1. An industrial robot for conveying a conveying object comprising:
a hand for mounting the conveying object which comprises a mounting part, the mounting part comprises:
a holding part which is capable of abutting with the conveying object to hold the conveying object; and
an urging member which urges the holding part;
an articulated arm part which comprises at least two arms including a hand holding arm that turnably holds the hand on a tip end side of the hand holding arm and which is extended and folded when the conveying object is conveyed;
a main body part which turnably holds the articulated arm part; and
a cam member which is provided in the hand holding atm and which is formed with a cam face with which the holding part is abutted and which is relatively turned with respect to the hand around a turning center of the hand with respect to the hand holding arm with an extending and folding operation of the articulated arm part;
wherein the cam face is formed so that the holding part is retreated from the conveying object before the conveying object is conveyed and, with the extending and folding operation of the articulated arm part when the conveying object is conveyed, the holding part is moved in a holding direction to hold the conveying object.
2. The industrial robot according to claim 1, wherein
the hand is provided on both tip end sides of the hand with a first holding part and a second holding part as the holding part for holding the conveying object, and
the cam face comprises a first cam face with which the first holding part is abutted and a second cam face with which the second holding part is abutted.
3. The industrial robot according to claim 1, wherein the hand comprises a first hand and a second hand which are capable of being relatively turned to each other and which are disposed in an overlapped manner so that the first hand and the second hand have respectively the same turning centers to the hand holding arm.
4. The industrial robot according to claim 3, wherein the hand holding arm is provided, as the cam member, a first cam member with which the holding part of the first hand is abutted and a second cam member with which the holding part of the second hand is abutted.
5. The industrial robot according to claim 1, wherein
the mounting part is provided with a placing member on which the conveying object is to be placed, and
the holding part is disposed on a base end side of the placing member which is a turning center side of the hand.
6. The industrial robot according to claim 5, wherein the holding part is provided with a cam face abutting part which abuts with the cam face on the turning center side of the hand.
7. The industrial robot according to claim 6, wherein the cam face abutting part is a turnable cam face abutting roller which is abutted with the cam face.
8. The industrial robot according to claim 7, wherein the holding part is provided with a turnable conveying object abutting roller which is abutted with the conveying object.
9. The industrial robot according to claim 5, wherein the holding part is provided with a conveying object abutting part which is abutted with the conveying object on the base end side of the placing member.
10. The industrial robot according to claim 5, wherein the placing member is provided on the tip end side with an abutting part with which an end part of the conveying object is capable of abutting.
11. The industrial robot according to claim 5, wherein the holding part is linearly moved in the holding direction of the conveying object and in a retreated direction from the conveying object.
12. The industrial robot according to claim 11, wherein the holding part is provided with at least two shaft members which are linearly guided in the holding direction and in the retreated direction.
13. The industrial robot according to claim 11, wherein
the cam face of the cam member is formed with the turning center of the hand with respect to the hand holding arm as a center, and
the holding part is provided with a cam face abutting part which is abutted with the cam face.
14. The industrial robot according to claim 13, wherein
the cam face is formed so that, with a turning operation of the hand with respect to the hand holding arm in accordance with the extending and folding operation of the articulated arm part, before the conveying object is conveyed, the holding part is positioned in a retreated state from the conveying object and, when the articulated arm part performs the extending and folding operation for conveying the conveying object, the holding part is moved in the holding direction of the conveying object by means of which the hand is turned with respect to the hand holding arm.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. Apparatus for detecting structural damage to a composite pressure vessel, the apparatus comprising:
an optical fiber having a first end and a second end adhered to an exterior surface of the composite pressure vessel;
an injector operable to inject a light signal into the first end of the optical fiber; and,
a detector operable to detect a reflected portion of the light signal at the first end of the optical fiber;
a reflector coupled at the second end of the optical fiber operative to reflect a light signal injected into the first end of the optical fiber back to the first end thereof; and
means for measuring the amount of time taken by the reflected light signal to travel from the first end of the fiber to the reflector and back to the first end.
2. (canceled)
3. The apparatus of claim 1, further comprising:
a comparator operable to compare first and second light signals injected into the optical fiber at different times.
4. (canceled)
5. The apparatus of claim 1, further comprising a fiber optic connector at the first end of the optical fiber.
6. The apparatus of claim 1, wherein the light signal injector further comprises a pulser operable to pulse the light signal injected into the optical fiber.
7. The apparatus of claim 1, wherein the light signal injector comprises a laser or a light emitting diode.
8. The apparatus of claim 1, wherein the detector comprises a PIN diode or an avalanche photodiode.
9. The apparatus of claim 1, wherein the optical fiber includes a core comprising silica or a polymer.
10. The apparatus of claim 1, wherein the optical fiber is adhered to the exterior surface of the composite pressure vessel with a resin.
11. The apparatus of claim 10, wherein the optical fiber is embedded in the resin.
12. The apparatus of claim 1, wherein the composite pressure vessel comprises a composite over-wrapped pressure vessel (\u201cCOPV\u201d).
13. The apparatus of claim 1, wherein the composite pressure vessel comprises a high pressure gas storage vessel, a liquid propellant tank, or a solid rocket motor case.
14. (canceled)
15. (canceled)
16. An apparatus for detecting structural damage to a filament wound composite pressure vessel, apparatus comprising:
an optical fiber;
means for injecting first and second light signals into an end of the optical fiber at different times;
means for detecting a reflected light signal corresponding to a discontinuity in the optical fiber;
means for measuring the amount of time taken by the reflected light signal to travel from the first end of the fiber to the discontinuity and back to the first end; and
means for computing the distance of the discontinuity from the first end of the optical fiber from the time taken.
17. The apparatus of claim 16, wherein the light signal comprises a pulsed light signal.
18. (canceled)
19. (canceled)
20. (canceled)