JP5967972B2 - エンドエフェクタクランプのための力及び垂直性の検出 - Google Patents

エンドエフェクタクランプのための力及び垂直性の検出 Download PDF

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Publication number
JP5967972B2
JP5967972B2 JP2012035495A JP2012035495A JP5967972B2 JP 5967972 B2 JP5967972 B2 JP 5967972B2 JP 2012035495 A JP2012035495 A JP 2012035495A JP 2012035495 A JP2012035495 A JP 2012035495A JP 5967972 B2 JP5967972 B2 JP 5967972B2
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JP
Japan
Prior art keywords
clamp
sensor
force
force sensor
vertical
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.)
Active
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JP2012035495A
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English (en)
Japanese (ja)
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JP2012171093A (ja
JP2012171093A5 (enExample
Inventor
ブランコ サール，
ブランコ サール，
ジェームズ ディー． ガンボア，
ジェームズ ディー． ガンボア，
クリス ジェイ． エリクソン，
クリス ジェイ． エリクソン，
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Boeing Co
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Boeing Co
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Publication of JP2012171093A5 publication Critical patent/JP2012171093A5/ja
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Publication of JP5967972B2 publication Critical patent/JP5967972B2/ja
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/082—Grasping-force detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
    • B21J15/142—Aerospace structures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/28—Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B35/00—Methods for boring or drilling, or for working essentially requiring the use of boring or drilling machines; Use of auxiliary equipment in connection with such methods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/086—Proximity sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B2215/00—Details of workpieces
    • B23B2215/04—Aircraft components
    • 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
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49998—Work holding

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
JP2012035495A 2011-02-22 2012-02-21 エンドエフェクタクランプのための力及び垂直性の検出 Active JP5967972B2 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US13/032,596 US8573070B2 (en) 2011-02-22 2011-02-22 Force and normality sensing for end effector clamp
US13/032,596 2011-02-22

Publications (3)

Publication Number Publication Date
JP2012171093A JP2012171093A (ja) 2012-09-10
JP2012171093A5 JP2012171093A5 (enExample) 2015-04-09
JP5967972B2 true JP5967972B2 (ja) 2016-08-10

Family

ID=45656210

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2012035495A Active JP5967972B2 (ja) 2011-02-22 2012-02-21 エンドエフェクタクランプのための力及び垂直性の検出

Country Status (4)

Country Link
US (1) US8573070B2 (enExample)
EP (1) EP2492065B1 (enExample)
JP (1) JP5967972B2 (enExample)
CN (1) CN102649169B (enExample)

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US10723484B2 (en) * 2016-11-30 2020-07-28 The Boeing Company Automated fastening machine using a compound contour vacuum track for automation of final assembly from the interior of a fuselage
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DE102017106455B3 (de) * 2017-03-27 2018-09-20 Abb Schweiz Ag Endeffektor zur Werkstückbearbeitung und Robotersystem mit einem Endeffektor
US11607817B2 (en) * 2017-06-02 2023-03-21 The Research Foundation For The State University Of New York Robotic gripper with variable stiffness actuators and methods for same
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JP6860534B2 (ja) * 2017-11-22 2021-04-14 ファナック株式会社 ツール姿勢制御装置
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US11919147B2 (en) * 2018-08-29 2024-03-05 Fastbrick Ip Pty Ltd Gripping apparatus
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US11167381B2 (en) * 2020-01-31 2021-11-09 GM Global Technology Operations LLC Clamp system and method for control of welding a first substrate to a second substrate
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Also Published As

Publication number Publication date
CN102649169A (zh) 2012-08-29
US20120210802A1 (en) 2012-08-23
EP2492065B1 (en) 2014-07-16
JP2012171093A (ja) 2012-09-10
CN102649169B (zh) 2016-08-10
US8573070B2 (en) 2013-11-05
EP2492065A1 (en) 2012-08-29

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