JP7754338B2 - エンドエフェクタ及びロボットアーム - Google Patents

エンドエフェクタ及びロボットアーム

Info

Publication number
JP7754338B2
JP7754338B2 JP2024547165A JP2024547165A JP7754338B2 JP 7754338 B2 JP7754338 B2 JP 7754338B2 JP 2024547165 A JP2024547165 A JP 2024547165A JP 2024547165 A JP2024547165 A JP 2024547165A JP 7754338 B2 JP7754338 B2 JP 7754338B2
Authority
JP
Japan
Prior art keywords
end effector
pattern
resin
circuit
function
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
JP2024547165A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2024157664A5 (https=
JPWO2024157664A1 (https=
Inventor
地人 倉田
隆平 黒川
良尚 高橋
耕太郎 森
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.)
DIC Corp
Original Assignee
DIC Corp
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 DIC Corp filed Critical DIC Corp
Publication of JPWO2024157664A1 publication Critical patent/JPWO2024157664A1/ja
Publication of JPWO2024157664A5 publication Critical patent/JPWO2024157664A5/ja
Application granted granted Critical
Publication of JP7754338B2 publication Critical patent/JP7754338B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B25J19/02—Sensing 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
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/082—Grasping-force detectors
    • 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
    • B25J13/084—Tactile 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
    • B25J13/085—Force or torque 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • 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
    • B25J19/06—Safety devices
    • C—CHEMISTRY; METALLURGY
    • C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
    • C08G—MACROMOLECULAR COMPOUNDS OBTAINED OTHERWISE THAN BY REACTIONS ONLY INVOLVING UNSATURATED CARBON-TO-CARBON BONDS
    • C08G75/00—Macromolecular compounds obtained by reactions forming a linkage containing sulfur with or without nitrogen, oxygen, or carbon in the main chain of the macromolecule
    • C08G75/02—Polythioethers
    • C—CHEMISTRY; METALLURGY
    • C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
    • C08G—MACROMOLECULAR COMPOUNDS OBTAINED OTHERWISE THAN BY REACTIONS ONLY INVOLVING UNSATURATED CARBON-TO-CARBON BONDS
    • C08G75/00—Macromolecular compounds obtained by reactions forming a linkage containing sulfur with or without nitrogen, oxygen, or carbon in the main chain of the macromolecule
    • C08G75/02—Polythioethers
    • C08G75/0204—Polyarylenethioethers
    • C—CHEMISTRY; METALLURGY
    • C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
    • C08G—MACROMOLECULAR COMPOUNDS OBTAINED OTHERWISE THAN BY REACTIONS ONLY INVOLVING UNSATURATED CARBON-TO-CARBON BONDS
    • C08G75/00—Macromolecular compounds obtained by reactions forming a linkage containing sulfur with or without nitrogen, oxygen, or carbon in the main chain of the macromolecule
    • C08G75/02—Polythioethers
    • C08G75/0204—Polyarylenethioethers
    • C08G75/0209—Polyarylenethioethers derived from monomers containing one aromatic ring
    • C—CHEMISTRY; METALLURGY
    • C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
    • C08K—Use of inorganic or non-macromolecular organic substances as compounding ingredients
    • C08K3/00—Use of inorganic substances as compounding ingredients
    • C08K3/18—Oxygen-containing compounds, e.g. metal carbonyls
    • C08K3/20—Oxides; Hydroxides
    • C08K3/22—Oxides; Hydroxides of metals
    • C—CHEMISTRY; METALLURGY
    • C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
    • C08L—COMPOSITIONS OF MACROMOLECULAR COMPOUNDS
    • C08L81/00—Compositions of macromolecular compounds obtained by reactions forming in the main chain of the macromolecule a linkage containing sulfur with or without nitrogen, oxygen or carbon only; Compositions of polysulfones; Compositions of derivatives of such polymers
    • C08L81/02—Polythioethers; Polythioether-ethers
    • C—CHEMISTRY; METALLURGY
    • C09—DYES; PAINTS; POLISHES; NATURAL RESINS; ADHESIVES; COMPOSITIONS NOT OTHERWISE PROVIDED FOR; APPLICATIONS OF MATERIALS NOT OTHERWISE PROVIDED FOR
    • C09D—COATING COMPOSITIONS, e.g. PAINTS, VARNISHES OR LACQUERS; FILLING PASTES; CHEMICAL PAINT OR INK REMOVERS; INKS; CORRECTING FLUIDS; WOODSTAINS; PASTES OR SOLIDS FOR COLOURING OR PRINTING; USE OF MATERIALS THEREFOR
    • C09D181/00—Coating compositions based on macromolecular compounds obtained by reactions forming in the main chain of the macromolecule a linkage containing sulfur, with or without nitrogen, oxygen, or carbon only; Coating compositions based on polysulfones; Coating compositions based on derivatives of such polymers
    • C09D181/02—Polythioethers; Polythioether-ethers
    • C—CHEMISTRY; METALLURGY
    • C09—DYES; PAINTS; POLISHES; NATURAL RESINS; ADHESIVES; COMPOSITIONS NOT OTHERWISE PROVIDED FOR; APPLICATIONS OF MATERIALS NOT OTHERWISE PROVIDED FOR
    • C09J—ADHESIVES; NON-MECHANICAL ASPECTS OF ADHESIVE PROCESSES IN GENERAL; ADHESIVE PROCESSES NOT PROVIDED FOR ELSEWHERE; USE OF MATERIALS AS ADHESIVES
    • C09J181/00—Adhesives based on macromolecular compounds obtained by reactions forming in the main chain of the macromolecule a linkage containing sulfur, with or without nitrogen, oxygen, or carbon only; Adhesives based on polysulfones; Adhesives based on derivatives of such polymers
    • C09J181/02—Polythioethers; Polythioether-ethers
    • C—CHEMISTRY; METALLURGY
    • C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
    • C08K—Use of inorganic or non-macromolecular organic substances as compounding ingredients
    • C08K3/00—Use of inorganic substances as compounding ingredients
    • C08K3/18—Oxygen-containing compounds, e.g. metal carbonyls
    • C08K3/20—Oxides; Hydroxides
    • C08K3/22—Oxides; Hydroxides of metals
    • C08K2003/2248—Oxides; Hydroxides of metals of copper
    • C—CHEMISTRY; METALLURGY
    • C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
    • C08K—Use of inorganic or non-macromolecular organic substances as compounding ingredients
    • C08K3/00—Use of inorganic substances as compounding ingredients
    • C08K3/18—Oxygen-containing compounds, e.g. metal carbonyls
    • C08K3/20—Oxides; Hydroxides
    • C08K3/22—Oxides; Hydroxides of metals
    • C08K2003/2251—Oxides; Hydroxides of metals of chromium

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Organic Chemistry (AREA)
  • Health & Medical Sciences (AREA)
  • Medicinal Chemistry (AREA)
  • Polymers & Plastics (AREA)
  • Human Computer Interaction (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Materials Engineering (AREA)
  • Wood Science & Technology (AREA)
  • Injection Moulding Of Plastics Or The Like (AREA)
  • Manipulator (AREA)
JP2024547165A 2023-01-23 2023-12-19 エンドエフェクタ及びロボットアーム Active JP7754338B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2023008380 2023-01-23
JP2023008380 2023-01-23
PCT/JP2023/045545 WO2024157664A1 (ja) 2023-01-23 2023-12-19 エンドエフェクタ及びロボットアーム

Publications (3)

Publication Number Publication Date
JPWO2024157664A1 JPWO2024157664A1 (https=) 2024-08-02
JPWO2024157664A5 JPWO2024157664A5 (https=) 2024-12-24
JP7754338B2 true JP7754338B2 (ja) 2025-10-15

Family

ID=91970540

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2024547165A Active JP7754338B2 (ja) 2023-01-23 2023-12-19 エンドエフェクタ及びロボットアーム

Country Status (6)

Country Link
EP (1) EP4656336A1 (https=)
JP (1) JP7754338B2 (https=)
KR (1) KR20250110331A (https=)
CN (1) CN120513154A (https=)
TW (1) TW202430343A (https=)
WO (1) WO2024157664A1 (https=)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005349492A (ja) 2004-06-08 2005-12-22 Sharp Corp ロボットハンド
JP2014076524A (ja) 2012-10-11 2014-05-01 Seiko Epson Corp ロボットハンド、ロボット装置及びロボットハンドの製造方法
JP2015175038A (ja) 2014-03-17 2015-10-05 吉田テクノワークス株式会社 樹脂成形品への金属メッキ方法
JP2018163047A (ja) 2017-03-27 2018-10-18 学校法人 龍谷大学 触覚検知装置
JP2018185346A (ja) 2018-08-27 2018-11-22 ミネベアミツミ株式会社 ひずみゲージ
JP2020023045A (ja) 2018-07-26 2020-02-13 東レ株式会社 アーム部材用繊維強化複合材料、アーム部材およびアーム部材の製造方法
JP2021006359A (ja) 2020-03-03 2021-01-21 Dmg森精機株式会社 工作機械のための処理支援装置および処理支援方法

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01110561A (ja) * 1987-10-24 1989-04-27 Calp Corp モーターローター用複合樹脂組成物
JP7254433B2 (ja) 2021-05-31 2023-04-10 Ｎｉｓｓｈａ株式会社 ロボットハンドの触覚センサ付き指およびこれを用いた触覚センサ付きロボットハンド
JP7765904B2 (ja) 2021-07-06 2025-11-07 株式会社日立製作所 割当計画作成システム、方法およびプログラム

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005349492A (ja) 2004-06-08 2005-12-22 Sharp Corp ロボットハンド
JP2014076524A (ja) 2012-10-11 2014-05-01 Seiko Epson Corp ロボットハンド、ロボット装置及びロボットハンドの製造方法
JP2015175038A (ja) 2014-03-17 2015-10-05 吉田テクノワークス株式会社 樹脂成形品への金属メッキ方法
JP2018163047A (ja) 2017-03-27 2018-10-18 学校法人 龍谷大学 触覚検知装置
JP2020023045A (ja) 2018-07-26 2020-02-13 東レ株式会社 アーム部材用繊維強化複合材料、アーム部材およびアーム部材の製造方法
JP2018185346A (ja) 2018-08-27 2018-11-22 ミネベアミツミ株式会社 ひずみゲージ
JP2021006359A (ja) 2020-03-03 2021-01-21 Dmg森精機株式会社 工作機械のための処理支援装置および処理支援方法

Also Published As

Publication number Publication date
JPWO2024157664A1 (https=) 2024-08-02
WO2024157664A1 (ja) 2024-08-02
EP4656336A1 (en) 2025-12-03
CN120513154A (zh) 2025-08-19
TW202430343A (zh) 2024-08-01
KR20250110331A (ko) 2025-07-18

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