JPWO2019191794A5 - - Google Patents
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- JPWO2019191794A5 JPWO2019191794A5 JP2020554257A JP2020554257A JPWO2019191794A5 JP WO2019191794 A5 JPWO2019191794 A5 JP WO2019191794A5 JP 2020554257 A JP2020554257 A JP 2020554257A JP 2020554257 A JP2020554257 A JP 2020554257A JP WO2019191794 A5 JPWO2019191794 A5 JP WO2019191794A5
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Claims (29)
対象物データ(31)を処理し、かつ、把持モジュール(4)を制御するように形成された設備制御部(3)を備えており、
前記把持モジュール(4)は、互いに協働するように形成された、少なくとも2つの把持顎部(5)を有しており、
前記把持顎部(5)は、監視して移動すべき対象物(2)の少なくとも一部を収容するための中間の収容部(6)を形成し、かつ、
前記把持顎部(5)は、予め定義できるクランプ力(7)を適用することによって、前記把持顎部(5)と前記対象物(2)の少なくとも一部との間に、少なくとも1つの摩擦形式の結合を可能とされて、前記対象物(2)が移動可能とするように形成されており、かつ、移動されて監視される前記対象物(2)の前記対象物データ(31)を収集するための、少なくとも1つのセンサ要素(8)を有する、把持装置(1)において、
少なくとも1つの前記センサ要素(8)は、その前記収容部(6)に面するセンサ領域(9)を有して、少なくとも1つの把持顎部(5)に配置されており、かつ、前記対象物データ(31)の少なくとも一時的な収集によって、前記把持顎部(5)の少なくとも1つに対する前記対象物(2)の相対移動及び/又は相対速度(26)を検出するように、形成されている、ことを特徴とする把持装置(1)。 A gripping device (1) for monitoring and moving an object (2), preferably a sheet metal.
It includes an equipment control unit (3) formed to process object data (31) and control the grip module (4).
The grip module (4) has at least two grip jaws (5) formed to cooperate with each other.
The grasping jaw portion (5) forms an intermediate accommodating portion (6) for accommodating at least a part of the object (2) to be monitored and moved, and
The gripping jaw (5) applies at least one friction between the gripping jaw (5) and at least a portion of the object (2) by applying a predefinable clamping force (7). The object data (31) of the object (2) that is formed so that the object (2) is movable and is moved and monitored so that the form can be combined. In the gripping device (1), which has at least one sensor element (8) for collecting.
The at least one sensor element (8) has a sensor area (9) facing the accommodating portion (6), is located in at least one gripping jaw portion (5), and is the subject. Formed to detect relative movement and / or relative velocity (26) of the object (2) with respect to at least one of the gripping jaws (5) by at least temporary collection of object data (31). The gripping device (1).
ばね力(44)に対して弱いクランプ力で取ることができる前記静止位置(18)において、前記摩擦ライニング(22)は、前記固定手段(17)を越えて突き出すように配置されており、
かつ、ばね力(44)に対して強いクランプ力で取ることができる前記作動位置(19)において、前記対象物(2)表面の少なくとも一部に、少なくとも点状の固定力(20)を適用するために、前記摩擦ライニング(22)は、前記固定手段(17)に対して後退して配置されている、
ことを特徴とする請求項10に記載の把持装置(1)。 The at least one gripping jaw portion (5) comprises at least one fixing means (17) formed on the gripping jaw portion (5), and the friction lining (22) is movable and has a spring force (2). It is formed in the direction of the clamping force (7) between the stationary position (18) and the operating position (19) so as to apply a load in advance by 44).
At the stationary position (18), which can be taken with a weak clamping force with respect to the spring force (44), the friction lining (22) is arranged so as to protrude beyond the fixing means (17).
In addition, at least a point-shaped fixing force (20) is applied to at least a part of the surface of the object (2) at the operating position (19) which can be taken with a strong clamping force against the spring force (44). In order to do so, the friction lining (22) is retracted with respect to the fixing means (17).
The gripping device (1) according to claim 10.
-請求項1から請求項16の何れか1項に記載の把持装置(1)を設けるステップであって、前記把持装置(1)は、把持モジュール(4)を備えており、前記把持モジュール(4)は、互いに協働するように形成された少なくとも2つの把持顎部(5)を有しており、前記把持顎部(5)は、監視されると共に移送されるべき対象物(2)の少なくとも一部を収容するための、中間の収容部(6)を形成すると共に、予め定義することができるクランプ力(7)を適用することによって、前記把持顎部(5)と前記対象物(2)の少なくとも一部との間の少なくとも1つの摩擦形式の結合が可能とされ、これによって、前記対象物(2)が、移動可能であるように、形成されており、かつ、前記把持モジュール(4)は、移動されると共に監視されるべき前記対象物(2)の対象物データ(31)を収集するための、少なくとも1つのセンサ要素(8)を有しており、少なくとも1つの前記センサ要素(8)は、前記収容部(6)に面するセンサ領域(9)を有している、少なくとも1つの把持顎部(5)に配置されており、かつ、前記対象物データ(31)の少なくとも一時的な収集によって、前記把持顎部(5)の少なくとも1つに対する前記対象物(2)の相対移動及び/又は相対速度(26)を検出するように、形成されている、ステップと、
-少なくとも1つの移動すべき前記対象物(2)を設けるステップと、
-前記把持装置(1)の前記把持顎部(5)を用いて、移動すべき前記対象物(2)を把持するステップと、
-前記対象物(2)を、予め定義可能な移動シーケンスに従って移動するステップであって、
――前記把持装置(1)の移動データ(40)の収集が行われると共に、
――設備制御部(3)によって、前記移動データ(40)の少なくとも周期的な評価が行われ、かつ
――少なくとも1つのセンサ要素(8)を用いて、把持されて、移動される前記対象物(2)の前記対象物データ(31)の収集が行われると共に、
――前記設備制御部(3)内で前記対象物データ(31)の少なくとも周期的な評価が行われ、かつ、
――前記対象物データ(31)と前記移動データ(40)との少なくとも周期的な比較が、少なくとも1つの前記把持顎部(5)に対する移動すべき対象物(2)の相対移動及び/又は相対速度(26)に対応する、可能性のある偏差を検出するために、使用されており、
―――いずれの偏差も通常作動に相当せず、かつ、予め定義された移動シーケンスが終了される、又は、
―――偏差が検出された場合に、前記設備制御部(3)を介して、少なくとも1つの、好ましくは複数の、対策(29)が始動される、ステップと、
を備えた方法。 A method for monitoring and moving an object (2), preferably sheet metal.
-A step of providing the gripping device (1) according to any one of claims 1 to 16, wherein the gripping device (1) includes a gripping module (4), and the gripping module (1) is provided. 4) has at least two gripping jaws (5) formed to cooperate with each other, said gripping jaws (5) being monitored and transferred to an object (2). By forming an intermediate accommodating portion (6) for accommodating at least a portion of the above and applying a pre-definable clamping force (7), the gripping jaw portion (5) and the object. At least one frictional form of coupling with at least a portion of (2) is allowed, whereby the object (2) is formed to be mobile and the grip. Module (4) has at least one sensor element (8) for collecting object data ( 31 ) of said object (2) to be moved and monitored. The sensor element (8) is arranged in at least one gripping jaw portion (5) having a sensor region (9) facing the accommodating portion (6), and the object data ( 31 ) are formed to detect relative movement and / or relative velocity (26) of the object (2) with respect to at least one of the gripping jaws (5) by at least temporary collection. Steps and
-A step of providing at least one object (2) to be moved, and
-A step of gripping the object (2) to be moved by using the grip jaw portion (5) of the gripping device (1).
-A step of moving the object (2) according to a predefined movement sequence.
--The movement data (40) of the gripping device (1) is collected, and at the same time, the movement data (40) is collected.
--The equipment control unit (3) performs at least periodic evaluation of the movement data (40), and --the object being gripped and moved using at least one sensor element (8). The object data (31) of the object (2) is collected, and at the same time, the object data (31) is collected.
--At least periodic evaluation of the object data ( 31 ) is performed in the equipment control unit (3), and
--At least a periodic comparison of the object data ( 31 ) and the movement data (40) is relative movement and / or movement of the object (2) to be moved with respect to at least one gripping jaw (5). Used to detect possible deviations corresponding to the relative velocity (26),
――― Neither deviation corresponds to normal operation, and the predefined movement sequence is terminated or
――― When a deviation is detected, at least one, preferably a plurality, countermeasures (29) are started via the equipment control unit (3).
A method equipped with.
前記第1の段階(27)の少なくとも1つの対策(29)として、
-前記把持顎部(5)の前記クランプ力(7)の増加、及び/又は、
-前記把持装置(1)の走行速度(30)の低速化と、
-固定手段(17)の作動位置(19)と、
-第1の光学式警告信号の始動と、
-第1の音響式警告信号の始動と、
-移動される前記対象物(2)の垂直方向における下降と、
のグループの中から始動される、ことを特徴とする請求項17から請求項20の何れか1項に記載の方法。 The initiation of the at least one measure (29) is performed in two steps according to the range of the relative speed (26), and the at least one measure (29) in the first step has reached the first threshold (41). When started, and at least one measure (29) in the second stage is started when the second threshold (42) is reached.
As at least one measure (29) of the first step (27),
-Increase in the clamping force (7) of the gripping jaw (5) and / or
-Reducing the traveling speed (30) of the gripping device (1) and
-The operating position (19) of the fixing means (17) and
-Starting the first optical warning signal,
-Starting the first acoustic warning signal,
-The vertical descent of the moving object (2) and
The method according to any one of claims 17 to 20, wherein the method is started from within the group of.
前記第2の段階(28)の少なくとも1つの対策(29)として、
-前記把持装置(1)の移動の停止と、
-第1の光学式警告信号、又は、前記第1の光学式警告信号とは異なる第2の光学式警告信号の始動と、
-第1の音響式警告信号、又は、前記第1の音響式警告信号とは異なる第2の音響式警告信号の始動と、
のグループの中から始動される、ことを特徴とする請求項17から請求項21の何れか1項に記載の方法。 The initiation of the at least one measure (29) is performed in two steps according to the range of the relative speed (26), and the at least one measure (29) in the first step has reached the first threshold (41). When started, and at least one measure (29) in the second stage is started when the second threshold (42) is reached.
As at least one measure (29) of the second step (28),
-Stopping the movement of the gripping device (1) and
-Starting of a first optical warning signal or a second optical warning signal different from the first optical warning signal.
-Starting of the first acoustic warning signal or a second acoustic warning signal different from the first acoustic warning signal.
The method according to any one of claims 17 to 21, wherein the method is started from the group of.
前記警告領域(32)内で異物が検出された場合に、前記第1の段階(27)の前記対策(29)が始動される、ことを特徴とする請求項26に記載の方法。 The initiation of the at least one measure (29) is performed in two steps according to the range of the relative speed (26), and the at least one measure (29) in the first step has reached the first threshold (41). When started, and at least one measure (29) in the second stage is started when the second threshold (42) is reached.
The method according to claim 26, wherein when the foreign matter is detected in the warning area (32), the countermeasure (29) of the first step (27) is started.
前記停止領域(33)内で異物が検出された場合に、前記第2の段階(28)の前記対策(29)が始動される、ことを特徴とする請求項26又は請求項27に記載の方法。 The initiation of the at least one measure (29) is performed in two steps according to the range of the relative speed (26), and the at least one measure (29) in the first step has reached the first threshold (41). When started, and at least one measure (29) in the second stage is started when the second threshold (42) is reached.
26 or 27, wherein when the foreign matter is detected in the stop region (33), the countermeasure (29) of the second step (28) is started. Method.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ATA50273/2018 | 2018-04-04 | ||
ATA50273/2018A AT521039B1 (en) | 2018-04-04 | 2018-04-04 | Apparatus and method for monitoring relative movements |
PCT/AT2019/060110 WO2019191794A1 (en) | 2018-04-04 | 2019-04-02 | Device and method for monitoring relative movements |
Publications (3)
Publication Number | Publication Date |
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JP2021520301A JP2021520301A (en) | 2021-08-19 |
JPWO2019191794A5 true JPWO2019191794A5 (en) | 2022-03-10 |
JP7358381B2 JP7358381B2 (en) | 2023-10-10 |
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JP2020554257A Active JP7358381B2 (en) | 2018-04-04 | 2019-04-02 | Apparatus and method for monitoring relative movement |
Country Status (6)
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US (1) | US11964319B2 (en) |
EP (1) | EP3774198B1 (en) |
JP (1) | JP7358381B2 (en) |
CN (1) | CN111936275A (en) |
AT (1) | AT521039B1 (en) |
WO (1) | WO2019191794A1 (en) |
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CN113942768B (en) * | 2021-09-15 | 2023-03-28 | 长沙中联重科环境产业有限公司 | Method, device and equipment for controlling telescopic arm bucket-holding feeding mechanism and sanitation vehicle |
CN116277083A (en) * | 2022-12-06 | 2023-06-23 | 北京思灵机器人科技有限责任公司 | Clamping device |
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2018
- 2018-04-04 AT ATA50273/2018A patent/AT521039B1/en active
-
2019
- 2019-04-02 CN CN201980024317.XA patent/CN111936275A/en active Pending
- 2019-04-02 JP JP2020554257A patent/JP7358381B2/en active Active
- 2019-04-02 WO PCT/AT2019/060110 patent/WO2019191794A1/en active Search and Examination
- 2019-04-02 EP EP19723626.8A patent/EP3774198B1/en active Active
- 2019-04-02 US US16/981,792 patent/US11964319B2/en active Active
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