SHOCK TOLERANT STRUCTURE

• US 20140236355A1
• Filed: 09/21/2012
• Published: 08/21/2014
• Est. Priority Date: 09/21/2011
• Status: Active Grant

• Current Assignee: MP Zenrobotics OY
• Original Assignee: Zenrobotics Oy (Terex Corporation)
• Inventors: Lukka, Tuomas
• Granted Patent: US 9,713,875 B2
• Time in Patent Office: Days
• US Class Current: 700/258
• CPC Class Codes: B25J 19/0091 Shock absorbers in general F16F
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: F16F 13/00 Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs F16F5/00, F16F6/00, F16F9/003 take precedence
• CPC Class Codes: F16F 13/005 comprising both a wound spring and a damper, e.g. a friction damper
• CPC Class Codes: F16F 13/24 the central part of the unit being supported by one element and both extremities of the unit being supported by a single other element, i.e. double acting mounting
• CPC Class Codes: F16F 15/02 Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems F16F15/005 takes precedence ; layered products B32B; suppression of vibration in ships B63; relieving load on bearings, using magnetic means F16C39/06
• CPC Class Codes: F16F 9/512 Means responsive to load action, i.e. static load on the damper or dynamic fluid pressure changes in the damper, e.g. due to changes in velocity F16F9/504, F16F9/516 take precedence; non-automatic damper adjustment from a distance using servo control, the servo pressure being created by the flow of damping fluid F16F9/465; self-pumping fluid springs in vehicle suspensions B60G17/044

Abstract

The invention concerns in general the technical field of robotics and automation. Especially the invention concerns a structure for improving a shock tolerance of a robot or other positioning system. More specifically, the invention discloses a mounting element structure for increasing shock tolerance in a robot. The mounting element structure includes a first surface (201) and a second surface (202) towards a robot tool element, wherein the first and second surfaces (201; 202) are configured to be connected with a string assembly (203). The string assembly is configured to, under exposure of external force exceeding a predetermined level, to reduce the damage caused by the force by deforming the shape of the string assembly (203).

Claims

1-16. -16. (canceled)

17. A mounting element structure for increasing shock tolerance in a robot comprising a robot tool element, wherein the mounting element structure, which is configured to be mounted within the same controllable unit as the robot tool element, comprises

a first surface (201), and

a second surface (202) towards the robot tool element,

and said first and second surfaces (201;

202) are configured to be connected with a string assembly (203), wherein a string material of the string assembly is essentially non-elastic, and

under exposure of external force exceeding a predetermined level defined at least partly by the geometry of the string assembly the string assembly (203) is configured to reduce damage caused by the force by deforming the shape of the string assembly (203).

18. The mounting element structure according to claim 17, wherein the mounting element structure further comprises at least one extending element (401) for adjusting the predetermined level of a force causing the string assembly to deform the shape.

19. The mounting element structure according to claim 18, wherein the adjustment of the predetermined level of a force causing the string assembly to transform the shape is achieved by controlling a compression force of the extending element (401).

20. The mounting element structure according to claim 18, wherein the extending element (401) is at least one of the following:

a spring, a hydraulic cylinder, a pneumatic cylinder, a solenoid, a servomotor adjusted screw-like extending element, an air spring.

21. The mounting element structure according to claim 17, wherein the extending element (401) is integrated with the string assembly.

22. The mounting element structure according to claim 17, wherein the first and second surfaces (201;

202) are configured to interleave at least partly during the deformation of the shape of the string assembly.

23. The mounting element structure according to claim 17, wherein each of the string (203a, 203b) forming the string assembly (203) is tautly adjusted.

24. The mounting element structure according to claim 17, wherein the strings (203a, 203b) in the string assembly (203) are unconnected to each other.

25. The mounting element structure according to claim 23, wherein each of the strings (203a, 203b) in the string assembly (203) is mounted to the first and second surfaces (201;

202).

26. The mounting element structure according to claim 17, wherein the string assembly (203) consists of six strings.

27. The mounting element structure according to claim 17, wherein the structure includes at least one sensor for monitoring the alignment of the structure.

28. The mounting element structure according to claim 27, wherein the sensor is a laser or infrared distance sensor, a camera, an encoder, a strain gauge, a potentiometer or a sensor monitoring the pressure inside a hydraulic or pneumatic cylinder or air spring.

29. The mounting element structure according to claim 27, wherein a fault signal is configured to be generated based on the alignment of the structure measured by the at least one sensor.

30. The mounting element structure according to claim 27, wherein a system comprising the mounting element structure is configured to be halted in response to readings from the sensors.

31. The mounting element structure according to claim 27, wherein a weight of a gripped object is configured to be calculated on the basis of the sensor readings.

32. The mounting element structure according to claim 19, wherein the extending element (401) is at least one of the following:

a spring, a hydraulic cylinder, a pneumatic cylinder, a solenoid, a servomotor adjusted screw-like extending element, an air spring.

33. The mounting element structure according to claim 24, wherein each of the strings (203a, 203b) in the string assembly (203) is mounted to the first and second surfaces (201;

202).

34. The mounting element structure according to claim 28, wherein a fault signal is configured to be generated based on the alignment of the structure measured by the at least one sensor.