JP6649285B2 - 取り扱い装置のための保護方法及び保護デバイス - Google Patents

取り扱い装置のための保護方法及び保護デバイス Download PDF

Info

Publication number
JP6649285B2
JP6649285B2 JP2016576036A JP2016576036A JP6649285B2 JP 6649285 B2 JP6649285 B2 JP 6649285B2 JP 2016576036 A JP2016576036 A JP 2016576036A JP 2016576036 A JP2016576036 A JP 2016576036A JP 6649285 B2 JP6649285 B2 JP 6649285B2
Authority
JP
Japan
Prior art keywords
pressure
protection element
internal pressure
increasing
protective
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
Application number
JP2016576036A
Other languages
English (en)
Japanese (ja)
Other versions
JP2017526540A5 (https=
JP2017526540A (ja
Inventor
ツィリヒ、ミヒャエル
Original Assignee
ブルー ダニューブ ロボティクス ゲーエムベーハー
ブルー ダニューブ ロボティクス ゲーエムベーハー
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 ブルー ダニューブ ロボティクス ゲーエムベーハー, ブルー ダニューブ ロボティクス ゲーエムベーハー filed Critical ブルー ダニューブ ロボティクス ゲーエムベーハー
Publication of JP2017526540A publication Critical patent/JP2017526540A/ja
Publication of JP2017526540A5 publication Critical patent/JP2017526540A5/ja
Application granted granted Critical
Publication of JP6649285B2 publication Critical patent/JP6649285B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B25J19/0091—Shock absorbers
    • 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
    • B25J19/0079—Means for protecting the manipulator from its environment or vice versa using an internal pressure system
    • 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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • 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
    • B25J19/06—Safety devices
    • 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
    • B25J19/06—Safety devices
    • B25J19/063—Safety devices working only upon contact with an outside object
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • 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
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
    • F16P3/142—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using image capturing devices

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
JP2016576036A 2014-07-03 2015-06-30 取り扱い装置のための保護方法及び保護デバイス Active JP6649285B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
ATA50463/2014 2014-07-03
ATA50463/2014A AT516097B1 (de) 2014-07-03 2014-07-03 Schutzverfahren und Schutzvorrichtung für Handhabungsgerät
PCT/AT2015/000094 WO2016000005A1 (de) 2014-07-03 2015-06-30 Schutzverfahren und schutzvorrichtung für handhabungsgerät

Publications (3)

Publication Number Publication Date
JP2017526540A JP2017526540A (ja) 2017-09-14
JP2017526540A5 JP2017526540A5 (https=) 2019-04-25
JP6649285B2 true JP6649285B2 (ja) 2020-02-19

Family

ID=54427513

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2016576036A Active JP6649285B2 (ja) 2014-07-03 2015-06-30 取り扱い装置のための保護方法及び保護デバイス

Country Status (11)

Country Link
US (1) US10518424B2 (https=)
EP (1) EP3164246B1 (https=)
JP (1) JP6649285B2 (https=)
KR (1) KR102019571B1 (https=)
CN (1) CN106470806B (https=)
AT (1) AT516097B1 (https=)
CA (1) CA2954001C (https=)
DK (1) DK3164246T3 (https=)
ES (1) ES2672385T3 (https=)
TR (1) TR201808857T4 (https=)
WO (1) WO2016000005A1 (https=)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3222394A3 (en) * 2016-03-25 2017-10-18 Seiko Epson Corporation Robot and external-force detecting device
JP6772506B2 (ja) * 2016-03-25 2020-10-21 セイコーエプソン株式会社 ロボット
JP2017170596A (ja) * 2016-03-25 2017-09-28 セイコーエプソン株式会社 ロボットおよび外力検知装置
ITUA20163522A1 (it) * 2016-05-17 2017-11-17 Comau Spa "Copertura sensorizzata per un dispositivo industriale"
JP6794800B2 (ja) * 2016-11-29 2020-12-02 セイコーエプソン株式会社 ロボット
WO2018195569A1 (de) * 2017-04-24 2018-11-01 Blue Danube Robotics Gmbh Erkennung einer kollision eines handhabungsgeräts mit einem hindernis
AT519655B1 (de) * 2017-04-24 2018-09-15 Blue Danube Robotics Gmbh Erkennung einer Kollision eines Handhabungsgeräts mit einem Hindernis
FR3070022B1 (fr) * 2017-08-10 2020-11-06 Fogale Nanotech Element d’habillage capacitif pour robot, robot muni d’un tel element d’habillage
DE102017218229A1 (de) 2017-10-12 2019-04-18 Dr. Doll Engineering Gmbh Schutzvorrichtung für einen Industrieroboter sowie Schutzelement für eine solche Schutzvorrichtung
KR102432663B1 (ko) 2017-11-30 2022-08-12 엘지디스플레이 주식회사 전계 발광 표시장치
CN108032303A (zh) * 2018-01-03 2018-05-15 杭州艾米机器人有限公司 机器人的碰撞检测机构以及机器人
AT521204B1 (de) 2018-04-20 2020-02-15 Blue Danube Robotics Gmbh Vorrichtung zum Steuern eines Handhabungsgeräts
JP7156865B2 (ja) * 2018-08-30 2022-10-19 川崎重工業株式会社 緩衝装置及びそれを備えるロボット
AT521642B1 (de) 2018-09-13 2021-08-15 Blue Danube Robotics Gmbh Verfahren zur Herstellung eines Polsters
KR102001569B1 (ko) 2019-02-26 2019-07-18 윤양수 기계장치 보호용 에어패드
EP4069472A4 (en) * 2019-12-05 2024-03-20 MAGNA Powertrain GmbH & Co KG METHOD AND CONFIGURATION IN THE CONTEXT OF BARRIER-FREE ROBOTICS
FR3117912B1 (fr) 2020-12-18 2023-05-19 Commissariat Energie Atomique Robot de co-manipulation à loi de commande en effort mixte offrant une forte sensibilité de l’effecteur et permettant l’interaction avec le corps du robot.
US12447606B2 (en) 2021-07-05 2025-10-21 Mantis Robotics, Inc. Safety system for hand-guiding a robot
US12552034B2 (en) 2021-12-25 2026-02-17 Mantis Robotics, Inc. Robot system
US12409550B2 (en) 2022-01-12 2025-09-09 Mantis Robotics, Inc. Robot system with casing elements
DE102022102347A1 (de) * 2022-02-01 2023-08-03 Neura Robotics GmbH Armabschnitt für einen Roboterarm sowie Roboterarm
US12449546B2 (en) * 2022-04-15 2025-10-21 Zebra Technologies Corporation Lidar sensor system for enabling or disabling use of a robotic arm

Family Cites Families (40)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58146681U (ja) * 1982-03-26 1983-10-03 株式会社安川電機 可動ベ−ス駆動装置における保護装置
JPS60127996A (ja) * 1983-12-15 1985-07-08 松下電器産業株式会社 工業用ロボツトの塵埃飛散防止装置
JPS60218122A (ja) * 1984-04-13 1985-10-31 Mitsubishi Heavy Ind Ltd 移動ロボツト
JPS6133894A (ja) * 1984-07-25 1986-02-17 神鋼電機株式会社 産業用ロボツトの安全ア−ム及び安全ハンド
JPS6339786A (ja) * 1986-08-05 1988-02-20 松下電器産業株式会社 工業用ロボツトの安全装置
JPH0339786A (ja) * 1989-07-06 1991-02-20 Matsushita Electric Ind Co Ltd 駆動回路
US5224732A (en) * 1991-07-16 1993-07-06 Toyota Motor Co Ltd Inflatable restraint system for side impact crash protection
JP3293952B2 (ja) * 1992-05-26 2002-06-17 本田技研工業株式会社 衝撃吸収手段を備えた脚式歩行ロボット
JPH09285992A (ja) * 1996-04-22 1997-11-04 Yoshisuke Ueno ロボットの安全装置
JP3760423B2 (ja) * 1996-08-30 2006-03-29 本田技研工業株式会社 車両用エアバッグ装置
US6554868B1 (en) * 1999-06-03 2003-04-29 Carl A. Caspers Vacuum pump and shock absorber for artificial limb
JP2003060004A (ja) * 2001-08-20 2003-02-28 Yaskawa Electric Corp ロボットハンド
US6690208B2 (en) * 2002-02-23 2004-02-10 Ati Industrial Automation, Inc. Robot crash protector
CN2559313Y (zh) * 2002-08-13 2003-07-09 许瑞琛 腕带式血压计
DE10252069B4 (de) * 2002-11-08 2004-10-21 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Verfahren und System zur Absicherung von Maschinen gegen nicht bestimmungsgemäß eintretende, auftreffende oder austretende Objekte
WO2004110705A1 (de) * 2003-06-17 2004-12-23 Kuka Schweissanlagen Gmbh Manipulatorgeführte greifeinrichtung mit ausweichfähiger auslenksicherung
JP4716268B2 (ja) * 2005-01-26 2011-07-06 株式会社安川電機 ロボットシステム
EP1810795A1 (en) * 2006-01-19 2007-07-25 Abb Ab Safety device for an industrial robot with elastic sealed bag comprising a fluid or gas
DE102006044071B4 (de) * 2006-09-20 2008-09-11 Deutsches Zentrum für Luft- und Raumfahrt e.V. Roboter sowie Roboter-Schutzeinrichtung
TW200821110A (en) * 2006-11-08 2008-05-16 I-Chung Lin Anti-collision and anti-falling structure of robot
TWI306054B (en) * 2006-12-19 2009-02-11 Ind Tech Res Inst Tactile sensing device and an robotic apparatus using thereof
CA2683570A1 (en) * 2007-04-10 2008-10-16 Integragen Human diabetes susceptibility tnfrsf10d gene
JP2009051471A (ja) * 2007-08-29 2009-03-12 Seiren Co Ltd エアバッグ装置
JP2009056558A (ja) 2007-08-31 2009-03-19 Toshiba Corp マニピュレータ
DE102008037811B4 (de) * 2007-11-02 2020-04-16 Daimler Ag Rückhaltesystem mit verschließbaren Luftdurchströmöffnungen
DE102007062245A1 (de) 2007-12-21 2009-06-25 Robert Bosch Gmbh Kollisionsdetektionsvorrichtung sowie Handhabungsgerät
JP2010069567A (ja) * 2008-09-18 2010-04-02 Tokai Rubber Ind Ltd 連結部の被覆材および伸張材
JP2010105057A (ja) * 2008-10-28 2010-05-13 Seiko Epson Corp ロボット制御システム、制御装置および制御方法
JP2010214474A (ja) * 2009-03-13 2010-09-30 Panasonic Corp マニピュレータ
CN101843495A (zh) * 2009-03-27 2010-09-29 新奥特硅谷视频技术有限责任公司 法庭上用于监测证人血压的装置
US20120055595A1 (en) * 2010-09-02 2012-03-08 Robert Schodowski Robot cover
DE102010063208A1 (de) * 2010-12-16 2012-06-21 Robert Bosch Gmbh Verfahren zum Betreiben einer Sicherungseinrichtung für eine Handhabungsvorrichtung, Sicherungseinrichtung für eine Handhabungsvorrichtung und Handhabungsvorrichtung
DE112012005650B4 (de) * 2012-01-13 2018-01-25 Mitsubishi Electric Corporation Risikomesssystem
CN103786677B (zh) * 2012-10-31 2016-02-03 比亚迪股份有限公司 一种充气安全带系统
CN102961833B (zh) * 2012-11-01 2015-04-01 浙江大学 高空防护服
JP5660401B2 (ja) 2012-11-19 2015-01-28 株式会社安川電機 ロボット装置
CN103386684B (zh) * 2013-08-21 2016-02-24 福州大学 一种防止机器人产生意外碰撞的装置及设计方法
US9452531B2 (en) * 2014-02-04 2016-09-27 Microsoft Technology Licensing, Llc Controlling a robot in the presence of a moving object
US10065316B2 (en) * 2016-02-05 2018-09-04 Rethink Robotics, Inc. Systems and methods for safe robot operation
DE102016104940A1 (de) * 2016-03-17 2017-09-21 Deutsches Zentrum für Luft- und Raumfahrt e.V. Schutzvorrichtung für einen Effektor eines Manipulators, Vorrichtung zum Manipulieren von Werkstücken und Verfahren zum Betätigen einer Vorrichtung zum Manipulieren von Werkstücken

Also Published As

Publication number Publication date
DK3164246T3 (en) 2018-07-02
CN106470806B (zh) 2019-11-05
KR102019571B1 (ko) 2019-09-06
CN106470806A (zh) 2017-03-01
AT516097A1 (de) 2016-02-15
US20170136633A1 (en) 2017-05-18
KR20170026462A (ko) 2017-03-08
ES2672385T3 (es) 2018-06-14
WO2016000005A1 (de) 2016-01-07
TR201808857T4 (tr) 2018-07-23
CA2954001A1 (en) 2016-01-07
AT516097B1 (de) 2016-09-15
US10518424B2 (en) 2019-12-31
CA2954001C (en) 2020-04-07
EP3164246A1 (de) 2017-05-10
EP3164246B1 (de) 2018-04-11
JP2017526540A (ja) 2017-09-14

Similar Documents

Publication Publication Date Title
JP6649285B2 (ja) 取り扱い装置のための保護方法及び保護デバイス
JP2017526540A5 (https=)
USD944374S1 (en) Air conditioning apparatus
USD858736S1 (en) Body for a portable air moving apparatus
WO2018128695A3 (en) Gas flow in three-dimensional printing
USD869108S1 (en) Robot comprising a service module
USD796698S1 (en) Sound absorbing surface
JP2018192308A5 (https=)
JP2017506539A5 (https=)
MX2019006969A (es) Dispositivo de revestimiento para revestir componentes.
WO2017058507A3 (en) Portable, controlled environment system
WO2019038513A8 (en) HOUSING OR CRADLE FOR FALL ARREST DEVICE
USD855730S1 (en) Dual-grip portable countermeasure device against unmanned systems
USD773675S1 (en) Head and facial protective device
USD843236S1 (en) HVAC control device
MX2018000987A (es) Inserto de manguito de sellado de aire, acustico y/o fuego y dispositivo de sellado de aire, acustico y/o fuego.
USD873368S1 (en) Dual-grip portable countermeasure device against unmanned systems
USD983122S1 (en) Equipment mounting platform for cargo van
USD857062S1 (en) Air mattress control device
MX2018000596A (es) Sistema de sujeccion.
USD879902S1 (en) Dual-grip portable countermeasure device against unmanned systems
RU2544131C2 (ru) Система жизнеобеспечения исполнителя работ
PL449438A1 (pl) Urządzenie poruszające się po powierzchniach pionowych
ES2247196T3 (es) Cabina de pulverizacion provista de un disco electrostatico mejorado.
WO2016077658A3 (en) Patient transfer device and associated systems and methods

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20171002

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20181011

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20181016

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20190116

A524 Written submission of copy of amendment under article 19 pct

Free format text: JAPANESE INTERMEDIATE CODE: A524

Effective date: 20190315

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20190625

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20190925

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20191125

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20200109

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20200116

R150 Certificate of patent or registration of utility model

Ref document number: 6649285

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250