PL3909727T3 - Urządzenie operacyjne - Google Patents

Urządzenie operacyjne

Info

Publication number
PL3909727T3
PL3909727T3 PL21173337.3T PL21173337T PL3909727T3 PL 3909727 T3 PL3909727 T3 PL 3909727T3 PL 21173337 T PL21173337 T PL 21173337T PL 3909727 T3 PL3909727 T3 PL 3909727T3
Authority
PL
Poland
Prior art keywords
operating device
operating
Prior art date
Application number
PL21173337.3T
Other languages
English (en)
Inventor
Fabio Federici
Fabio Perrone
Original Assignee
Soremartec S.A.
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 Soremartec S.A. filed Critical Soremartec S.A.
Publication of PL3909727T3 publication Critical patent/PL3909727T3/pl

Links

Classifications

    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1684—Tracking a line or surface by means of sensors
    • 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
    • B25J13/086—Proximity sensors
    • 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
    • B25J19/027—Electromagnetic 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
    • B25J19/04—Viewing 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
    • B25J19/06—Safety 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
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • 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
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2021—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a horizontal axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40202—Human robot coexistence

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Manipulator (AREA)
PL21173337.3T 2020-05-12 2021-05-11 Urządzenie operacyjne PL3909727T3 (pl)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT202000010804 2020-05-12

Publications (1)

Publication Number Publication Date
PL3909727T3 true PL3909727T3 (pl) 2023-05-08

Family

ID=71784550

Family Applications (1)

Application Number Title Priority Date Filing Date
PL21173337.3T PL3909727T3 (pl) 2020-05-12 2021-05-11 Urządzenie operacyjne

Country Status (8)

Country Link
US (1) US11801603B2 (pl)
EP (1) EP3909727B1 (pl)
JP (1) JP7707478B2 (pl)
KR (1) KR20210139169A (pl)
CN (1) CN113650054B (pl)
CA (1) CA3117643A1 (pl)
IL (1) IL283101B2 (pl)
PL (1) PL3909727T3 (pl)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102518382B1 (ko) 2021-10-19 2023-04-06 주식회사 베터리얼 탄소나노튜브 분산액, 이의 제조방법, 이를 포함하는 전극 슬러리 조성물, 이를 포함하는 전극 및 이를 포함하는 리튬 이차전지
DE102022131773A1 (de) 2022-11-30 2024-06-06 Pilz Gmbh & Co. Kg Sicherheitsvorrichtung zum Absichern eines Gefahrenbereichs einer automatisiert arbeitenden Maschine, insbesondere eines Roboters
DE102022131775A1 (de) 2022-11-30 2024-06-06 Pilz Gmbh & Co. Kg Sicherheitsvorrichtung zum Absichern eines Gefahrenbereichs einer automatisiert arbeitenden Maschine, insbesondere eines Roboters

Family Cites Families (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4831549A (en) * 1987-07-28 1989-05-16 Brigham Young University Device and method for correction of robot inaccuracy
JP2005219161A (ja) * 2004-02-05 2005-08-18 Matsushita Electric Ind Co Ltd ロボット把持制御装置及びロボット把持制御システム
JP3927994B2 (ja) * 2004-10-19 2007-06-13 松下電器産業株式会社 ロボット装置
JP4460528B2 (ja) * 2004-12-14 2010-05-12 本田技研工業株式会社 識別対象識別装置およびそれを備えたロボット
GB0608927D0 (en) * 2006-05-08 2006-06-14 Accentus Plc Catalytic Reactor
DE202007010884U1 (de) * 2007-08-03 2007-09-27 Sick Ag Überwachungsvorrichtung mit Nachführung des Bildsensors, um ein gefährdendes bewegliches Maschinenteil im Sichtfeld zu halten
JP4648486B2 (ja) * 2009-01-26 2011-03-09 ファナック株式会社 人間とロボットとの協調動作領域を有する生産システム
DE102012014249B4 (de) * 2012-07-19 2014-04-03 Audi Ag Schutzvorrichtung zur Bewegungsabsicherung eines über mehrere Achsen verstellbaren Roboterarms
US9452532B2 (en) * 2014-01-27 2016-09-27 Panasonic Intellectual Property Management Co., Ltd. Robot, device and method for controlling robot, and computer-readable non-transitory recording medium
WO2015146850A1 (ja) * 2014-03-28 2015-10-01 ソニー株式会社 ロボットアーム装置、ロボットアーム装置の制御方法及びプログラム
KR102292155B1 (ko) * 2014-09-30 2021-08-25 아우리스 헬스, 인크. 가상 레일 및 가요성 내시경을 구비하는 구성 변경 가능한 로봇 수술 시스템
EP3017920B1 (en) * 2014-11-07 2017-08-23 Comau S.p.A. An industrial robot and a method for controlling an industrial robot
CN107107349B (zh) * 2014-12-26 2019-11-22 川崎重工业株式会社 机械臂系统
DE102015200428B3 (de) * 2015-01-14 2016-03-17 Kuka Roboter Gmbh Verfahren zur Ausrichtung eines mehrachsigen Manipulators mit einem Eingabegerät
US9408452B1 (en) * 2015-11-19 2016-08-09 Khaled A. M. A. A. Al-Khulaifi Robotic hair dryer holder system with tracking
CA3008562A1 (en) * 2015-12-16 2017-06-22 Mbl Limited Robotic manipulation methods and systems for executing a domain-specific application in an instrumented environment with containers and electronic minimanipulation libraries
DE112017002639T5 (de) * 2016-05-26 2019-03-28 Mitsubishi Electric Corporation Robotersteuerungsvorrichtung
CN107717982B (zh) * 2016-08-12 2020-09-25 财团法人工业技术研究院 机械手臂的控制装置及操作方法
EP3513300B1 (en) * 2016-09-16 2025-11-12 Verb Surgical Inc. Multi-degree of freedom sensor
WO2018053349A1 (en) * 2016-09-16 2018-03-22 Verb Surgical Inc. Robotic arms
EP3529675B1 (de) * 2016-10-21 2022-12-14 Trumpf Werkzeugmaschinen GmbH + Co. KG Innenraum-personenortung-basierte fertigungssteuerung in der metallverarbeitenden industrie
JP6479264B2 (ja) * 2017-01-13 2019-03-06 三菱電機株式会社 協働ロボットシステム、及びその制御方法
DE102017202004A1 (de) 2017-02-08 2018-08-09 Thyssenkrupp Ag Vorrichtung zur Absicherung eines maschinell gesteuerten Handhabungsgeräts und Verfahren
CN206493338U (zh) * 2017-02-22 2017-09-15 韩山师范学院 一种可记录位移的自平衡及避障的机械臂
JP2018176397A (ja) * 2017-04-21 2018-11-15 オムロン株式会社 ロボットシステム
JP7049069B2 (ja) * 2017-05-19 2022-04-06 川崎重工業株式会社 ロボットシステム及びロボットシステムの制御方法
CA3030734C (en) * 2017-06-16 2023-01-10 Robotiq Inc. Robotic arm camera system and method
EP3418010B1 (en) * 2017-06-23 2019-09-18 Comau S.p.A. A functional assembly for an industrial machine, in particular for a robot, including an operative unit equipped with a safety cover
JP7329902B2 (ja) * 2017-08-25 2023-08-21 オムロン株式会社 ロボット制御装置、ロボットシステム、ロボット制御方法、および、ロボット制御プログラム
JP7206638B2 (ja) * 2018-06-01 2023-01-18 セイコーエプソン株式会社 ロボット、制御装置およびロボットの制御方法
EP3578319B1 (de) * 2018-06-07 2021-01-20 Sick Ag Verfahren zum absichern einer gefahrenstelle
EP3578320B1 (de) * 2018-06-07 2021-09-15 Sick Ag Konfigurieren einer von einem 3d-sensor überwachten gefahrenstelle
JP7155660B2 (ja) * 2018-06-26 2022-10-19 セイコーエプソン株式会社 ロボット制御装置およびロボットシステム
US10795342B1 (en) * 2019-04-01 2020-10-06 The Boeing Company Proximity detection in assembly environments having machinery
CN110507417A (zh) * 2019-08-30 2019-11-29 上海声勤信息科技有限公司 一种手术室医用机械臂防撞系统

Also Published As

Publication number Publication date
US11801603B2 (en) 2023-10-31
EP3909727B1 (en) 2022-12-28
KR20210139169A (ko) 2021-11-22
IL283101A (en) 2021-12-01
CN113650054B (zh) 2025-04-22
EP3909727A1 (en) 2021-11-17
JP7707478B2 (ja) 2025-07-15
IL283101B2 (en) 2024-11-01
JP2021178400A (ja) 2021-11-18
IL283101B1 (en) 2024-07-01
US20210354296A1 (en) 2021-11-18
CA3117643A1 (en) 2021-11-12
CN113650054A (zh) 2021-11-16

Similar Documents

Publication Publication Date Title
EP4402956C0 (en) DEVICE POSITIONING
EP4252869C0 (en) HOOK AND HANDLE DEVICE
DK4087797T3 (da) Bevægelsesindretning
EP4051393C0 (de) Slackline-vorrichtung
PL3909727T3 (pl) Urządzenie operacyjne
EP4153103C0 (en) OSTOMY DEVICE
EP4371518A4 (en) MOVING DEVICE
EP4063026C0 (de) Auftragsvorrichtung
EP4321054A4 (en) SLIDING DEVICE
DK4341516T3 (da) Afdækningsanordning
EP4336207A4 (en) POSITIONING DEVICE
EP4162292C0 (en) LOCATION DETERMINATION DEVICE
EP3992475C0 (en) CONNECTION DEVICE
EP4119469C0 (de) Hub-kipp-vorrichtung
IL309761A (en) Abatement apparatus
EP4400228A4 (en) Molding device
EP4394197A4 (en) Sliding device
EP4279118A4 (en) Connection device
EP4106659A4 (en) SEO DEVICE
EP4117546A4 (en) Approximation device
EP3964073A4 (en) Slitting apparatus
EP4181325A4 (en) Connector device
EP3919683C0 (de) Verbindungsvorrichtung
EP3876254C0 (en) SWITCHING DEVICE
EP4343806A4 (en) ACTUATING DEVICE