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- としみ おおばま
- 4 years ago
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1
2
3 (1) 15m/Ry Force/Torque 51 15m/Ry 55 (2) 25m/Ry Force/Torque 64 25m/Ry (1) 15m/Ry Force/Torque 82 15m/Ry 85 3
4 (2) 25m/Ry Force/Torque 93 25m/Ry Force/Torque
5 ) 2) Technology 5
6 1.2 (1) VX VX VX m 0.1m AC VX-10 ESPA 3)
7 1-2 7
8 1-2 Rmax mm 4mm 1-4 8
9 9
10 VX10 ( ESPA ) ESPA ESPA SC SC TP TP TP TP GM GM F OP
11 SC SC TP TP TP TP GM GM F OP E ( Z ) ( R ) Z R 1-6 Z R [Z,R:mm] Z R D 200 E
![1-7 Z R [Z,R:mm] 1 2 3 4 5 6 7 8 Z -0.251-0.401-0.433-0.449-0.463-0.478-0.492-0.522 R 0.405 0.522 0.550 0.562 0.572 0.583 0.](/docs-images/99/142687142/images/12-0.jpg "595 0.555 D 200 E 4817 4818 4819 4820 4821 4822 4823 4824 1-6 1-7 1.3.3 1-6 12mm (Cu) S50C SK-5 2 2 60sec ( Z ) E-35A 4 #1500 1-6 12")
12 1-7 Z R [Z,R:mm] Z R D 200 E mm (Cu) S50C SK sec ( Z ) E-35A 4 #
13 1.3.4 S50C
14 SK SK-5 5sec
15 S50C S50C SK-5 1/3 2/ (Z) [mm] /3 1/2 15
16 SK Z R [Z,R:mm] Z R D 200 E [Z,R:mm] 1 2 Z R E
17 [Z,R:mm] Z R E [Z,R:mm] Z R E [Z,R:mm] Z R E [Z,R:mm] Z R E
18 m 18
19
20
21 [m] [m/rmax]
22 m 10m 5m y = x x x x x x y = x x x x x x y = x x x x x x y = x x x x x x y = x x x x x x
23 m 50m
24 ESPA (Z) [m]
25 ESPA [mm] (0%) (10%) (20%) m 14m 30m ( 7) (%)
26 (0%) (10%) (20%) [%] 16 ( 7) 1 (0%) (10%) (20%)
27 /3 7 2/3 1/ (500) m 100m 100m % (10%) (20%) % m/Rmax 2.56m/Rmax 27
28 1.5 ESPA 2/3 ESPA ESPA 20 ESPA /3 1/
29 /3 4) 2)
30 Z 3 30
31 m/Ry #120 #180 #320 ( )( #400 #600 #900 #1200 #3000 #8000 #120 #180 #320 ( )( #400 #600 #900 #1200 #3000 # )
32 (1) VX VX VX10 VX-10 ESPA
33 2-2 33
34
35 2-5 35
36
37 37
38
39
40 Force/Torque 2-11Force/Torque rpm Force Torque 5 100Hz Force/Torque Force 0.1[N] Torque [N-M] 0.005[N-M] 40
41 rpm Force rpm Torque 41
42 10mm Force/Torque Force/Torque Force 2-15 Torque 42
43 2-16 Force 2-17 Torque
44 2-6 Force/Torque Fy Fz Tx Ty Tz Force/Torque Fy Fz Tx Ty Tz Force Torque Force Torque 44
45 m/Ry 25m/Ry Z Force/Torque Z SK-5 15 m/ry 25m/Ry 2-8 Z 10mm /Ry 25 /Ry Z m
46 Z Y
47 2.3.3 (1) 15m/Ry 15m/Ry 2-19 (Z) m/ry (Z)15m (Z)20m (Z)25m (Z)30m 15m/Ry (Z) 25m35m m/Ry (100) 47
48 m/Ry 15m (100) m/Ry 20m (100) 48
49 m/Ry 25m (100) m 35m (100) 49
50 Ry 1.04m 1m Ry m Z15 m Z 15m m/Ry 50
51 Force/Torque Force/Torque Force/Torque 40000rpm Z15m Fx 2-26 Z20m Fx 2-27 Z25m Fx 2-28 Z35m Fx 2-29 Z15m Fy 2-30 Z25m Fy 51
52 2-31 Z25m Fy 2-32 Z30m Fy 2-33 Z15m Fz 2-34 Z20m Fz 2-35 Z25m Fz 2-36 Z35m Fz 52
53 2-37 Z15m Tx 2-38 Z20m Tx 2-39 Z25m Tx 2-40 Z35m Tx 2-41 Z15m Ty 2-42 Z20m Ty 2-43 Z25m Ty 2-44 Z35m Ty 53
54 2-45 Z15m Tz 2-46 Z20m Tz 2-47 Z25m Tz 2-48 Z35m Tz 54
55 15m/Ry 2-49 Force/Torque A 40000rpm B X First Approach X + Fx Tx 2-10 Tx B X X Y X Force/Torque 2-49 B B X Force/Torque 55
56 m/Ry First Approach Force/Torque X X Force/Torque Z Z 100m200m300m 2-50 First Approach Force Z ForceXY Z 2-51 First Approach Torque Tz First Approach X Ty Tx Ty Force Z Force 1[N] First Approach 9[N] Torque Z Torque 0.1[N-m] First Approach 0.8[N] 56
57 2-50 First Approach Force 2-51 First Approach Torque 57
58 2-52 Force 2-53 Force 58
59 2-54 Torque 2-55 Torque 59
60 (2) 25m/Ry 25m/Ry /Ry 25m Z35m Z 40m Z 45m Z 40m m/Ry
61 m/Ry 25m (100) m/Ry 35m (100) 61
62 m/Ry 40m (100) m/Ry 45m (100) 62
63 m/Ry Ry 0.21m Z25m 25m/Ry Z 25 Z m/Ry 63
64 Force/Torque Force/Torque Z25m Fx 2-63 Z35m Fx 2-64 Z40m Fx 2-65 Z45m Fx 2-66 Z25m Fy 2-67 Z35m Fy 2-68 Z40m Fy 2-69 Z45m Fy 64
65 2-70 Z25m Fz 2-71 Z35m Fz 2-72 Z40m Fz 2-73 Z45m Fz 2-74 Z25m Tx 2-75 Z35m Tx 2-76 Z40m Tx 2-77 Z45m Tx 65
66 2-78 Z25m Ty 2-79 Z35m Ty 2-80 Z45m Ty 2-81 Z45m Ty 2-82 Z25m Tz 2-83 Z35m Tz 2-84 Z40m Tz 2-85 Z45m Tz 66
67 25m/Ry m/Ry First Approach Force Torque First Approach Force Torque 25m/Ry (Z) 100m200m300m 2-86 First Approach Force FxFyFz (Z) 2-87 First Approach Torque Tx Tx Ty Tz First Approach Force (Z) Fz 1[N] Fz (Z) 25m45m 2[N] 100m300m Fz (Z)25m45m Fz (Z) m Fz Torque Force XYZ 67
68 2-86 First Approach Force 2-87 First Approach Torque 68
69 2-88 Force 2-89 Force 69
70 2-90 Torque 2-91 Torque 70
71 /Ry 25 /Ry Z Z 15m/Ry Z 25 25m/Ry Z40m Z Ry 1.7 Z Ry Force/Torque 15 /Ry 25 /Ry 71
72 20 Z 2-93 Z 25 10m Force/Torque First Approach Force/Torque First Approach First Approach FxFyFz (Z) Torque Tx Tx Ty First Approach 15 m/ry 25 /Ry 15 /Ry Z Ry 2-93 Z 72
73 m 2 6) ( ) 7) Z m/Ry m/Ry m/Ry (500) m/ry 15m/Ry 25m/Ry m/Ry (500) 15m/Ry Ry
74 Z m/Ry (500) m/Ry (500) 2-11 Ry 2-98 Ry 74
75
76 Y Force/Torque Z Y /Ry 25m/Ry
77 m/ry m/ry
78 2.4.3 (1) 15m/Ry Y10m 50m Y75m 100m m/Ry 10m (100) 78
79 m/Ry 50m (100) m/Ry 75m (100) 79
80 m/Ry 100m (100) 80
81 2-105 Ry Y (Y) 100m 10m Ry 1.49 Ry Y 10m 50m 0.19m Y 75m 100m Y 50m 50 Y 50m m/Ry 81
82 Force/Torque Force/Torque Y10m Fx Y50m Fx Y75m Fx Y100m Fx Y10m Fy Y50m Fy Y75m Fy Y100m Fy 82
83 2-114 Y10m Fz Y50m Fz Y75m Fz Y100m Fz Y10m Tx Y50m Tx Y75m Tx Y100m Tx 83
84 2-122 Y10m Ty Y50m Ty Y75m Ty Y100m Ty Y10m Tz Y50m Tz Y75m Tz Y100m Tz 84
85 15m/Ry m/Ry Force Fx Fy (Y) 0.5[N] FxFy Fz (Y) Fx Fy (Y) 1.5[N] (Y) Fz (Y) 2[N] Force Force 85
86 Torque Torque (Y) Tx 0.3[N-M] Ty Tx Tz (Y) Torque Tx (Y) TyTz (Y) Torque Torque 86
87 2-14 Force/Torque 87
88 (2) 25m/Ry m/Ry 15m/Ry Y 50m 50 /Ry Y 50m 15m/Ry m/Ry 10m (100) 88
89 m/Ry 20m (100) m/Ry 25m (100) 89
90 m/Ry 30m (100) m/Ry 50m (100) 90
91 m/Ry 75m (100) m/Ry 100m (100) 91
92 2-141 Ry Y 50m Ry 1.04m Y 50m Y 50m Ry 6m 15m/Ry (Y) 50m Y 50m (Y) 25m/Ry Y 50m m/Ry 92
93 Force/Torque Force/Torque Y10m Fx Y20m Fx Y30m Fx Y50m Fx Y75m Fx Y100m Fx 93
94 2-148 Y10m Fy Y20m Fy Y30m Fy Y50m Fy Y75m Fy Y100m Fy Y10m Fz Y20m Fz 94
95 2-156 Y30m Fz Y50m Fz Y75m Fz Y100m Fz Y10m Tx Y20m Tx Y30m Tx Y50m Tx 95
96 2-164 Y75m Tx Y100m Tx Y10m Ty Y20m Ty Y30m Ty Y50m Ty Y75m Ty Y100m Ty 96
97 2-172 Y10m Tz Y20m Tz Y30m Tz Y50m Tz Y75m Tz Y100m Tz 97
98 25m/Ry Force Fx Fy (Y) Force 1[N] Fz (Y) Force 7.26[N] Force Fx (Y) Force 0.26[N] Fy Fz Force 2.44[N]1.90[N] Force 98
99 2-179 Force Torque Tx Ty Torque TxTy (Y) Torque 0.37[N-M]0.44[N-M] Tz 0.08[N-M] Torque (Y) Tx 0.51[N-M] Ty Tz 0.05[N-M]0.01[N-M] Force/Torque
100 2-180 Torque Torque 100
101 2-15 Force/Torque 101
102 /Ry 25 /Ry Y Y Y 50m (Y 50m (Y) (Y) (Y) 15 /Ry 25 /Ry Y 50m 102
103 ) Y H Y H MS20 Y H (Y) (H) (Y) (H) 103
104 2-184 (Y) (H) Ry (H) (Y) 50m Ry (Y)50m (H)1m (H)1m 15m/Ry 25m/Ry (Y) 50m (H) 1m Force/torque 15 /Ry 25m/Ry Force/Torque 15 /Ry 25 /Ry /Ry /Ry m/Ry 15m/R Force 104
105 m/Ry 15m/R Torque 105
106 D 3-D /Ry 25 /Ry
107 m/Ry (100) m/Ry (100) 107
108
109 CNC / MS NC 5 1m/Ry
110 NC VTLIN[1]=1 VTLFN[1]=1 VTLL[1]=40 VTLA2[1]=5 VTLA1[1]=80 VTLIN[3]=7 VTLFN[3]=1 VTLL[3]=40 VTLA2[3]=3 VTLA1[3]=60 VWKR= VCHKL=0 VCHKD=0 VCHKX=38.7 VCHKZ= DEF WORK PT LF,LC,[-129,0],[41,41],[1 30,0] END CLEAR DRAW N0001 G00 X500 Z800 N0002 G50 S1500 NAT01 N0100 G97 S611 M41 M03 M08 N0101 G00 Z5 T N0102 X49 N0103 Z6.2 N0104 G96 S94 N0105 G85 N0106 D1 F0.12 M85 N0106 G83 N0107 G01 X0 Z1 N0108 X41 N0109 Z N0110 G81 N0111 G00 X0 Z2.2 G42 N0112 G01 Z0.2 E0.12 N0113 G03 X Z K E0.18 N0114 X40.3 Z I K E0.12 N0115 G01 Z N0116 X43.4 E0.18 N0117 G40 N0118 G80 N0119 G00 X49 N0120 G97 S611 M09 N0121 Z5 N0122 X500 N0123 X500 Z800 T0100 NAT03 N0200 G97 S1500 M42 M08 N0201 G00 Z5 T N0202 X49 N0203 Z2 N0204 X4 N0205 G96 S800 N0206 G87 N0207 N0207 G81 N0208 G00 X-0.8 N0209 G01 Z0 G42 F0.18 N0210 X0 F0.12 N0211 G03 X Z K N0212 G02 X Z I0.996 K0.087 N0213 G03 X39.9 Z I K N0214 G01 Z F0.18 N0215 X41.8 N0216 G40 N0217 G80 N0218 G01 X42 Z N0219 G00 X49 N0220 G97 S1500 M05 M09 N0221 Z5 N0222 X500 N0223 X500 Z800 T0300 N0224 M02 110
111 2-190CNC MS20 111
112 MS mm Z mm 2 0mm 3 50m mm/min 40000rpm 3mm Z 10mm 112
113 /Ry MS m/Ry m/Ry 113
114 m/Ry D D 3-D 114
115 2.7 Z [m]=1.7ry (Y)50m 15 /Ry 1.2m 25m/Ry 2.60m 6 Force/Torque Force/Torque Force/Torque 3 1/5 115
116
117 117
118 1) P3-1P3-22 2) P.4 3) NC VX P.IV-80IV-86 4) 2001 P.314 5) P.155 6) P.165 7) P ) P
119 1 Force/Torque 119
120 Force/Torque 1. 15m/Ry F-1 15m Force F-2 20m Force F-3 25m Force F-4 15m Force F-5 15m Torque F-6 20m Torque F-7 25m Torque F-8 30m Torque 120
121 2. 25m/Ry F-9 25m Force F-10 35m Force F-11 40m Force F-12 45m Force F-13 25m Torque F-14 35m Torque F-15 40m Torque F-16 45m Torque 121
122 Force/Torque 1. 15m/Ry F-17 10m Force F-18 50m Force F-19 75m Force F m Force F-21 10m Torque F-22 50m Torque F-23 75m Torque F m Torque 122
123 2. 25m/Ry F-25 10m Force F-26 20m Force F-27 30m Force F-28 50m Force F-29 75m Force F m Force 123
124 F-31 10m Torque F-32 20m Torque F-33 30m Torque F-34 50m Torque F-35 75m Torque F m Torque 124
125 2 125
126 2m 1m 5 126
127 10m 30m 20m 127
128 30 128
129 129
m/Ry 21 (1) 21 (2) 24 (3) Force/Torque 25 (4) 15m/Ry m/Ry 34 (1) 34
1051006 1. 3 1.1 5 2. 6 2.1 6 2.2 12 2.3 14 3. 19 3.1 19 3.2 19 3.3 21 3.3.1 15m/Ry 21 (1) 21 (2) 24 (3) Force/Torque 25 (4) 15m/Ry 29 3.3.2 25m/Ry 34 (1) 34 (2) 37 (3) Force/Torque 38 (4) 25m/Ry 41 3.4
平成9年度水道事業年報 １概況 ２施設
() (mm) 12 3 31 12 3 31 4 5 6 7 8 9 10 11 12 1 2 3 145,085 146,117 146,352 146,409 146,605 146,685 146,807 147,014 147,002 147,277
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Note.tex 2008/09/19( )
1 20 9 19 2 1 5 1.1........................ 5 1.2............................. 8 2 9 2.1............................. 9 2.2.............................. 10 3 13 3.1.............................. 13 3.2..................................
N N 1,, N 2 N N N N N 1,, N 2 N N N N N 1,, N 2 N N N 8 1 6 3 5 7 4 9 2 1 12 13 8 15 6 3 10 4 9 16 5 14 7 2 11 7 11 23 5 19 3 20 9 12 21 14 22 1 18 10 16 8 15 24 2 25 4 17 6 13 8 1 6 3 5 7 4 9 2 1 12 13
1 z q w e r t y x c q w 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 R R 32 33 34 35 36 MR MR MR MR MR MR MR MR MR MR MR MR MR MR MR MR MR MR MR MR MR MR MR MR MR
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http://www.kairyudo.co.jp/ 2012 AKITA 2 3 4 10 15 1 2 3 2 cm 110.7 111.6 109.8 110.6 5 kg 19.0 19.5 18.6 19.1 cm 61.9 62.2 61.5 61.6 cm 116.7 117.8 115.8 116.8 6 kg 21.4 22.5 21.0 21.9 cm 64.9 65.4 64.5
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1 C 2 C 3 C 4 C 1 C 2 C 3 C
1 e N >. C 40 41 2 >. C 3 >.. C 26 >.. C .mm 4 C 106 e A 107 1 C 2 C 3 C 4 C 1 C 2 C 3 C 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124
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24 23 28,707,866 2,317,737 26,390,129 29,289,794 2,899,665 24 23 19,084,525 21,036,598 1952,073 24 23 8,603,613 8,393,427 967,631 925,404 202,440 179,834 217,469 219,963 66,716 64,877 3,160,423 2,951,165
[mm] [mm] [mm] 70 60 50 40 30 20 10 1H 0 18 19 20 21 22 23 24 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 1 2 3 4 5 6 7 8 9 10 11 12 60 50 40 30 20 10 0 18 19 20 21 22 23 24 1 2 3 4
第18回海岸シンポジウム報告書
2011.6.25 2011.6.26 L1 2011.6.27 L2 2011.7.6 2011.12.7 2011.10-12 2011.9-10 2012.3.9 23 2012.4, 2013.8.30 2012.6.13 2013.9 2011.7-2011.12-2012.4 2011.12.27 2013.9 1m30 1 2 3 4 5 6 m 5.0m 2.0m -5.0m 1.0m
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1 1 1 2 3 4 5 6 7 8 9 e e 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 10mm 150mm 60mm 25mm 40mm 30mm 25 26 27 1 28 29 30 31 32 e e e e e e 33 e 34 35 35 e e e e 36 37 38 38 e e 39 e 1 40 e 41 e 42 43
(1519) () 1 ( ) () 1 ( ) - 1 - - 2 - (1531) (25) 5 25,000 (25) 5 30,000 25,000 174 3 323 174 3 323 (1532) () 2 () 2-3 - - 4 - (1533) () 1 (2267)204 () (1)(2) () 1 (2267)204 () (1)(2) (3) (3) 840,000 680,000
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エアシリンダ ø, ø, ø, ø, ø, ø 質量 New 16%削減 1.69kg RoHS ø-ストローク CJ1 CJP 従来品 2.01kg CM3 ロッドカバー ヘッドカバー 形状変更により質量削減 CG3 1 CS1 CS2 D- -X 技術 資料 383 øøøøøø MD D -Z- N V -M9W N 2 V 1 V1 W2 D2 T W 2 D2 N2 C1 G L V1 N
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ピッキング・パッキング用ハンドリングロボット MOTOMAN-MPKシリーズ
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