KR102452989B1 - 록기구가 있는 컴플라이언스 유닛 - Google Patents

록기구가 있는 컴플라이언스 유닛 Download PDF

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Publication number
KR102452989B1
KR102452989B1 KR1020180077513A KR20180077513A KR102452989B1 KR 102452989 B1 KR102452989 B1 KR 102452989B1 KR 1020180077513 A KR1020180077513 A KR 1020180077513A KR 20180077513 A KR20180077513 A KR 20180077513A KR 102452989 B1 KR102452989 B1 KR 102452989B1
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South Korea
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lock
locking
return
axis
piston
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English (en)
Korean (ko)
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KR20190005755A (ko
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모토히로 사토
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에스엠시 가부시키가이샤
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
    • B25B11/02—Assembly jigs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/10—Aligning parts to be fitted together
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/0063—Connecting non-slidable parts of machine tools to each other
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • B25J17/0233—Compliance devices with radial compliance, i.e. perpendicular to the longitudinal wrist axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Program-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/101—Program-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Program-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/144—Linear actuators

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Actuator (AREA)
KR1020180077513A 2017-07-06 2018-07-04 록기구가 있는 컴플라이언스 유닛 Active KR102452989B1 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017132898A JP6999094B2 (ja) 2017-07-06 2017-07-06 ロック機構付きコンプライアンスユニット
JPJP-P-2017-132898 2017-07-06

Publications (2)

Publication Number Publication Date
KR20190005755A KR20190005755A (ko) 2019-01-16
KR102452989B1 true KR102452989B1 (ko) 2022-10-11

Family

ID=62904258

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020180077513A Active KR102452989B1 (ko) 2017-07-06 2018-07-04 록기구가 있는 컴플라이언스 유닛

Country Status (6)

Country Link
US (1) US10710218B2 (https=)
EP (1) EP3424652B1 (https=)
JP (1) JP6999094B2 (https=)
KR (1) KR102452989B1 (https=)
CN (1) CN109202953B (https=)
TW (1) TWI752236B (https=)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11931888B2 (en) * 2019-01-10 2024-03-19 Ati Industrial Automation, Inc. Robotic tool having selectable compliance modes
CN111185926A (zh) * 2020-01-07 2020-05-22 宁波海迈克自动化科技有限公司 一种大负载且可切换定位方式的气动旋转装置
CN111958514A (zh) * 2020-07-10 2020-11-20 广州市昊志机电股份有限公司 一种零点定位装置
CN113001584B (zh) * 2021-03-05 2022-06-14 电子科技大学 一种可变刚度的机器人柔性关节
CN113829278B (zh) * 2021-10-27 2023-06-09 东风汽车有限公司东风日产乘用车公司 一种车轮定位方法
CN116276695B (zh) * 2021-12-20 2025-11-04 苏州微创关节医疗科技有限公司 用于股骨髁的加工夹具
DE102022204759A1 (de) * 2022-05-16 2023-11-16 Robert Bosch Gesellschaft mit beschränkter Haftung Handhabungs-Ausgleichsvorrichtung mit serieller Federanordnung und optionalen, unterschiedlichen Federsteifigkeiten
CN114905537B (zh) * 2022-06-02 2023-09-05 洛阳尚奇机器人科技有限公司 一种具有柔性的机器人末端法兰接口
US20240359338A1 (en) * 2023-04-27 2024-10-31 Medtronic Navigation, Inc. System And Method for Reducing Tool Vibration At A Variable Stiffness End Effector Of A Surgical System
CN116441907B (zh) * 2023-05-22 2025-09-23 中日龙(襄阳)机电技术开发有限公司 一种误差修正装置

Citations (2)

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JP2001334485A (ja) 2000-05-26 2001-12-04 ▲桜▼井精技株式会社 コンプライアンス装置
US20120207538A1 (en) 2009-08-10 2012-08-16 Re2, Inc. Automated tool change assembly for robotic arm

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IT1047161B (it) * 1975-09-03 1980-09-10 Olivetti & Co Spa Centro di lavorazione per automazione programmabile con dispositivo tattile autoadattivo
FR2527968A1 (fr) * 1982-06-08 1983-12-09 Jaz Ind Poignet souple sensitif pour organe de manipulation
JPS59110593A (ja) * 1982-12-17 1984-06-26 松下電器産業株式会社 物品插入装置
DE3407551A1 (de) * 1984-03-01 1985-09-05 FRENCO Verzahnungslehren GmbH, 8500 Nürnberg Aufnahmekopf fuer mess- und/oder montagevorgaenge
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JPH0796487A (ja) * 1993-08-04 1995-04-11 Asahi Kosan Kk ハンドのフローティング支持装置
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Patent Citations (2)

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Publication number Priority date Publication date Assignee Title
JP2001334485A (ja) 2000-05-26 2001-12-04 ▲桜▼井精技株式会社 コンプライアンス装置
US20120207538A1 (en) 2009-08-10 2012-08-16 Re2, Inc. Automated tool change assembly for robotic arm

Also Published As

Publication number Publication date
JP6999094B2 (ja) 2022-01-18
JP2019014012A (ja) 2019-01-31
CN109202953B (zh) 2022-10-28
CN109202953A (zh) 2019-01-15
TW201906700A (zh) 2019-02-16
US10710218B2 (en) 2020-07-14
KR20190005755A (ko) 2019-01-16
EP3424652A2 (en) 2019-01-09
TWI752236B (zh) 2022-01-11
EP3424652A3 (en) 2019-03-06
US20190009391A1 (en) 2019-01-10
EP3424652B1 (en) 2020-04-01

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