 (da) | 2017-11-13 |
US20140236355A1 (en) | 2014-08-21 |
WO2013041773A1 (en) | 2013-03-28 |
CN103958133B (zh) | 2016-08-17 |
EP2758216A1 (en) | 2014-07-30 |
RU2606684C2 (ru) | 2017-01-10 |
JP6126101B2 (ja) | 2017-05-10 |
US9713875B2 (en) | 2017-07-25 |
RU2014114439A (ru) | 2015-10-27 |
ES2645746T3 (es) | 2017-12-07 |
FI20115923A0 (fi) | 2011-09-21 |
EP2758216B1 (en) | 2017-08-02 |
CN103958133A (zh) | 2014-07-30 |
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