WO2003070433A1 - Manipulateur mobile de plafond - Google Patents

Manipulateur mobile de plafond Download PDF

Info

Publication number
WO2003070433A1
WO2003070433A1 PCT/JP2003/001204 JP0301204W WO03070433A1 WO 2003070433 A1 WO2003070433 A1 WO 2003070433A1 JP 0301204 W JP0301204 W JP 0301204W WO 03070433 A1 WO03070433 A1 WO 03070433A1
Authority
WO
WIPO (PCT)
Prior art keywords
moving
guide
ceiling space
rotation guide
fixed
Prior art date
Application number
PCT/JP2003/001204
Other languages
English (en)
Japanese (ja)
Inventor
Ken Yanagisawa
Original Assignee
Ken Yanagisawa
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 Ken Yanagisawa filed Critical Ken Yanagisawa
Priority to AU2003207245A priority Critical patent/AU2003207245A1/en
Publication of WO2003070433A1 publication Critical patent/WO2003070433A1/fr

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
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • 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
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

Definitions

  • the present invention relates to a ceiling space moving device.
  • the fixedly installed work robot itself occupies the floor area, thereby reducing the automation space.
  • the fixedly installed work robot device can have a work area only in the area that spreads radially from the base point where the work robot is installed, so a “blind spot” occurs in the work area. In other words, work can only be performed in the space facing the working robot device, and work cannot be performed in the space on the opposite side.
  • the size of the work area of the fixedly installed work robot is basically proportional to the length (or stroke) of the arm of the robot. In order to expand the work area, the length of the robot arm must be increased. However, the longer the robot arm, the lower the accuracy and mounting load of the robot arm tip.
  • this overhead traveling crane mechanism is generally a wheel-driven mechanism, and the mass of the moving part increases as the mechanism size increases, and high-speed motion performance cannot be ensured, and backlash (gap) interposed in the mechanism increases. However, vibration and noise are generated, and a decrease in accuracy cannot be suppressed.
  • the present invention has been made to solve the above-mentioned problems, and the object thereof is to achieve a high-precision high-speed motion performance that can reduce the occurrence of backlash, vibration, and noise while having a relatively simple configuration.
  • a ceiling space moving device is provided at an upper part of a room, a pair of first guides extending in parallel with a first horizontal direction, and a first guide provided at an upper part of the room.
  • a second guide that extends in parallel to the second horizontal horizontal direction and forms a rectangular frame with the first guide in the upper space in the room; and the second guide along each of the first guides.
  • a pair of first moving bodies that can move in one direction, a first moving beam that connects the pair of first moving bodies, and that can move in the first direction together with the first moving body,
  • a first rotating guide provided on one of the pair of first moving bodies, a second rotating guide provided on the other of the pair of first moving bodies, and tension applied to the first rotating guide;
  • the first rotation guide and the second rotation guide are hung from opposite directions to each other, and one end is connected to the first rotation guide.
  • a third long strip member pulled out from the guide in the opposite direction to the one end and fixed to the fixing portion, and a tension is applied, and the third rotation guide and the fourth The one end is pulled out from the third rotation guide in a direction opposite to the direction in which the one end of the third 'strip member is pulled out, and is fixed to the fixed portion. The end is pulled out from the fourth rotation guide in the direction opposite to the one end, and is fixed to the fixed portion.
  • the long fourth strip member, and the second moving beam is moved in the second direction.
  • a second drive unit for moving the first and second moving beams, and the first and second moving beams are movably passed through the first and second moving beams.
  • FIG. 1 is a principle diagram of the ceiling space moving device
  • FIG. 2 is a perspective view of the ceiling space moving device
  • FIG. 3 is an explanatory diagram showing a structure of the first moving beam
  • FIG. FIG. 5 is an explanatory cross-sectional view of the slider portion
  • FIG. 5 is an explanatory cross-sectional view of the slider portion from a direction orthogonal to FIG. 4
  • FIG. 6 is an explanatory diagram of a state where a working head is attached.
  • FIG. 1 is a principle diagram of the ceiling space moving device 10
  • FIG. 2 is a perspective view.
  • Reference numerals 12a and 12b denote a pair of first guides which are disposed on the upper part of the room, for example, on a wall surface, and extend parallel to a first horizontal direction (for example, the X direction).
  • the 14a and 14b are second guides, which are disposed in the upper part of the room, for example, on the wall surface, and are orthogonal to the first guides 12a and 12b, and are in the second horizontal direction (for example, the Y direction).
  • the first guides 12a and 12b extend in parallel and form a rectangular frame 15 in the upper space of the room.
  • the rectangular frame 15 can be, for example, as large as 20 m ⁇ 30 m.
  • 16a and 16b are a pair of first moving bodies that can move in the first direction along the first guides 12a and 12b.
  • the first guides 12a, 12b are, for example, square pipes as shown in FIG. 3, and the first moving bodies 16a, 16b are provided on the first guides 12a, 12b.
  • a roller 18 composed of a rolling rubber roller or the like is provided. Thus, each of the first moving bodies 16a and 16b smoothly moves on the first guides 12a and 12b.
  • 20a and 20b are a pair of second moving bodies, and have the same structure as the first moving bodies 16a and 16b, and in the second direction along each second guide 14a and 14b. It is possible to move to.
  • 22 is a first moving beam, for example, consisting of a square pipe, both ends of which are connected to the first moving body 16a, 16b by bolts or the like, and the first moving body 16a, 1 It is movable in the first direction together with 6b.
  • Reference numeral 24 denotes a second moving beam, which is, for example, formed of a square pipe, and both ends are connected to the second moving bodies 20a and 20b by a port or the like, and together with the second moving bodies 20a and 20b, in the second direction. Can be moved to
  • Reference numeral 26 denotes a first rotation guide, which is disposed on the first moving body 16a. As shown in FIG. 3, the first rotation guide 26 is composed of two upper and lower coaxial pulleys 26a and 26b.
  • Reference numeral 28 denotes a second rotation guide, which is disposed on the first moving body 16b. As shown in FIG. 3, the second rotation guide 28 is a two-stage coaxial pulley 2
  • reference numeral 30 denotes a first strip member formed of a timing belt or the like, and a pulley 26 a of the first rotation guide 26 and a pulley 28 a of the second rotation guide 28 in the middle.
  • the one end is pulled out from the pulley 26a, and is fixed to the fixed portion 31 provided on the first guide 12a, and the other end is pulled from the pulley 28a. It is pulled out in a direction opposite to the one end, and is fixed to a fixing portion 32 provided on the first guide 12 b.
  • At least one of the fixing portions 31 and 32 is formed in a tension adjusting mechanism composed of, for example, an electric winch device or an air cylinder, and applies a required tension to the first strip member 30. .
  • Reference numeral 3 denotes a second belt member formed of a timing belt or the like, which is provided in the middle of the pulley 26 b of the first rotation guide 26 and the pulley 28 b of the second rotation guide 28 from opposite directions.
  • One end is pulled out from the pulley 26 b in a direction opposite to the direction in which the one end of the first strip member 30 is pulled out, and a fixed portion provided on the first guide 12 a is provided.
  • the other end is pulled out from the pulley 28b in a direction opposite to the one end, and is fixed to a fixing portion 35 provided on the first guide 12b.
  • At least one of the fixing portion 34 and the fixing portion 35 is formed in a tension adjusting mechanism including, for example, an electric winch device or an air cylinder, and applies a required tension to the second strip member 33.
  • Reference numeral 37 denotes a first drive unit, which moves the first moving beam 22 in a first direction.
  • a motor is used for the first drive unit 37, and the first drive unit 37 is mounted on the first moving body 16a or the first moving body 16b.
  • the second rotation guide 28 is rotated about the axis.
  • the first strip member 30 and the second strip member 33 between the first rotation guide 26 and the second rotation guide 28 are formed by a first moving beam 2 having a square pipe shape. 2 Inside.
  • the first band member 30 and the second band member 33 are not limited to the evening belt, PC leaks 204
  • Tension applying members such as chains and wires can be used.
  • chains it goes without saying that the first rotary guide 26 and the second rotary guide 28 use sprockets.
  • reference numeral 40 denotes a third rotation guide, which is disposed on the second moving body 20a.
  • the third rotation guide 40 includes two upper and lower coaxial pulleys 40a and 40b.
  • Reference numeral 42 denotes a fourth rotation guide (FIG. 1), which is disposed on the second moving body 20b.
  • the fourth rotation guide 42 also includes two upper and lower coaxial pulleys 42a and 42b.
  • reference numeral 43 denotes a third strip member made up of a timing belt or the like, and a midway portion of the pulley 40a of the third rotation guide 40 and a pulley 42a of the fourth rotation guide 42.
  • One end is pulled out from the pulley 40a and fixed to the fixed portion 44 provided on the second guide 14a, and the other end is pulled from the pulley 42a.
  • And is fixed to a fixing portion 45 provided on the second guide 14 b.
  • At least one of the fixing portions 44 and 45 is formed in a tension adjusting mechanism composed of, for example, an electric winch device and a pair of cylinders, and applies a required tension to the third strip member 43. .
  • Reference numeral 46 denotes a fourth belt member formed of an evening belt or the like, and in the middle part, the pulleys 40b of the third rotary guide 40 and the pulleys 42 of the fourth rotary guide 42 oppose each other in the opposite direction.
  • One end is pulled out from the pulley 40b in a direction opposite to the pulling-out direction of the one end of the third strip member 43, and is fixed on the second guide 14a.
  • the other end is pulled out from the pulley 42 b in a direction opposite to the one end, and is fixed to a fixing portion 48 provided on the second guide 14 b.
  • At least one of the fixing portion 47 and the fixing portion 48 is formed in a tension adjusting mechanism including, for example, an electric winch device or an air cylinder, and applies a required tension to the fourth strip member 46.
  • Reference numeral 50 denotes a second drive unit (FIG. 2), which moves the second moving beam 24 in the second direction. 3 01204
  • a motor is used for the second driving section 50, which is mounted on the second moving body 20a or the second moving body 20b, and the third rotation guide 40 or The fourth rotation guide 42 is rotated about the axis.
  • the third strip member 43 between the third rotation guide 40 and the fourth rotation guide 42, and the fourth strip member 46 are connected to the second moving beam 2 in the form of a square pipe. 4 is inside.
  • the third belt member 43 and the fourth belt member 46 are not limited to timing belts, and tension applying members such as chains and wires can be used. When these are chains, it goes without saying that the third rotating guide 40 and the fourth rotating guide 42 use sprockets.
  • 52 is a slider, and the first moving beam 22 and the second moving beam 24 are slidably passed through the first moving beam 22 and the second moving beam.
  • the movement of 24 moves within the space surrounded by the rectangular frame 15.
  • the first moving beam 22 and the second moving beam 24 are formed by rectangular pipes having a rectangular cross section. As shown in FIGS. 4 and 5, the first moving beam 22 and the second moving beam 22 are inserted into the inner wall of the insertion hole of the slider 52 through which the first moving beam 22 and the second moving beam 24 pass. Guide rollers 54, 56 for rolling on the outer wall surface of the moving beam 24 are provided.
  • a mounting portion 58 for attaching a working head is fixed to the slider 52.
  • a work head 60 such as an articulated robot is attached to the mounting portion 58 (FIG. 6).
  • a power supply line 61 is stretched over the first moving beam 22 (or the second moving beam 24), and moves while contacting the power supply line 61.
  • a power supply trolley device having a power receiving unit 62 for supplying power to the work head 60 mounted on the mounting unit 58 is provided on the slider 52.
  • 63 is a power supply cable.
  • control panel 6 4 of the working head 60 is attached to the slider 52.
  • Numeral 65 denotes a control signal transmitting / receiving device, which is mounted on the control panel 64, and is capable of operating a work head 60 or the like by remote control.
  • the mounting portion 58 be provided with a pulling force 70 for holding various tools (hands and the like) 66 attachable to the work head 60.
  • the mounting section 58 is provided with a lighting device 67 so that the work head 60 can illuminate the work area.
  • a monitor camera 68 is mounted on the mounting section 58.
  • the work head itself should also be equipped with a work monitor-camera 71 and a speaker (not shown).
  • the first driving unit 37 and the second driving unit 50 are driven to move the first moving beam 22 in the first direction and the second moving beam 22 in the second direction.
  • the moving pillars 24 in the second direction By moving the moving pillars 24 in the second direction, the sliders 52 passing through them move freely within the rectangular frame 15. Therefore, the work head 60 attached to the slider 52 can perform various works.
  • the first strip member 30 and the second strip member 33 are wound around the first rotating guide 26 and the second rotating guide 28 with tension from opposite directions. Therefore, the so-called backlash does not occur, and the first driving unit 37 is driven, so that the first moving bodies 16a and 16b move in the first direction in synchronization with each other. However, the first moving beam 22 moves smoothly in the first direction without rattling or vibration.
  • the third belt member 43 and the fourth belt member 46 are wound around the third rotating guide 40 and the fourth rotating guide 42 with tension from opposite directions. Therefore, so-called backlash does not occur, and by driving the second driving unit 50, the second moving bodies 20a and 2Ob move in the second direction in synchronization with each other, and However, the second moving beam 24 moves smoothly in the second direction without rattling or vibration.
  • the monitor-camera 6 8 can be used to “understand the situation at the site” at a location away from this system. To correct the position error between the ceiling space position and the ground space position of the ceiling space moving device 10, and to input the "work start signal" for the mounting work head 60, etc. Used for By “capturing” the “base mark” (benchmark) “installed” on the “floor surface” or “each work machine” at each work site by “image processing technology” using a monitor 68, Correct the position error in the space, and give a work program start signal to the work head 60, such as a work robot installed on the ceiling space moving device 10, after the correction is completed. You.
  • control program for each work of the work head 60 such as a work robot at each work position becomes an independent “subroutine program”, and the overhead space moving device 10 Control can be separated from the heads.
  • This control system method greatly simplifies the complicated automatic control programs generated from the “multi-step”, “multi-function”, and “composite” functions required by this system.
  • the ceiling space moving device 10 is of a tension synchronous driving type, is backlash-free, and repeat positioning accuracy (position reproducibility) is assured with high accuracy. Stable automation work can be realized.
  • the function of “absolute positioning accuracy” is omitted from the required function of the ceiling space moving device 10, and a high-precision drive positioning mechanism element such as a ball screw is used. Even if not used, a predetermined high-precision positioning function is achieved by relatively low-precision drive positioning mechanism elements such as pulleys, timing belt sprockets, and chains.
  • Tool stocking force 70 that stocks some etc. With the mounting of 70, the “multi-process,” “multi-function,” and “composite” automation work required for the ceiling space moving device 10 Can be efficiently achieved.
  • the installation of the lighting device 67 eliminates the need for “overall lighting” in factories and work sites, and allows the monitor camera 68 to accurately capture the benchmark of each work position.
  • the “robot arm tip” of the work mouth pot device such as the work head 60 It is preferable to mount the “monitor camera 71 and speaker”.
  • On-site work such as construction sites, agriculture, and services differs from work at factories, etc., in that there is a limit to operation using an automated control program, and “manual operation” will predominate.
  • the monitor camera 71 and the speaker mounted on the tip of the working robot arm are used for such “manual operation”.
  • the system operator can use “communication means” etc. in “another place” separated from the ceiling space moving device 10. This monitor is used to “understand the situation of the work site” with “detailed video” from this monitor and camera 71, and is also used when giving a work instruction to the work site from this speaker. You.
  • a control panel 64 of a work head 60 is mounted on the slider 52, and power is supplied to the control panel 64 by a power supply trolley device (61, 62).
  • the “motion area” of the work head 60 in the ceiling space moving device 10 is a “wide area”. In such a “wide-area exercise”, supplying drive power and control signals for the working head and the like with a cable is inefficient due to the length of the cable and the mass associated with it, and the cable is not efficient. However, the risk of disconnection trouble increases.
  • the control panel 64 is mounted on the slider 52, and power is supplied by the power supply trolley device, and the control signal of the control panel 64 is transmitted and received wirelessly.
  • the ceiling space moving device 10 of the present invention employs a tension synchronous driving method.
  • This tension synchronous drive method has the following features and advantages.
  • This device is a “symmetry mechanism” based on “four-sided support” and “four-sided drive.” To demonstrate “76 times the rigidity”.
  • the slider 52 which is formed at the intersection of the two moving beams and moves freely in the two-dimensional direction, maintains a high verticality (the head does not roll) due to the rigidity of the support surface.
  • the work head 60 such as a work robot device mounted on the mounting part of the movable slider 52 is mounted on a high rigid support surface equivalent to the floor surface over the entire ceiling space in the rectangular frame 15. It is suspended and movable.
  • the ceiling space moving device 10 becomes larger and, even at high speeds, suppresses the bending moment generated in the moving beam and reduces vibration. And achieves accurate movement and stopping accuracy in the ceiling space.
  • Tension synchronization ⁇ Drive method is for backlashless (playback 0) using “tensile force” of strips (belts, chains, etc.) 30, 33, 43, 46.
  • the tension-synchronous drive system applies the movement mechanism of living things to the movement mechanism of engineering mechanics.
  • the "similar to the skeleton" of the living thing is a "rectangular frame 15" arranged on four sides and a first moving beam 22 and a second moving beam crossed over a rectangular frame with four sides 2 4 ”and“ similar to a tendon ”arranged symmetrically along its skeleton are“ band-like members (belts, chains, etc.) 30, 33, 43, 43, 46 ”.
  • tension adjustment device tension adjustment device located at the four corners of the rectangular frame that gives tension (tension) to the tendon. It is.
  • Tension synchronization ⁇ The drive system is “backlashless” (similar to the movement mechanism of living organisms), and “generates” “excellent high-speed response”, “low noise”, and “smooth movement”. .
  • amount of tension the amount of tension
  • the strength of the movement in the same way as the muscles of living organisms, it is possible to optimally cope with movements involving rapid acceleration and deceleration.
  • the ceiling space moving device 10 uses a wide ceiling space as an operation area, the required mechanism must be able to cope with an increase in size.
  • the conventional drive mechanism for example, a mechanism such as a pole screw drive, the increase in the size of this mechanism has exceeded the possible manufacturing limit of ball screws (about 3 m to 5 m). Paints 204
  • the tension synchronization and drive system is an “unconventional mechanism” that can satisfy all the functions required for the ceiling space moving device as described above.
  • the belt-shaped members (belts, chains, etc.) used can be manufactured with almost infinite length, and large ceilings with a motion area of 20 m x 20 m, 50 m x 50 m, etc.
  • a spatial movement device is feasible.
  • the tension synchronization and drive system has a “simplified mechanism configuration”, so the system manufacturing cost is “low cost”, and the “high rigidity, high precision ceiling space moving device” is “short time”. It can be “simple” and “installed on-site”.
  • the four-sided rectangular frame 15 is separated into four beams, and is combined with two beams, the first moving beam 22 and the second moving beam 24. At the “installation site”, these beams are “combined”, and the “belt member (belt, chain, etc.)” that is the driving mechanism is “arranged” along with these beams, and “tensile force” is applied to the belt member.
  • a predetermined “ceiling space moving device” is constructed “easy”. The simplicity of on-site installation opens the way to the application as a “temporary ceiling space transfer device” such as “construction site”.
  • the first moving beam and the second moving beam crossed over the four sides of the rectangular frame in a cross shape provide a highly rigid and stable supporting surface in the inner space of the rectangular frame.
  • the slider which is constructed at the intersection of the two moving beams and freely moves in the two-dimensional direction, maintains high verticality (the head does not roll) due to the rigidity of the support surface.
  • the work head such as a work robot device, mounted on the ceiling is movable over the entire ceiling space in the rectangular frame on a highly rigid support surface equivalent to the floor surface.
  • the ceiling space moving device is a tension synchronous driving system using the tension of the belt-shaped member, is free of backlash, has excellent high-speed response, is low-noise, and is smooth. Generate exercise.
  • the tension amount of tension

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un manipulateur mobile de plafond permettant de réduire l'effet de recul, les vibrations et le bruit, et d'assurer la réalisation d'opérations de précision à grande vitesse. Ce manipulateur comprend un premier guide (12), un deuxième guide (14), un premier corps mobile (16), une première barre mobile (22), un premier guide de rotation (26), un deuxième guide de rotation (28), une première bande longue (30), une deuxième bande longue (33), une première section d'entraînement (37), un deuxième corps mobile (20), une deuxième barre mobile (24), un troisième guide de rotation (40), un quatrième guide de rotation (42), une troisième bande longue (43), une quatrième bande longue (46), une seconde section d'entraînement (50) et un curseur (52).
PCT/JP2003/001204 2002-02-25 2003-02-05 Manipulateur mobile de plafond WO2003070433A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2003207245A AU2003207245A1 (en) 2002-02-25 2003-02-05 Ceiling space traveling device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2002-47291 2002-02-25
JP2002047291A JP2003245879A (ja) 2002-02-25 2002-02-25 天井空間移動装置

Publications (1)

Publication Number Publication Date
WO2003070433A1 true WO2003070433A1 (fr) 2003-08-28

Family

ID=27750683

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2003/001204 WO2003070433A1 (fr) 2002-02-25 2003-02-05 Manipulateur mobile de plafond

Country Status (3)

Country Link
JP (1) JP2003245879A (fr)
AU (1) AU2003207245A1 (fr)
WO (1) WO2003070433A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106550598A (zh) * 2014-05-30 2017-03-29 J·D·佩恩 定位系统
CN107932490A (zh) * 2017-12-30 2018-04-20 贾军霞 一种智能机器人
WO2020253892A1 (fr) * 2019-06-19 2020-12-24 České vysoké učení technické v Praze Dispositif destiné à modifier la rigidité dynamique d'un portique ou d'une structure en porte-à-faux
US11331789B2 (en) 2014-05-30 2022-05-17 James Douglass Penn Positioning system

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2020256917A1 (en) 2019-04-08 2021-07-01 Rbot9 Inc. Cable robot

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5859777A (ja) * 1981-10-05 1983-04-08 古田　勝久 三軸方向移動制御装置
JPS59232778A (ja) * 1983-06-10 1984-12-27 株式会社妙徳 自動機械におけるワ−ク，工具類の移動装置
JPH0430990A (ja) * 1990-05-22 1992-02-03 Toshiba Corp チップ部品検出装置
JPH05333191A (ja) * 1992-06-02 1993-12-17 Hitachi Ltd 移動式作業ロボットの救助装置
JPH07227475A (ja) * 1994-02-21 1995-08-29 Ryowa Kk クレーン式ゲーム機のクレーン機構
US5698959A (en) * 1995-04-05 1997-12-16 Yanagisawa; Ken Robot with two dimensional driving mechanism
US5804932A (en) * 1995-07-27 1998-09-08 Yanagisawa; Ken Drive system
JPH10264079A (ja) * 1997-03-24 1998-10-06 Mitsubishi Electric Corp ロボット遠隔操作装置

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5859777A (ja) * 1981-10-05 1983-04-08 古田　勝久 三軸方向移動制御装置
JPS59232778A (ja) * 1983-06-10 1984-12-27 株式会社妙徳 自動機械におけるワ−ク，工具類の移動装置
JPH0430990A (ja) * 1990-05-22 1992-02-03 Toshiba Corp チップ部品検出装置
JPH05333191A (ja) * 1992-06-02 1993-12-17 Hitachi Ltd 移動式作業ロボットの救助装置
JPH07227475A (ja) * 1994-02-21 1995-08-29 Ryowa Kk クレーン式ゲーム機のクレーン機構
US5698959A (en) * 1995-04-05 1997-12-16 Yanagisawa; Ken Robot with two dimensional driving mechanism
US5804932A (en) * 1995-07-27 1998-09-08 Yanagisawa; Ken Drive system
JPH10264079A (ja) * 1997-03-24 1998-10-06 Mitsubishi Electric Corp ロボット遠隔操作装置

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106550598A (zh) * 2014-05-30 2017-03-29 J·D·佩恩 定位系统
EP3145670A4 (fr) * 2014-05-30 2018-04-25 Penn, James Douglass Système de positionnement
CN106550598B (zh) * 2014-05-30 2020-08-07 J·D·佩恩 定位系统
CN112207585A (zh) * 2014-05-30 2021-01-12 J·D·佩恩 定位系统
US11331789B2 (en) 2014-05-30 2022-05-17 James Douglass Penn Positioning system
CN107932490A (zh) * 2017-12-30 2018-04-20 贾军霞 一种智能机器人
WO2020253892A1 (fr) * 2019-06-19 2020-12-24 České vysoké učení technické v Praze Dispositif destiné à modifier la rigidité dynamique d'un portique ou d'une structure en porte-à-faux

Also Published As

Publication number Publication date
AU2003207245A1 (en) 2003-09-09
JP2003245879A (ja) 2003-09-02

Similar Documents

Publication Publication Date Title
CN109176587B (zh) 一种基于涡卷弹簧的多指柔性机械手
CN105364911A (zh) 一种上支撑式空间四索超跨度机器人
KR101324502B1 (ko) 와이어 로프를 이용하는 착용형 근력증폭장치
JPH05253885A (ja) ロボットアームのバランサ装置
WO2002034477A3 (fr) Système d'entraînement pour bras de robot à plusieurs axes
CN108436967B (zh) 水平多关节型机器人及其倒置设置方法
CN109848975A (zh) 一种绳索驱动的串并联混合机构大负载机械臂
KR101510009B1 (ko) 착용식 로봇의 구동 장치
JPH03256691A (ja) 産業用ロボットに於ける旋回軸のケーブル処理構造
WO2003070433A1 (fr) Manipulateur mobile de plafond
JP2015033671A (ja) 加振装置、および、それを備えるシミュレーター用加振システム
JPH1177577A (ja) ワイヤ駆動式マニピュレータ
JP2001150382A (ja) 配線部材及び又は配管部材の案内装置、及び該装置を備えるロボット
KR101831125B1 (ko) 윈치통합형 모바일 엔드 이펙터를 포함하는 케이블 로봇 및 이 케이블 로봇의 케이블 자동 장착방법
KR102087602B1 (ko) 케이블 로봇의 제어방법
Elkmann et al. Modular climbing robot for service‐sector applications
JPH09285989A (ja) 産業用ロボットの多段式伸縮装置
JPH07156093A (ja) 産業用ロボットの関節部におけるケーブル処理装置
CN113386117B (zh) 一种实现正弦解耦的具有偏航自由度的绳驱柔性机械臂
CN115107003A (zh) 面向水果采摘的刚柔耦合绳驱动外肢体机器人
CN210887605U (zh) 一种基于钢桁架的幕墙吊顶连接结构
CN113146602A (zh) 一种适用于计算机控制的机器人结构
CN113703468B (zh) 空间绳系机器人位姿一体化控制执行机构
JP4333625B2 (ja) ロボットアームおよび人間型ロボット
JP2003305673A (ja) 衛星移動ロボットシステム

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE ES FI GB GD GE GH GM HR HU ID IL IN IS KE KG KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NO NZ OM PH PL PT RO RU SC SD SE SG SK SL TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PT SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
122 Ep: pct application non-entry in european phase