JP6829263B2 - ロボットアーム機構 - Google Patents
ロボットアーム機構 Download PDFInfo
- Publication number
- JP6829263B2 JP6829263B2 JP2018547820A JP2018547820A JP6829263B2 JP 6829263 B2 JP6829263 B2 JP 6829263B2 JP 2018547820 A JP2018547820 A JP 2018547820A JP 2018547820 A JP2018547820 A JP 2018547820A JP 6829263 B2 JP6829263 B2 JP 6829263B2
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- JP
- Japan
- Prior art keywords
- light
- unit
- light receiving
- robot arm
- arm mechanism
- 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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- 230000007246 mechanism Effects 0.000 title claims description 55
- 238000001514 detection method Methods 0.000 claims description 18
- 230000003287 optical effect Effects 0.000 claims description 16
- 230000005484 gravity Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 26
- 230000008602 contraction Effects 0.000 description 12
- 239000012636 effector Substances 0.000 description 8
- 210000000707 wrist Anatomy 0.000 description 7
- 238000013459 approach Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000007257 malfunction Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
- G01V8/20—Detecting, e.g. by using light barriers using multiple transmitters or receivers
- G01V8/22—Detecting, e.g. by using light barriers using multiple transmitters or receivers using reflectors
-
- 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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
- B25J13/089—Determining the position of the robot with reference to its environment
-
- 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
- B25J19/02—Sensing 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
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
-
- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
- G01V8/20—Detecting, e.g. by using light barriers using multiple transmitters or receivers
Description
Claims (5)
- リンク部が関節部により支持されてなるロボットアーム機構において、
前記リンク部の外側を前記リンク部の少なくとも両端にわたって検出光の光路が位置するように少なくとも一つの光電センサが前記リンク部又は前記関節部に設置され、
前記検出光のスポット中心が光電センサの受光面の中心に対して基準姿勢において重力方向にシフトされるように前記光電センサを構成する投光部又は投・受光部と前記光電センサを構成する受光部又は反射部とが位置合わせされていることを特徴とするロボットアーム機構。 - リンク部が関節部を介して連結されてなるロボットアーム機構において、
少なくとも一つの光電センサを構成する投光部又は投・受光部が前記リンク部の一端側に設置され、前記投光部又は前記投・受光部に対向して受光部又は反射部が前記リンク部の他端側に設置され、前記投光部から前記受光部に至る検出光の光路又は前記投・受光部から前記反射部で反射して前記投・受光部に回帰する検出光の光路が前記リンク部の外側を少なくとも一端から他端にわたって延在し、
前記検出光のスポット中心が前記受光部又は前記投・受光部の受光面の中心に対して基準姿勢において重力方向にシフトされるように前記投光部又は前記投・受光部と前記受光部又は前記反射部とが位置合わせされていることを特徴とするロボットアーム機構。 - 前記光電センサは複数であって、前記複数の光電センサに係る複数の検出光の光路が前記リンク部を上下左右の四方から取り囲むように前記複数の光電センサが設置されることを特徴とする請求項2記載のロボットアーム機構。
- 前記投光部又は前記投・受光部、前記受光部又は前記反射部は、円環状又は角環状に配列されることを特徴とする請求項3記載のロボットアーム機構。
- 前記光電センサは、前記投・受光部及び前記反射部とともに、前記投・受光部から前記検出光をパルス状に繰り返し発生させる投光回路と、前記投・受光部を介して前記検出光の反射光を受光する受光回路と、前記検出光の発生から前記反射光の受光までの時間と前記投・受光部と前記反射部との距離の2倍に応じた時間との比較結果に応じて前記光路上への物体の介在の有無を判定する判定回路とを有することを特徴とする請求項2記載のロボットアーム機構。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016213591 | 2016-10-31 | ||
JP2016213591 | 2016-10-31 | ||
PCT/JP2017/039099 WO2018079769A1 (ja) | 2016-10-31 | 2017-10-30 | ロボットアーム機構 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2018079769A1 JPWO2018079769A1 (ja) | 2019-09-19 |
JP6829263B2 true JP6829263B2 (ja) | 2021-02-10 |
Family
ID=62023684
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018547820A Active JP6829263B2 (ja) | 2016-10-31 | 2017-10-30 | ロボットアーム機構 |
Country Status (5)
Country | Link |
---|---|
US (1) | US11346978B2 (ja) |
JP (1) | JP6829263B2 (ja) |
CN (1) | CN109803798B (ja) |
DE (1) | DE112017005503T5 (ja) |
WO (1) | WO2018079769A1 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7130933B2 (ja) * | 2017-09-29 | 2022-09-06 | セイコーエプソン株式会社 | ロボット |
JP7000992B2 (ja) * | 2018-05-25 | 2022-01-19 | トヨタ自動車株式会社 | マニピュレータおよび移動ロボット |
JP6985242B2 (ja) * | 2018-11-30 | 2021-12-22 | ファナック株式会社 | ロボットの監視システムおよびロボットシステム |
CN111098336B (zh) * | 2019-12-02 | 2021-08-10 | 中国计量大学 | 一种用于检测机械臂碰撞的装置 |
Family Cites Families (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS4829277B1 (ja) * | 1969-11-21 | 1973-09-08 | ||
US4621332A (en) * | 1983-06-20 | 1986-11-04 | Hitachi, Ltd. | Method and apparatus for controlling a robot utilizing force, position, velocity, spring constant, mass coefficient, and viscosity coefficient |
JPS6071195A (ja) * | 1983-09-27 | 1985-04-23 | 株式会社東芝 | 接触センサ付きマニピユレ−タ |
JPS6285394U (ja) * | 1985-11-18 | 1987-05-30 | ||
JPS634295U (ja) * | 1986-06-25 | 1988-01-12 | ||
JPS6327298U (ja) * | 1986-07-31 | 1988-02-23 | ||
JPH03289310A (ja) * | 1990-03-31 | 1991-12-19 | Toshiba Corp | 自走式監視ロボット |
JP2000162062A (ja) * | 1998-12-01 | 2000-06-16 | Fujitsu Ltd | 障害物センサ装置 |
JP2003071778A (ja) * | 2001-09-05 | 2003-03-12 | National Institute Of Advanced Industrial & Technology | ロボットアーム用触覚センサー |
CN101024283A (zh) * | 2006-09-30 | 2007-08-29 | 电子科技大学 | 一种手机短信控制的教学娱乐机器人 |
KR20090034436A (ko) * | 2007-10-04 | 2009-04-08 | 광주과학기술원 | 레이저 거리 측정기를 이용한 보안 시스템 및 레이저 거리측정기를 이용한 침입자 검출 방법 |
US9248576B2 (en) | 2010-05-31 | 2016-02-02 | National Institute Of Advanced Industrial Science And Technology | Direct acting extensible and retractable arm mechanism, and robot arm provided with direct acting extensible and retractable arm mechanism |
CN102032883B (zh) * | 2011-01-24 | 2012-02-01 | 三一重工股份有限公司 | 臂架碰撞检测系统及检测臂架与障碍物碰撞的方法 |
US8958907B2 (en) * | 2011-03-31 | 2015-02-17 | Sinfonia Technology Co., Ltd. | Robot arm apparatus |
JP2012210676A (ja) * | 2011-03-31 | 2012-11-01 | Sinfonia Technology Co Ltd | ロボットアーム型搬送装置 |
SG2013025770A (en) * | 2013-04-05 | 2014-11-27 | Sigenic Pte Ltd | Apparatus and method for detecting position drift in a machine operation using a robot arm |
JP2017052040A (ja) * | 2015-09-08 | 2017-03-16 | 川崎重工業株式会社 | ロボット |
JP6585574B2 (ja) * | 2016-09-30 | 2019-10-02 | ファナック株式会社 | 作業者とロボットとの協働作業を行う生産システム |
-
2017
- 2017-10-30 CN CN201780063542.5A patent/CN109803798B/zh active Active
- 2017-10-30 DE DE112017005503.2T patent/DE112017005503T5/de active Pending
- 2017-10-30 WO PCT/JP2017/039099 patent/WO2018079769A1/ja active Application Filing
- 2017-10-30 JP JP2018547820A patent/JP6829263B2/ja active Active
-
2019
- 2019-04-24 US US16/393,554 patent/US11346978B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
WO2018079769A1 (ja) | 2018-05-03 |
JPWO2018079769A1 (ja) | 2019-09-19 |
CN109803798B (zh) | 2022-06-24 |
US20190250304A1 (en) | 2019-08-15 |
US11346978B2 (en) | 2022-05-31 |
CN109803798A (zh) | 2019-05-24 |
DE112017005503T5 (de) | 2019-11-28 |
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