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WO2020241124A1 - Dispositif de capteur et système de capteur - Google Patents

Dispositif de capteur et système de capteur Download PDF

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Publication number
WO2020241124A1
WO2020241124A1 PCT/JP2020/017247 JP2020017247W WO2020241124A1 WO 2020241124 A1 WO2020241124 A1 WO 2020241124A1 JP 2020017247 W JP2020017247 W JP 2020017247W WO 2020241124 A1 WO2020241124 A1 WO 2020241124A1
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WO
WIPO (PCT)
Prior art keywords
sensor
sensor unit
housings
tube
connecting member
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2020/017247
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English (en)
Japanese (ja)
Inventor
藤谷　繁年
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Idec Corp
Original Assignee
Idec Corp
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 Idec Corp filed Critical Idec Corp
Publication of WO2020241124A1 publication Critical patent/WO2020241124A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V8/00—Prospecting or detecting by optical means
    • G01V8/10—Detecting, e.g. by using light barriers
    • G01V8/20—Detecting, e.g. by using light barriers using multiple transmitters or receivers

Definitions

  • the present invention relates to a sensor device and a sensor system that can be flexibly arranged according to a detection area and can be easily mounted on an installation surface.
  • a plurality of detection units are arranged inside a head portion (housing) attached to the tip of a movable portion of a robot, and these detection portions are used to lower the head portion. It is described that the misalignment error of the moving part is detected by detecting the detection area (pages 3 to 19 in the upper right column of the same publication, and FIGS. 1 and 2 and See FIG. 6).
  • Japanese Unexamined Patent Publication No. 58-21188 see pages 13 to 19 in the upper right column of page 3 and FIGS. 1, 2 and 6) Japanese Unexamined Patent Publication No. 2003-173201 (see paragraphs [0015] to [0017] and FIGS. 1 to 3)
  • the present invention has been made in view of such conventional circumstances, and the problem to be solved by the present invention is that it can be flexibly arranged according to the detection area and can be mounted on an installation surface.
  • An object of the present invention is to provide a sensor device and a sensor system that can be easily performed.
  • the sensor device includes a plurality of housings, each of which constitutes a sensor unit by incorporating a sensor, and a connecting member for connecting each housing, and each housing is connected by a connecting member. By doing so, the positional relationship between the housings is maintained.
  • each of the plurality of housings since each of the plurality of housings has a built-in sensor and constitutes a sensor unit, the arrangement and number of each housing, that is, each sensor unit can be freely changed. It can be flexibly arranged according to the detection area. As a result, the versatility of the sensor device can be improved and the cost can be reduced. Moreover, according to the present invention, since each housing is connected by a connecting member, the positional relationship between the housings is maintained, whereby each housing, that is, each sensor unit is attached to the installation surface. It is not necessary to determine the position of each sensor unit one by one, and the installation work can be easily performed.
  • the connecting member is provided so that the positional relationship between the housings can be adjusted.
  • the connecting member is a hollow member, and each housing has a connected portion for detachably connecting the end portions of the connecting member.
  • each sensor unit is arranged so as to detect the approach of a person to a jig or a workpiece provided on a robot arm.
  • each of the plurality of housings has a built-in sensor and each constitutes a sensor unit, it is possible to flexibly arrange the sensors according to the detection area. Since the housings are connected by the connecting member, the positional relationship between the housings is maintained, so that the housings can be easily mounted on the installation surface.
  • FIG. 2 is a view taken along the line III-III in FIG.
  • FIG. 3 is a view taken along the line IV-IV of FIG. 3, showing a state in which a connecting member (tube) between each sensor unit constituting the sensor device is omitted.
  • It is a top view of the sensor unit which comprises the sensor device (FIG. 1).
  • It is a VI-VI line arrow view of FIG.
  • It is a perspective view of the sensor unit (FIG. 5) viewed from above, and shows a state in which a connecting member is attached to one connected portion and the other connected portion is cut in the axial direction.
  • FIG. 5 It is a perspective view of the sensor unit (FIG. 5) viewed from below, and shows a state in which a connecting member is attached to one connected portion and the other connected portion is cut in the axial direction. It is a perspective view of the sensor unit (FIG. 5) viewed from above, and shows a state in which a connecting member made of transparent resin is attached to one of the connected portions.
  • FIG. 6 is a side schematic view showing a state in which the sensor unit (FIG. 6) is linearly connected via a connecting member. It is a top view which shows the state which removed the lid body from the sensor unit (FIG. 5), and shows the state which the wiring passes through the inside of the connecting member. The state in which the sensor units (FIG. 5)
  • FIGS. 1 to 13 are diagrams for explaining a sensor device according to an embodiment of the present invention.
  • the sensor device according to this embodiment is applied to a nut runner as a jig and tool for a robot arm.
  • a nut runner (jig tool) NR is rotatably provided at the tip of the robot arm RA.
  • the tip of the nut runner NR is formed in the shape of a socket, for example, and the nut / bolt is tightened and loosened by fitting the nut / bolt head (work) and rotating the nut / bolt head. It is a tool for.
  • a disk-shaped table T is arranged above the nut runner NR.
  • a through hole Ta is formed in the center of the table T, and the nut runner NR extends downward through the through hole Ta.
  • a plurality of sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 constituting the sensor device 1 are nut runners. They are evenly spaced or approximately evenly spaced on the circumference around the NR.
  • the sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 each have a built-in sensor in the housing, and each housing 10 1 C, 10 2 C, 10 3 C, 10 4 C, 10 5 C. Consists of sensor units 10 1 , 10 2 , 10 3 , 10, 4 , 10 5 , respectively.
  • Each housing 10 1 C, 10 2 C, 10 3 C, 10 4 C, 10 5 C is composed of an insulating resin.
  • each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 detects an intruder such as a human body that has invaded the irradiation area of the laser beam by irradiating the laser beam downward. It is provided as follows. In this example, a distance measuring sensor using the TOF (Time of Flight) method is used, but other methods may be adopted, or a camera or an image sensor may be adopted. Good.
  • TOF Time of Flight
  • reference numerals D 1 , D 2 , D 3 , D 4 , and D 5 indicate detection areas (sensing areas) of the respective sensor units 10 1 , 10 2 , 10 3 , 10, 4 , and 10 5 , respectively. ..
  • each sensor unit adjacent to each other in the circumferential direction is connected by a tube (connecting member) t. That is, each sensor unit 10 1 , 10 2 is connected to the tube t 1 , each sensor unit 10 2 , 10 3 is connected to the tube t 2 , and each sensor unit 10 3 , 10 4 is connected to the tube t 3. 10 4, 10 5 while being respectively connected by a tube t 4.
  • each tube t 1 , t 2 , t 3 , t 4 , t 5 is composed of a flexible hollow resin member. As shown in FIG. 2, each tube t 1 , t 2 , t 3 , t 4 , and t 5 are arranged while being curved in an arc shape.
  • the cable 21 extending from the controller unit 20 is connected to a control panel (not shown) of the robot arm RA.
  • the sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 (or housing 10 1 C, 10 2 C, 10 3 C, 10 4 C, 10 5 C), tubes t 1 , t 2 ,
  • the sensor system according to the present invention is composed of t 3 , t 4 , t 5 , and nut runner NR.
  • the area in which these detection areas D 1 , D 2 , D 3 , D 4 , and D 5 are combined is the detection area by the sensor device 1.
  • FIG Each sensor unit 10 1 in 3, 10 2, 10 3, 10 4, 10 each detection area D 1 in the plane W, which is located away by a predetermined distance H downwardly from 5, D 2, D 3, D 4 and D 5 are shown in FIG.
  • the plane W corresponds to a work surface on which a nut (not shown) is placed.
  • the tubes t 1 , t 2 , t 3 , and t 4 for connecting the sensor units 10 1 , 10 2 , 10 3 , 10, 4 , and 10 5 are omitted.
  • each detection area D 1 , D 2 , D 3 , D 4 , D 5 is arranged around the nut runner NR while surrounding (that is, surrounding) the nut runner NR. Is not included in any of the detection areas D 1 , D 2 , D 3 , D 4 , and D 5 .
  • each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 has a sensor on the lower surface 10 1 B, 10 2 B, 10 3 B, 10 4 B, 10 5 B, respectively.
  • the light receiving and receiving units 10 1 S, 10 2 S, 10 3 S, 10 4 S, and 10 5 S are arranged.
  • Each sensor light emitting / receiving unit 10 1 S, 10 2 S, 10 3 S, 10 4 S, 10 5 S is composed of a laser beam light emitting / receiving unit, respectively.
  • Each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 is a pair of tubular connected portions 10 1 a, 10 1 b; 10 2 for detachably connecting the ends of the tubes t. It has a, 10 2 b; 10 3 a, 10 3 b; 10 4 a, 10 4 b; 10 5 a, 10 5 b, respectively.
  • each housing 10 1 C, 10 2 C, 10 3 C, 10 4 C, 10 5 C constituting each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 will be described.
  • the sensor unit 10 1 will be described as an example, but the same applies to the other sensor units 10 2 , 10 3 , 10, 4 , and 10 5 , and the description of the sensor unit 10 1 is based on the other sensor unit 10 2. The same applies to 10, 3 , 10, 4 , and 10 5 .
  • the housing 10 1 C has a main body portion 10 1 C 1 and a lid body 10 1 C 2 screwed and fixed to the main body portion 10 1 C 1 .
  • the connected portions 10 1 a and 10 1 b are integrally provided with the main body portion 10 1 C 1 in this example, but they may be separate bodies. Further, the connected portions 10 1 a and 10 1 b each have convex portions ar and br on the outer periphery into which the end portion of the tube t is press-fitted.
  • the tube t connects the housings of the adjacent sensor units to each other via a connected portion (see FIG. 2). It should be noted that FIGS.
  • FIG. 7 to 9 show a state in which the tube t is attached to one connected portion 10 1 a and the tube t is not attached to the other connected portion 10 1 b.
  • the connected portion 10 1 b in FIG. 8 is shown in a state of being cut in the axial direction.
  • FIG. 10 shows a state in which a plurality of (here, three) sensor units 10 1 are connected via a tube t.
  • the tube t is flexible and can be bent in the vertical direction in the figure, and each sensor unit 10 1 has a curved surface in which each lower surface 10 1 B is substantially straight (or slightly curved). ) Arranged along a plane (or curved surface) passing through L.
  • the lower surface 10 1 B of the sensor unit 10 1 has a more curved curve Will be placed along. Even in such a case, the positional relationship between the respective sensor units 10 1 (i.e., placement and spacing, etc.) is maintained.
  • each sensor unit 10 1 is slightly tilted around the central axis of the tube t, and as a result, each sensor unit 10 1 is attached to the tube t. It may be twisted around the central axis.
  • FIG. 10 for simplification of the illustration, none of the sensor units 10 1 is tilted around the central axis of the tube t, but all the sensor units 10 1 are around the central axis of the tube t. the same angle or by substantially the same angle than the case of tilting the original, even when the sensor units 10 1 is tilted by different angles about the central axis of the tube t, the positional relationship between the respective sensor units 10 1 (i.e.
  • each sensor unit 10 1 On an extension line of the center axis of the tube t are arranged, each sensor unit 10 1 or reduce the angle of tilt around the tube t, each sensor unit 10 1 It is also possible to align the tilt angles of.
  • FIG. 11 shows a state in which the lid body 10 1 C 2 is removed from the housing 10 1 C of the sensor unit 10 1 .
  • the main body portion 10 1 C 1 of the housing 10 1 C accommodates the sensor (board) K 1 on which the sensor light receiving / receiving unit 10 1 S is mounted.
  • Lead wires 25 1 a and 25 1 b are connected to the sensor K 1 , respectively.
  • the lead wires 25 1 a and 25 1 b are taken out to the left and right of the main body 10 1 C 1 through the connected portions 10 1 a and 10 1 b, respectively, and pass through the insides of the tubes t 5 and t 1 , respectively. Is wired.
  • FIG. 12 shows a state in which the lids are removed from the sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 shown in FIG.
  • the sensor unit 10 2, 10 3, 10 4, 10 5 each lead wire 25 2 b, 25 3 b, 25 4 b
  • tube t 2 respectively, t 3, t 4 It is wired through the inside of the sensor unit 10 2 , 10 3 , 10 4 , 10 5 and is connected to each of the sensors K 2 , K 3 , K 4 , and K 5 , respectively.
  • the sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 and the sensor light receiving and receiving units 10 1 S, 10 2 S, 10 3 S, 10 4 S, 10 5 S are on, and each sensor's light receiving / receiving unit 10 1 S, 10 2 S, 10 3 S, 10 4 S, 10 5 S goes downward. Laser light is emitted from each of them.
  • the detection areas D 1 , D 2 , D 3 , D 4 , and D 5 of each laser beam are formed in a conical shape around the nut runner NR, and are adjacent to each other in the circumferential direction. Partially overlap each other.
  • an intruder such as a worker's finger invades one of the detection areas D 1 , D 2 , D 3 , D 4 , D 5 , for example, the detection area D 2 or D 3 .
  • the sensor K 2 or K 3 detects the intruder.
  • the detection signal of the sensor K 2 or K 3 is input to the controller unit 20 and input to the control panel of the robot arm RA.
  • the nut runner NR is temporarily stopped (or urgently stopped).
  • the sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 are arranged over the entire circumference of the nut runner NR, intrusion detection from all directions is detected for the nut runner NR. can do. Further, when the nut runner NR is arranged above the nut (not shown), if an intruder such as a worker's finger approaches the nut, the intruder will invade one of the detection areas. , Similarly, either sensor detects the intruder and the nut runner NR pauses (or urgently stops).
  • the plurality of housings 10 1 C, 10 2 C, 10 3 C, 10 4 C, and 10 5 C are sensors K 1 , K 2 , K 3 , K 4 , and K 5, respectively. Since each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 is built in, the arrangement of each housing, that is, each sensor unit can be freely changed, thereby detecting. It is possible to flexibly arrange the area according to the size and shape of the area, and the degree of freedom in layout can be increased. As a result, the versatility of the sensor device can be improved and the cost can be reduced.
  • the housings 10 1 C, 10 2 C, 10 3 C, 10 4 C, 10 5 C are connected by tubes t 1 , t 2 , t 3 , and t 4 .
  • the positional relationship between each housing 10 1 C, 10 2 C, 10 3 C, 10 4 C, and 10 5 C is maintained, so that when each housing, that is, each sensor unit is mounted on the installation surface, It is not necessary to determine the position of each sensor unit one by one, and the installation work can be easily performed.
  • each tube t 1 , t 2 , t 3 , and t 4 has flexibility, each tube t 1 , t 2 , t 3 , and t 4 can be deformed by bending or bending.
  • each housing 10 1 C, 10 2 C, 10 3 C, 10 4 C, and 10 5 C are arranged in a straight line. It is also possible to arrange them in an arc shape, a U shape, or the like. That is, in this embodiment, the positional relationship between the housings can be adjusted. Further, since each sensor unit is housed in a housing, each sensor unit has waterproof, drip-proof, and oil-proof properties.
  • lead wires 25 1 b, 25 2 b, 25 3 b, 25 4 b is accommodated in the interior of the tube t 1, t 2, t 3 , t 4 , respectively, the housing structure as a whole sensor device As a result, the rigidity of the entire device can be increased, and the environmental resistance of the device as a whole can be improved.
  • each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 is one sensor light receiving / receiving unit 10 1 S, 10 2 S, 10 3 S, 10 4 S, 10 5 S.
  • the number of sensor light-receiving parts built in each sensor unit may be two or more, and the number of sensor light-receiving parts built in each sensor unit is a sensor. It may vary from unit to unit.
  • sensor units 10 1 , 10 2 , 10 3 , 10 4 and 10 5 are arranged on the circumference, but the application of the present invention is not limited to this.
  • the number of sensor units constituting the sensor device may be more than or less than 5, and is appropriately determined according to the size of the detection area determined by the size of the jig and tool, the size of the intruder, and the like.
  • 12 sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 5 , 10 6 , 10 7 7 , 10 8 10, 9 9 , 10 10 10 , 11 10 12 are arranged on the circumference.
  • each The array pitch of the sensor units may be relatively large, and if the intruder is a human finger, the array pitch of each sensor unit may be relatively small. Since the sensor device 1 according to the present invention adopts a configuration in which each housing of each sensor unit is connected by a connecting member, it is possible to flexibly respond to a change in the number of sensor units.
  • each sensor unit is arranged on the circumference, but the application of the present invention is not limited to this.
  • the sensor unit according to the present invention has various shapes such as rectangular, U-shaped, U-shaped, V-shaped, L-shaped, horseshoe-shaped, oval-shaped, oval-shaped, and oval-shaped, depending on the detection region. It may be arranged along.
  • FIG. 15 shows an example in which the sensor units 10 1 , 10 2 , 10 3 , 10 4 , 10 5 5 , 10 6 , 10 7 10, 8 and 10 9 are arranged in a U shape. In FIG. 15, the tube connecting each sensor unit is omitted.
  • the tubes t 1 , t 2 , t 3 , and t 4 connecting the sensor units 10 1 , 10 2 , 10 3 , 10 4 , and 10 5 adjacent to each other in the circumferential direction have a constant length.
  • these tubes are made of resin and can be cut, their lengths can be freely changed. Therefore, by increasing the length of the tube, the arrangement pitch of each sensor unit can be increased and sparsely arranged. On the contrary, by shortening the length of the tube, the arrangement pitch of each sensor unit can be increased. It can be made small and densely arranged.
  • the resin tube as the connecting member, the positional relationship between the sensor units (or between the housings) can be adjusted.
  • a resin tube is used as the connecting member
  • the connecting member a member having elasticity may be adopted.
  • a plurality of tubular members having different diameters may be prepared and combined in a nested manner to form a telescopic connecting member having a telescopic structure.
  • a bellows-shaped member may be used as the connecting member.
  • the connecting member since the connecting member has elasticity, the positional relationship between the sensor units (or between the housings) can be adjusted without cutting the connecting member as in the above embodiment. It is possible.
  • the connected portions 10 1 a, 10 1 b; 10 2 a, 10 2 b; 10 3 a, 10 3 b; of each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 ; 10 4 a, 10 4 b; 10 5 a, 10 5 b are the housings of each sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 10 1 C, 10 2 C, 10 3 C, 10
  • An example is shown in which the main bodies of 4 C, 10 and 5 C are integrally provided and fixed (in FIG. 5, each connected portion 10 1 a, 10 1 with respect to the center line CL of the housing 10 1 C).
  • the center lines CaL and CbL of b are orthogonal to each other), but the application of the present invention is not limited to this.
  • Ball joint connection to each main body of the sensor unit 10 1 , 10 2 , 10 3 , 10 4 , 10 5 housing 10 1 C, 10 2 C, 10 3 C, 10 4 C, 10 5 C.
  • the connected portion may be configured to be tiltable in any direction with respect to the main body portion (at this time, the center lines CaL and CbL of the connected portions 10 1 a and 10 1 b in FIG. 5). There angle formed with respect to the center line CL of the casing 10 1 C can vary). In this case, since the connected portion tilts when connecting the adjacent sensor units with the tube, the tube can be smoothly connected without applying an excessive force to the tube.
  • the sensor device according to the present invention is applied to the nut runner NR of the robot arm RA, but the application of the present invention is not limited to this.
  • the present invention is also applicable to jigs and tools other than the nut runner NR.
  • the application of the present invention is not limited to the jig and tool of the robot arm, and the present invention can be applied to end effectors other than the jig and tool, and can be similarly applied to machines and devices other than the robot arm.
  • the present invention is useful for sensor devices and sensor systems that can be flexibly arranged according to the detection area and can be easily mounted on the installation surface.
  • Sensor device 10 1 , 10 2 , 10 3 , 10 4 , 10 5 Sensor unit 10 1 a, 10 1 b; 10 2 a, 10 2 b; 10 3 a, 10 3 b: Connected part 10 4 a, 10 4 b; 10 5 a, 10 5 b: Connected part 10 1 C, 10 2 C, 10 3 C, 10 4 C, 10 5 C: Housing K 1 , K 2 , K 3 , K 4 , K 5 : Sensor t, t 1 , t 2 , t 3 , t 4 : Tube (connecting member)
  • RA Robot arm NR: Nut runner (jig tool)

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Geophysics (AREA)
  • Manipulator (AREA)
  • Geophysics And Detection Of Objects (AREA)

Abstract

La présente invention concerne un dispositif de capteur et un système de capteur qui peuvent être agencés de manière flexible selon une région de détection et qui peuvent en outre être facilement fixés à une surface de montage.　Dans ce dispositif de capteur (1) sont fournis : une pluralité de boîtiers 101C, 102C, 103C, 104C, 105C qui constituent respectivement des unités de capteur 101, 102, 103, 104, 105 en ayant des capteurs respectifs K1, K2, K3, K4, K5 construits en leur sein ; et des tubes t1-t4 qui raccordent les boîtiers 101C, 102C, 103C, 104C, 105C. En raison du fait que les boîtiers 101C, 102C, 103C, 104C, 105C sont raccordés par les tubes t1-t4, la relation de position entre les boîtiers 101C, 102C, 103C, 104C, 105C est maintenue. De plus, les tubes t1-t4 sont fournis de sorte que la relation de position entre les boîtiers 101C, 102C, 103C, 104C, 105C peut être réglée.
PCT/JP2020/017247 2019-05-31 2020-04-21 Dispositif de capteur et système de capteur Ceased WO2020241124A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019-103283 2019-05-31
JP2019103283A JP2020196083A (ja) 2019-05-31 2019-05-31 センサ装置およびセンサシステム

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WO2020241124A1 true WO2020241124A1 (fr) 2020-12-03

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WO (1) WO2020241124A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH112392A (ja) * 1997-06-12 1999-01-06 Itaya Seisakusho:Kk 安全装置
JP2013082071A (ja) * 2013-02-12 2013-05-09 Toyota Motor East Japan Inc 作業支援システム
US20170168475A1 (en) * 2015-12-10 2017-06-15 Hyundai Motor Company Smart loader apparatus for trunk lid hinge
JP2017517098A (ja) * 2014-04-28 2017-06-22 エムケイエス インストゥルメンツ， インコーポレイテッド 前方および中間デイジーチェーン型電力注入機能、遮蔽機能および耐水機能をもつ能率化されたヒータアセンブリ
WO2017170305A1 (fr) * 2016-03-29 2017-10-05 ライフロボティクス株式会社 Dispositif à capteur de proximité et mécanisme de bras de robot
JP2018103345A (ja) * 2016-12-28 2018-07-05 川崎重工業株式会社 ロボットシステム
JP2018149673A (ja) * 2017-03-10 2018-09-27 Idec株式会社 非接触センサ装置および当該非接触センサ装置を備えた機械

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH112392A (ja) * 1997-06-12 1999-01-06 Itaya Seisakusho:Kk 安全装置
JP2013082071A (ja) * 2013-02-12 2013-05-09 Toyota Motor East Japan Inc 作業支援システム
JP2017517098A (ja) * 2014-04-28 2017-06-22 エムケイエス インストゥルメンツ， インコーポレイテッド 前方および中間デイジーチェーン型電力注入機能、遮蔽機能および耐水機能をもつ能率化されたヒータアセンブリ
US20170168475A1 (en) * 2015-12-10 2017-06-15 Hyundai Motor Company Smart loader apparatus for trunk lid hinge
WO2017170305A1 (fr) * 2016-03-29 2017-10-05 ライフロボティクス株式会社 Dispositif à capteur de proximité et mécanisme de bras de robot
JP2018103345A (ja) * 2016-12-28 2018-07-05 川崎重工業株式会社 ロボットシステム
JP2018149673A (ja) * 2017-03-10 2018-09-27 Idec株式会社 非接触センサ装置および当該非接触センサ装置を備えた機械

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