WO2020217698A1 - Appareil de traitement et procédé de traitement - Google Patents

Appareil de traitement et procédé de traitement Download PDF

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Publication number
WO2020217698A1
WO2020217698A1 PCT/JP2020/007829 JP2020007829W WO2020217698A1 WO 2020217698 A1 WO2020217698 A1 WO 2020217698A1 JP 2020007829 W JP2020007829 W JP 2020007829W WO 2020217698 A1 WO2020217698 A1 WO 2020217698A1
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WO
WIPO (PCT)
Prior art keywords
end effector
support portion
robot arm
engaging
engaging portions
Prior art date
Application number
PCT/JP2020/007829
Other languages
English (en)
Japanese (ja)
Inventor
高 渋谷
川内　直人
中村　和人
祐之 斎藤
哲夫 正田
達也 黒木
Original Assignee
三菱重工業株式会社
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 三菱重工業株式会社 filed Critical 三菱重工業株式会社
Publication of WO2020217698A1 publication Critical patent/WO2020217698A1/fr

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Classifications

    • 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
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
    • 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

Definitions

  • This disclosure relates to a processing apparatus and a processing method.
  • a plurality of plate materials or plate materials and parts are used depending on fastening parts such as rivets. ".) are combined with each other.
  • an automatic drilling / tacking device automated riveter
  • a through hole for inserting a rivet is formed by cutting by a drilling device having a drill or the like. After that, the rivet is inserted into the through hole, and the rivet is fixed to the through hole by the rivet. As a result, a plurality of parts are connected to each other.
  • the range of movement of the automatic riveter may be limited due to interference between the head equipped with a drilling device or tacking device and the member to be machined, or it may be difficult to operate depending on the assembly procedure.
  • drilling and studs are manually performed by an operator.
  • the part has a size such that the height of the work place is several meters, or depending on the direction of processing, manual drilling or riveting takes time and effort, and in some cases it is dangerous. Accompanied by. Therefore, from the viewpoint of work efficiency and the like, it is considered to use an industrial robot having a robot arm.
  • Patent Document 1 a fixed body and a movable body are connected via a plurality of fluid pressure cylinders in order to exert a position error absorbing function even when a gravity action occurs due to various postures of the robot arm. It is disclosed that a parallel mechanism is configured as.
  • the positioning accuracy is required to be able to process at the same position within a predetermined error when a plurality of parts having the same shape are manufactured. Further, even if feedback control for determining the tip position of the end effector is performed using an external sensor, there is a problem that the cycle time becomes long because the detection result of the external sensor is used.
  • an end effector 52 such as a drilling device attached to the tip of the robot arm 51 is connected to the robot arm 51 via a floating joint 53.
  • the error between the machining target position P and the position of the end effector 52 can be absorbed only by moving the robot arm 51 parallel to the axial direction of the end effector 52. ..
  • the floating joint has a structure in which the robot arm and the end effector are connected by an elastic member such as a spring. Therefore, the tip position of the end effector changes variously according to the posture of the end effector and the balance of the center of gravity of the end effector. For example, when processing a member having a three-dimensional curved surface such as an aircraft part, the posture of the end effector differs depending on the processing position. Therefore, as shown in FIG. 14, the spring 54 of the floating joint 53 bends due to the change in the balance of the center of gravity, and the tip position of the end effector 52 shifts.
  • the present disclosure has been made in view of such circumstances, and is a processing apparatus capable of accurately and quickly positioning the processing position by the end effector regardless of the posture of the end effector connected by the floating joint. And to provide a processing method.
  • the processing apparatus and processing method of the present disclosure employ the following means. That is, the processing apparatus according to the present disclosure has a support portion in which an end effector for processing a member to be processed is installed, and an elastic portion provided between the support portion and the robot arm, and the support portion.
  • the robot arm has a connecting portion that connects the robot arm to the robot arm, and the support portion can be connected to and disconnected from the support portion. It is provided with a fixing portion for fixing at a predetermined position.
  • the support portion is provided with an end effector that processes the member to be machined
  • the connecting portion has an elastic portion provided between the support portion and the robot arm, and the connecting portion supports the support portion. Connect the unit and the robot arm. That is, the connecting portion constitutes a floating joint.
  • the support portion on which the end effector is installed is elastically connected to the robot arm, and the position error regarding the machining position by the end effector can be absorbed with respect to the robot arm.
  • the fixed portion has a configuration capable of connecting to the support portion and disconnecting from the support portion, and when the fixed portion and the support portion are connected, the position of the support portion with respect to the robot arm is determined by the fixed portion. It is fixed in place.
  • the machining position by the end effector can be uniquely determined.
  • the machining position by the end effector can be accurately and quickly positioned regardless of the posture of the end effector connected by the floating joint.
  • the predetermined position is, for example, the central position of the movable range of the support portion.
  • the orientation of the supporting portion with respect to the robot arm may be fixed in a predetermined direction.
  • the orientation of the support portion with respect to the robot arm is fixed by the fixed portion in a predetermined direction.
  • the predetermined orientation is, for example, the orientation of the support portion at the center of the movable range of the support portion.
  • the support portion has three first engaging portions formed at different positions from each other, and the fixing portion has three second engaging portions that are respectively engaged with the three first engaging portions. It may have an engaging portion.
  • the support portion has three first engaging portions formed at different positions from each other, and the fixing portion has three second engaging portions that are respectively engaged with the three first engaging portions. Have. By engaging the three first engaging portions and the three second engaging portions, the positions and orientations of the support portions with respect to the robot arm are fixed at predetermined positions and orientations.
  • the first engaging portion is a convex portion formed by projecting or a concave portion formed by a recess
  • the second engaging portion is the convex portion or the convex portion of the first engaging portion. It may have a shape corresponding to the recess.
  • the convex portion formed by protruding or the concave portion formed by the recess, the first engaging portion has a concave portion or a convex having a shape corresponding to the convex portion or the concave portion of the first engaging portion.
  • Engage with the second engaging portion which is a portion.
  • the support portion is a surface different from the first surface portion on which two of the first engagement portions are formed out of the three first engagement portions, and the remaining one. It has a second surface portion on which a first engaging portion is formed, and the fixing portion is installed so as to face the first surface portion, and can be approached and separated from the first surface portion.
  • the first fixed portion on which the second engaging portion is formed is installed facing the second surface portion, and can be brought close to and separated from the second surface portion.
  • the support portion has a first surface portion and a second surface portion, and the first surface portion is formed with two first engaging portions out of the three first engaging portions.
  • the remaining one first engaging portion is formed on the second surface portion, which is a surface different from the surface portion.
  • the fixing portion has a first fixing portion installed facing the first surface portion of the support portion and a second fixing portion installed facing the second surface portion of the support portion. The first fixing portion can be brought close to and separated from the first surface portion, two second engaging portions are formed out of the three second engaging portions, and the second fixing portion is formed on the second surface portion. On the other hand, they can be brought close to each other and separated from each other, and the remaining one of the three second engaging portions is formed.
  • the processing method according to the present disclosure is a processing method using the above-mentioned processing apparatus, in which the tip of the end effector is placed at a processing target position of the member to be processed in a state where the support portion and the fixing portion are connected. It includes a step of moving, a step of adjusting the position of the end effector according to the machining target position, and a step of recording the position of the robot arm when the position of the end effector is adjusted.
  • the machining position by the end effector can be accurately and quickly positioned regardless of the posture of the end effector connected by the floating joint.
  • the processing apparatus 1 is used, for example, when assembling the structure of aircraft parts such as the fuselage and main wings of an aircraft.
  • the fuselage, main wings, and the like of aircraft parts are constructed by combining a structure and a thin plate member (skin panel), and the structure is constructed by combining a plurality of structural parts.
  • Multiple structural parts include stringers, clips, share ties, frames and the like.
  • the application of this disclosure is not limited to aircraft parts, and the present disclosure can also be applied to the assembly of other parts.
  • the processing device 1 includes a robot main body portion 2, a robot arm 3, an end effector 4, a floating joint (connecting portion) 5, a lock portion 6, a control portion 7, and the like.
  • the control unit 7 is realized by a computer or the like that executes a program.
  • the robot main body 2 can adjust the position and inclination of the robot arm 3 and the end effector 4 installed on the robot arm 3 by supporting the robot arm 3.
  • the end effector 4 is installed on the robot arm 3 at the tip of the robot arm 3 via a floating joint 5.
  • the end effector 4 has, for example, a drill, and drills a hole in a member to be machined, such as a skin panel and a frame.
  • the floating joint 5 has an elastic portion 20 such as a spring.
  • the floating joint 5 connects the robot arm 3 and the lock portion 6.
  • the lock portion 6 has a support portion 8 and a fixing portion 9.
  • the lock portion 6 fixes the end effector 4 to the robot arm 3 and releases the end effector 4 from being fixed to the robot arm 3.
  • the support portion 8 is installed on the tip side of the floating joint 5 and connects the floating joint 5 and the end effector 4.
  • the support portion 8 supports the end effector 4. Further, as shown in FIGS. 3 to 7, the support portion 8 is formed with a first surface portion 10 and a second surface portion 11, and the first surface portion 10 is provided with two first engaging portions 12.
  • the second surface portion 11 is provided with one first engaging portion 12. That is, the support portion 8 is provided with a total of three first engaging portions 12.
  • the fixing portion 9 is installed facing the support portion 8 and is connected to the support portion 8 by being close to the support portion 8 as shown in FIGS. 5 and 7, or is shown in FIGS. 4 and 6. As described above, the connection with the support portion 8 is released by separating from the support portion 8.
  • the fixed portion 9 is provided with a total of three second engaging portions 19 corresponding to each of the first engaging portions 12 of the support portion 8.
  • the fixing portion 9 has a first fixing portion 13 and a second fixing portion 14.
  • the first fixing portion 13 and the second fixing portion 14 are installed on both sides of the supporting portion 8 with the supporting portion 8 interposed therebetween.
  • the first fixing portion 13 has a plate-shaped first plate portion 15 and a first driving portion 16 that supports the first plate portion 15 and moves the first plate portion 15.
  • the first plate portion 15 is installed so as to face the first surface portion 10 of the support portion 8.
  • the first plate portion 15 is formed with two second engaging portions 19 out of a total of three second engaging portions 19.
  • the first drive unit 16 is, for example, an air cylinder, and when the first drive unit 16 is driven, the first plate portion 15 is brought closer to or separated from the first surface portion 10.
  • the second fixing portion 14 has a plate-shaped second plate portion 17 and a second driving portion 18 that supports the second plate portion 17 and moves the second plate portion 17.
  • the second plate portion 17 is installed so as to face the second surface portion 11 of the support portion 8.
  • the second plate portion 17 is formed with a second engaging portion 19 out of a total of three second engaging portions 19.
  • the second drive unit 18 is, for example, an air cylinder, and when the second drive unit 18 is driven, the second plate portion 17 is brought closer to or separated from the second surface portion 11.
  • the three first engaging portions 12 are formed at different positions on the support portion 8.
  • the three second engaging portions 19 are respectively engaged with the three first engaging portions 12.
  • the first engaging portion 12 is, for example, a convex portion formed so as to project outward in the first surface portion 10 or the second surface portion 11 of the support portion 8.
  • the first engaging portion 12 has, for example, a truncated cone shape (tapered shape) and has a tapered shape that tapers toward the tip end side.
  • the second engaging portion 19 is, for example, a recess formed by being recessed inward in the first plate portion 15 or the second plate portion 17 of the fixing portion 9.
  • the second engaging portion 19 has a shape corresponding to the convex portion of the first engaging portion 12, and has, for example, a truncated cone shape (tapered shape) and a tapered shape that tapers toward the bottom side.
  • the fixing portion 9 can be connected to the supporting portion 8 by using two members, the first fixing portion 13 and the second fixing portion 14. As a result, the support portion 8 and the fixing portion 9 are connected with a small space and a small number of parts.
  • the present disclosure is not limited to the example in which the fixing portion 9 uses two members, the first fixing portion 13 and the second fixing portion 14. Since it is sufficient that the support portion 8 and the fixing portion 9 can be engaged with each other at three points, the fixing portion 9 may be composed of three members (first, second and third fixing portions (not shown)). ..
  • the first, second, and third fixing portions each include a second plate portion 17 having a second engaging portion 19, and a second driving portion 18 (for example, an air cylinder).
  • the support portion 8 is formed with a total of three surface portions in which the first engaging portions 12 are provided on different surfaces so as to correspond to the second engaging portion 19.
  • the case where the three first engaging portions 12 are all convex portions and the three second engaging portions 19 are all concave portions has been described, but the present disclosure is limited to this example. Not done. On the contrary, all three first engaging portions 12 may be concave portions, and all three second engaging portions 19 may be convex portions. Further, one or two of the three first engaging portions 12 may be a combination of convex portions, and the remaining two or one may be a combination of concave portions. In this case, the support portion may correspond to the first engaging portion 12. In No. 8, one or two concave portions and convex portions of the second engaging portion 19 are provided.
  • first engaging portion 12 and the second engaging portion 19 are not limited to the truncated cone shape, and may have, for example, a wedge shape (the cross-sectional shape is substantially V-shaped) having a flat surface. .. Further, each of the first engaging portions 12 and each second engaging portion 19 may not have the same size and the same shape, and may have different sizes or different shapes.
  • the support portion 8 and the fixing portion 9 are engaged at three points, as shown in FIGS. 5 and 7.
  • the position of the support portion 8 with respect to the robot arm 3 is fixed at a predetermined position, and the orientation of the support portion 8 is fixed at a predetermined direction.
  • the position of the support portion 8 with respect to the robot arm 3 may be fixed at a predetermined position, and the orientation of the support portion 8 may be fixed in a predetermined direction.
  • the support portion 8 and the fixing portion 9 may be connected by using an electromagnet or the like instead of the engaging portion 12 and the second engaging portion 19.
  • the member 70 to be machined is as shown in FIGS. 8 and 9 in order to improve the positioning accuracy of the tip position of the end effector 4.
  • a plate-shaped drill plate 60 is installed on the upper surface of the robot.
  • a guide bush (through hole) 61 is formed in advance on the drill plate 60 at a position corresponding to the machining target position P.
  • the tip position of the end effector 4 moves to a position deviating from the machining target position P, as shown in FIG. 11, for example, but the guide bush of the drill plate 60 By inserting the tip of the end effector 4 into 61, the position of the tip of the end effector 4 can be positioned.
  • a processing method using the drill plate 60 will be described.
  • a drilling device such as a drill is installed in the end effector 4.
  • a through hole is formed in the member 70 to be processed by the drilling device of the end effector 4.
  • the guide bush 61 formed on the drill plate 60 has an inner diameter larger than the diameter of the drill of the drilling device, and the guide bush 61 is formed with a through hole at a target position and direction in the member 70 to be machined. 61 is provided. In the guide bush 61, the axial direction of the guide bush 61 and the axial direction of the through hole formed in the member 70 to be machined are parallel. Therefore, when the drill drills a hole along the guide bush 61, a through hole having a target position and orientation is formed in the member 70 to be machined. The relative position error between the guide bush 61 and the drill is absorbed by the floating joint 5.
  • the end effector 4 is moved to the vicinity of the machining target position P where the drill plate 60 is installed.
  • the support portion 8 is fixed by the fixing portion 9 before starting the movement of the end effector 4 to the vicinity of the machining target position P or after moving the end effector 4 to the vicinity of the machining target position P.
  • the position of the support portion 8 with respect to the robot arm 3 is fixed at a predetermined position and a predetermined direction. Therefore, the end effector 4 The machining position and machining direction are uniquely determined by.
  • the position and orientation of the end effector 4 are adjusted and determined at a position away from the drill plate 60 with the support portion 8 and the fixing portion 9 connected.
  • the axial direction of the guide bush 61 and the axial direction of the drill are parallel and coincide with each other.
  • the connection between the support portion 8 and the fixing portion 9 is released, and the end effector 4 is inserted into the guide bush 61 corresponding to the machining target position P at the tip of the end effector 4.
  • the end effector 4 When the support portion 8 and the fixed portion 9 are connected, the end effector 4 is located at the center of the movable range of the end effector 4. Then, since the position and orientation of the end effector 4 are recorded in the teaching program at this position, when the support portion 8 and the fixing portion 9 are released from being fixed, the machining target position is near the center of the movable range of the end effector 4. P can be stored. As a result, the drilling process can be started only by moving the end effector 4 in the axial direction of the drill and absorbing the relative position error by the floating joint 5.
  • a teaching program is created by recording the above movements of the robot arm 3.
  • the end effector 4 is moved based on the teaching program. Further, the position and orientation of the end effector 4 are adjusted based on the teaching program. At this time, the support portion 8 and the fixed portion 9 may be in a fixed state, or the support portion 8 and the fixed portion 9 may be in a released state.
  • the end effector 4 moves according to the teaching program and the position and orientation of the end effector 4 are adjusted, if the support portion 8 and the fixing portion 9 are connected, the axial direction of the guide bush 61 and the axial direction of the drill are parallel. And match. That is, as shown in FIG. 10, the end effector 4 is located at the center of the movable range of the end effector 4.
  • the support portion 8 and the fixing portion 9 are released from being fixed as shown in FIG. To.
  • the end effector 4 has a direction and an orientation according to the position of the center of gravity of the end effector 4.
  • the support portion 8 and the fixing portion 9 released from being fixed, the end effector 4 is moved in the axial direction of the drill.
  • the support portion 8 and the fixing portion 9 are released from being fixed, and the end effector 4 is supported only by the elastic portion 20, so that the end effector 4 is moved axially toward the guide bush 61.
  • the drill can be guided along the guide bush 61.
  • the axial direction of the guide bush 61 and the axial direction of the drill may not match due to the movement of the robot arm 3 or the position and orientation of the member 70 to be machined, resulting in a relative position error. Even in this case, since the end effector 4 is supported only by the elastic portion 20, the relative position error can be absorbed. Further, when the support portion 8 and the fixed portion 9 are connected, the position and orientation of the end effector 4 are recorded in the teaching program at the center of the movable range of the end effector 4, so that the end effector 4 can be moved. The machining target position P is located near the center of the range.
  • the end effector 4 is used to machine the member 70 to be machined.
  • the tip position of the end effector 4 changes variously according to the posture of the end effector and the balance of the center of gravity of the end effector. Therefore, the relationship between the machining position and the tip position of the end effector is different for each machining position. Therefore, when creating a teaching program using an end effector connected to a floating joint, it is difficult to create a teaching program because it is necessary to make the relative positional relationship between the machining position and the end effector different for each machining position.
  • the support portion 8 and the fixing portion 9 are fixed so that the position of the support portion 8 with respect to the robot arm 3 is fixed at a predetermined position and a predetermined direction. Therefore, the machining position and machining direction by the end effector 4 are uniquely determined.
  • the end effector 4 is installed near the machining target position P, for example, if the axial direction of the guide bush 61 and the axial direction of the drill are parallel and coincide with each other, the machining position and the end are not affected by the machining position.
  • the relative positional relationship of the tip positions of the effectors 4 can be made the same.
  • the end effector in the axial direction of the guide bush 61 may be greatly tilted.
  • the position and inclination of the arm when the floating joint 53 is in an unbalanced position off the center are recorded as a teaching program.
  • the end effector 52 is installed in the vicinity of the machining target position P with the movable range of the floating joint 53 being narrow. Therefore, as shown in FIG. 16, there is a possibility that the relative position error cannot be absorbed and the drill cannot be inserted into the guide bush 61 depending on the position deviation that occurs during actual machining.
  • the member to be machined for example, a skin plate
  • the robot body, the end effector, or the drill plate 60 may be damaged.
  • the end effector 4 when the support portion 8 and the fixed portion 9 are connected, the end effector 4 is located at the center of the movable range of the end effector 4, as shown in FIG. Then, at this position, the position and inclination of the robot arm 3 are recorded in the teaching program. Therefore, when creating a teaching program, the axial direction of the end effector 4 (for example, the axial direction of the drill) does not greatly tilt with respect to the axial direction of the guide bush 61 according to the machining position.
  • the machining target position P can be set near the center of the movable range of the end effector 4 in a state where the support portion 8 and the fixing portion 9 are released from being fixed. it can. Therefore, even if a misalignment occurs during actual machining, the relative position error can be absorbed and the drill can be reliably inserted into the guide bush 61. Therefore, there is no possibility that the member 70 to be processed (for example, the skin plate), the robot main body 2, the end effector 4, or the drill plate 60 will be damaged.
  • the member 70 to be processed for example, the skin plate
  • the end effector 4 and the floating joint 5 can be installed sideways (almost horizontally). Then, a teaching program can be created in this state, and if the drill is inserted into the guide bush 61 in this state and then the connection between the support portion 8 and the fixing portion 9 is released, the workpiece 70 can be machined. You can also do it.
  • Processing device 2 Robot body 3: Robot arm 4: End effector 5: Floating joint (connecting part) 6: Lock part 7: Control part 8: Support part 9: Fixing part 10: First surface part 11: Second surface part 12: First engaging part 13: First fixing part 14: Second fixing part 15: First plate Part 16: 1st drive part 17: 2nd plate part 18: 2nd drive part 19: 2nd engagement part 20: Elastic part 51: Robot arm 52: End effector 53: Floating joint 54: Spring 60: Drill plate 61 : Guide bush 70: Member to be machined P: Target machining position

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un appareil de traitement équipé : d'une partie porteuse (8) sur laquelle est monté un effecteur terminal destiné à effectuer un traitement sur une pièce ; d'un joint flottant (5) qui comprend une partie élastique (20) disposée entre la partie porteuse (8) et un bras robotisé (3), et qui relie la partie porteuse (8) et le bras robotisé (3) ; et une partie de fixation (9) qui a une configuration permettant sa liaison à la partie porteuse (8) et sa désolidarisation de cette dernière et qui, lorsqu'elle est reliée à la partie porteuse (8), immobilise la partie porteuse (8) en une position prédéfinie par rapport au bras robotisé (3).
PCT/JP2020/007829 2019-04-22 2020-02-26 Appareil de traitement et procédé de traitement WO2020217698A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019-081009 2019-04-22
JP2019081009A JP2020175492A (ja) 2019-04-22 2019-04-22 加工装置及び加工方法

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WO2020217698A1 true WO2020217698A1 (fr) 2020-10-29

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024029571A1 (fr) * 2022-08-05 2024-02-08 川崎重工業株式会社 Système de main et de robot

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4332066A (en) * 1980-01-07 1982-06-01 General Dynamics Corporation Compliance mechanism
JPS60135193A (ja) * 1983-12-22 1985-07-18 三菱電機株式会社 産業用ロボツトのハンド装置
JPS60190595U (ja) * 1984-05-25 1985-12-17 株式会社小松製作所 コンプライアンス装置
JPS61279490A (ja) * 1985-06-05 1986-12-10 キヤノン株式会社 ロボツトハンドのコンプライアンス装置
JPH01143372U (fr) * 1988-03-28 1989-10-02

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4332066A (en) * 1980-01-07 1982-06-01 General Dynamics Corporation Compliance mechanism
JPS60135193A (ja) * 1983-12-22 1985-07-18 三菱電機株式会社 産業用ロボツトのハンド装置
JPS60190595U (ja) * 1984-05-25 1985-12-17 株式会社小松製作所 コンプライアンス装置
JPS61279490A (ja) * 1985-06-05 1986-12-10 キヤノン株式会社 ロボツトハンドのコンプライアンス装置
JPH01143372U (fr) * 1988-03-28 1989-10-02

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024029571A1 (fr) * 2022-08-05 2024-02-08 川崎重工業株式会社 Système de main et de robot

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