KR960007114A - 가변 원격탄성중심기기(vrcc) - Google Patents

가변 원격탄성중심기기(vrcc) Download PDF

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Publication number
KR960007114A
KR960007114A KR1019940020470A KR19940020470A KR960007114A KR 960007114 A KR960007114 A KR 960007114A KR 1019940020470 A KR1019940020470 A KR 1019940020470A KR 19940020470 A KR19940020470 A KR 19940020470A KR 960007114 A KR960007114 A KR 960007114A
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KR
South Korea
Prior art keywords
center
variable
elastic
bevel gear
change
Prior art date
Application number
KR1019940020470A
Other languages
English (en)
Other versions
KR0133995B1 (ko
Inventor
주상완
Original Assignee
주상완
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 주상완 filed Critical 주상완
Priority to KR1019940020470A priority Critical patent/KR0133995B1/ko
Priority to US08/633,784 priority patent/US5836083A/en
Priority to PCT/JP1995/001638 priority patent/WO1996005947A1/ja
Priority to JP50793396A priority patent/JP3743835B2/ja
Publication of KR960007114A publication Critical patent/KR960007114A/ko
Application granted granted Critical
Publication of KR0133995B1 publication Critical patent/KR0133995B1/ko

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Classifications

    • 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
    • B23P19/102—Aligning parts to be fitted together using remote centre compliance 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
    • 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
    • B23P19/12—Alignment of parts for insertion into bores
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Springs (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)

Abstract

본 발명은 RCC의 탄성중심을 변위시키는 것을 목적으로 한 가변 원격탄성 중심기기에 관한 것으로, 상부구조체와 하부구조체 사이에 설치된 탄성체를 구조체의 중심에서 방사상으로 동시에 동일거리로 이동시켜서 기기본체의 중심축 방향으로 탄성중심의 설정치를 가변되게 함과 동시에 하부구조체의 탄성력을 변화되게 한 것임.

Description

가변 원격탄성중심기기(VRCC)
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제 2도는 콤프라이언스센터가 조립 부품의 선단에 존재하지 않을 경우의 우미한 조립상태를 나타낸 것으로써, (가)는 콤프라이언스센터보다 긴 제품을 삽입할 때 오차가 생겼을 경우를 나타낸 것이고, (나)는 콤프라이언스센터보다 짧은 제품을 조립할 때 오차가 생겼을 경우를 나타낸 것이다,
제 3도는 본 발명의 측면도로써, (가)는 구동수단이 상부구조체에만 설치된 경우를 나타낸 것이고, (나)는 구동수단이 상 ·하부 구조체 전부에 설치된 경우를 나타낸 것이다. (점선표시는 탄성체가 이동되는 위치를 일예로 표시한 것이다.),
제 4도는 본 발명의 이동수단을 측면과 평면으로 도시한 것이다,
제 5도는 본 발명의 또다른 구동수단을 도시한 것이다.

Claims (5)

  1. 상부구조체와 하부구조체 사이에 설치된 탄성체의 상부가 상사상으로 동시에 동일거리를 전후 이동되게 하여 기기본체의 중심축 방향으로 탄성중심의 위치를 가변되게 함과 동시에 하부구조체의 탄성력이 변화되도록 한 가변 원격탄성중심기기.
  2. 상부구조체와 하부구조체 사이에 설치된 탄성체는 구조체 중앙에 구비된 구동수단에 의해 방사상으로 동시에 동일거리를 전후 이동되게 하여 기기본체의 중심축 방향으로 탄성중심의 위치를 가변되도록 한 가변 원격탄성중심기기.
  3. 제2항에 있어서, 탄성체는 구조체에서 방사상으로 이동되는 슬라이더에 의해 지지된 것을 특징으로 하는 가변 원격탄성중심기기.
  4. 제2항에 있어서, 구동수단은 구조체의 중심부에서 회전하는 구동측베벨기어와 이 구동측베벨기어에 의해 연동되는 피동측베벨기어로 구성되고, 피동측 베벨기어에는 나사축이 축설되고 이 나사축에 나사끼움된 슬라이더로 구성된 것을 특징으로 하는 가변 원격탄성중심기기.
  5. 제4항에 있어서, 슬라이더는 구조체의 슬라이드홈에 결합되어 수평이동되게 한 것을 특징으로 하는 가변 원격탄성중심기기.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019940020470A 1994-08-19 1994-08-19 가변 원격탄성중심기기(vrcc) KR0133995B1 (ko)

Priority Applications (4)

Application Number Priority Date Filing Date Title
KR1019940020470A KR0133995B1 (ko) 1994-08-19 1994-08-19 가변 원격탄성중심기기(vrcc)
US08/633,784 US5836083A (en) 1994-08-19 1995-08-18 Remote elastic center machine
PCT/JP1995/001638 WO1996005947A1 (fr) 1994-08-19 1995-08-18 Machine a centre d'elasticite distant
JP50793396A JP3743835B2 (ja) 1994-08-19 1995-08-18 遠隔弾性中心機器

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019940020470A KR0133995B1 (ko) 1994-08-19 1994-08-19 가변 원격탄성중심기기(vrcc)

Publications (2)

Publication Number Publication Date
KR960007114A true KR960007114A (ko) 1996-03-22
KR0133995B1 KR0133995B1 (ko) 1998-04-23

Family

ID=19390701

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019940020470A KR0133995B1 (ko) 1994-08-19 1994-08-19 가변 원격탄성중심기기(vrcc)

Country Status (4)

Country Link
US (1) US5836083A (ko)
JP (1) JP3743835B2 (ko)
KR (1) KR0133995B1 (ko)
WO (1) WO1996005947A1 (ko)

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Publication number Priority date Publication date Assignee Title
KR20040034109A (ko) * 2002-10-21 2004-04-28 (주)새론휠러 왕겨 소성장치
WO2004103474A1 (en) * 2003-05-23 2004-12-02 Sun Yoo Jeun Safety escape chute apparatus
KR100470347B1 (ko) * 2001-07-16 2005-02-07 주상완 압입용 탄성중심기기
KR101440952B1 (ko) * 2013-06-28 2014-09-17 주식회사 싸이텍 자동 조심형 압입 유니트

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KR100374783B1 (ko) 2000-03-03 2003-03-04 학교법인 포항공과대학교 순응 중심 가변형 원격 순응 중심 장치
US6431019B1 (en) * 2001-03-21 2002-08-13 The United States Of America As Represented By The Secretary Of The Navy Low cost, high-strength robotic arm
US6671975B2 (en) * 2001-12-10 2004-01-06 C. William Hennessey Parallel kinematic micromanipulator
US6792689B2 (en) * 2003-01-08 2004-09-21 Sang-Wan Joo Remote center compliance device
US8956421B2 (en) 2007-02-06 2015-02-17 Deka Products Limited Partnership Dynamic support apparatus and system
JP5201888B2 (ja) * 2006-06-22 2013-06-05 ジュー，サン−ワン 一つの弾性体で構成された弾性中心機器
US11779476B2 (en) 2007-02-06 2023-10-10 Deka Products Limited Partnership Arm prosthetic device
US8449624B2 (en) * 2007-02-06 2013-05-28 Deka Products Limited Partnership Arm prosthetic device
US8864845B2 (en) * 2007-02-06 2014-10-21 DEKA Limited Partnership System for control of a prosthetic device
CA2679616C (en) 2007-02-06 2015-10-06 David E. Altobelli Dynamic support apparatus
US10426638B2 (en) 2007-02-06 2019-10-01 Deka Products Limited Partnership Arm prosthetic device
CA2679633C (en) * 2007-02-06 2017-07-11 Christopher C. Langenfeld Arm prosthetic device
US8979943B2 (en) 2007-02-06 2015-03-17 Deka Products Limited Partnership Arm prosthetic device
US8821587B2 (en) * 2007-02-06 2014-09-02 Deka Products Limited Partnership Apparatus for control of a prosthetic
US8453340B2 (en) 2007-02-06 2013-06-04 Deka Products Limited Partnership System, method and apparatus for orientation control
US9114030B2 (en) 2007-02-06 2015-08-25 Deka Products Limited Partnership System for control of a prosthetic device
JP4852705B2 (ja) * 2007-02-21 2012-01-11 国立大学法人東京工業大学 可変剛性機構及び該機構を備えたロボット用関節機構
KR100912104B1 (ko) * 2008-02-14 2009-08-13 한국과학기술연구원 강성 발생 장치, 강성 제어 방법 및 이를 구비하는 로봇머니퓰레이터의 조인트
US8443526B2 (en) * 2008-11-05 2013-05-21 Nexen Group, Inc. Robot compliance device
US8215199B2 (en) * 2008-11-17 2012-07-10 Marcroft Sacha L Parallel kinematic positioning system
WO2011127410A2 (en) 2010-04-09 2011-10-13 Deka Products Limited Partnership System and apparatus for robotic device and methods of using thereof
US9862073B2 (en) 2014-08-27 2018-01-09 Flow International Corporation End effector adjustment systems and methods
KR101682358B1 (ko) * 2016-04-01 2016-12-07 한국기계연구원 가변 수동 강성 그리퍼
KR101688867B1 (ko) * 2016-04-01 2016-12-22 한국기계연구원 변위 측정이 가능한 수동 강성 그리퍼 및 가변 수동 강성 그리퍼
WO2017171303A1 (ko) * 2016-04-01 2017-10-05 한국기계연구원 수동 강성 그리퍼
KR101641204B1 (ko) * 2016-04-01 2016-07-20 한국기계연구원 변위 측정이 가능한 가변 수동 강성 그리퍼
US11318626B1 (en) * 2018-03-02 2022-05-03 Empower Robotics Corporation Compliant joint for a robotic arm
CN111015203A (zh) * 2019-12-31 2020-04-17 广东大唐国际肇庆热电有限责任公司 一种自动式燃气轮机对中安装调节装置及调节方法
FR3106517B1 (fr) * 2020-01-29 2022-02-04 Airbus Operations Sas Système et procédé destinés à installer une fixation aveugle dans un site de fixation.

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100470347B1 (ko) * 2001-07-16 2005-02-07 주상완 압입용 탄성중심기기
KR20040034109A (ko) * 2002-10-21 2004-04-28 (주)새론휠러 왕겨 소성장치
WO2004103474A1 (en) * 2003-05-23 2004-12-02 Sun Yoo Jeun Safety escape chute apparatus
KR101440952B1 (ko) * 2013-06-28 2014-09-17 주식회사 싸이텍 자동 조심형 압입 유니트

Also Published As

Publication number Publication date
KR0133995B1 (ko) 1998-04-23
WO1996005947A1 (fr) 1996-02-29
US5836083A (en) 1998-11-17
JP3743835B2 (ja) 2006-02-08

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