BR112013018876A2 - dispositivo de travamento, dispositivo de transferência com o mesmo, e método para controlar o dispositivo de travamento - Google Patents

dispositivo de travamento, dispositivo de transferência com o mesmo, e método para controlar o dispositivo de travamento

Info

Publication number
BR112013018876A2
BR112013018876A2 BR112013018876A BR112013018876A BR112013018876A2 BR 112013018876 A2 BR112013018876 A2 BR 112013018876A2 BR 112013018876 A BR112013018876 A BR 112013018876A BR 112013018876 A BR112013018876 A BR 112013018876A BR 112013018876 A2 BR112013018876 A2 BR 112013018876A2
Authority
BR
Brazil
Prior art keywords
locking device
controlling
therewith
transfer
locking
Prior art date
Application number
BR112013018876A
Other languages
English (en)
Other versions
BR112013018876B1 (pt
Inventor
Matsuoka Hirofumi
Original Assignee
Toyota Motor Co Ltd
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 Toyota Motor Co Ltd filed Critical Toyota Motor Co Ltd
Publication of BR112013018876A2 publication Critical patent/BR112013018876A2/pt
Publication of BR112013018876B1 publication Critical patent/BR112013018876B1/pt

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0023—Gripper surfaces directly activated by a fluid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0071—Gripping heads and other end effectors with needles engaging into objects to be gripped
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/27—Arm part
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/31—Gripping jaw

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
BR112013018876-6A 2011-01-26 2011-12-29 dispositivo de travamento, dispositivo de transferência com o mesmo, e método para controlar o dispositivo de travamento BR112013018876B1 (pt)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2011014598A JP2012152860A (ja) 2011-01-26 2011-01-26 把持装置およびその制御方法
JP2011-014598 2011-01-26
PCT/JP2011/080531 WO2012101953A1 (ja) 2011-01-26 2011-12-29 把持装置およびそれを備える移載装置、並びに、把持装置の制御方法

Publications (2)

Publication Number Publication Date
BR112013018876A2 true BR112013018876A2 (pt) 2017-07-04
BR112013018876B1 BR112013018876B1 (pt) 2021-05-25

Family

ID=46580534

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112013018876-6A BR112013018876B1 (pt) 2011-01-26 2011-12-29 dispositivo de travamento, dispositivo de transferência com o mesmo, e método para controlar o dispositivo de travamento

Country Status (7)

Country Link
US (1) US9067324B2 (pt)
EP (1) EP2669065B1 (pt)
JP (1) JP2012152860A (pt)
CN (1) CN103338902B (pt)
BR (1) BR112013018876B1 (pt)
PL (1) PL2669065T3 (pt)
WO (1) WO2012101953A1 (pt)

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JP6581391B2 (ja) * 2015-05-22 2019-09-25 川崎重工業株式会社 ワーク搬送システム
US10011025B2 (en) 2015-06-10 2018-07-03 Phd, Inc. Articulating gripper tooling
US9914214B1 (en) * 2016-02-22 2018-03-13 X Development Llc Preshaping for underactuated fingers
WO2018009754A1 (en) * 2016-07-07 2018-01-11 The Board Of Trustees Of The Leland Stanford Junior University Air-bladder enhanced with gecko-adhesive for grasping applications
US11136229B2 (en) * 2016-12-01 2021-10-05 Cascade Corporation Clamp force control system for lift truck attachment with secondary hydraulic force control circuit
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CN106426188B (zh) * 2016-12-24 2018-10-30 江苏山扬智能装备有限公司 一种程控工业机器人
CN106426187B (zh) * 2016-12-24 2019-04-19 聊城鑫泰机床有限公司 工业机器人控制方法
CN106671085B (zh) * 2017-01-07 2019-07-19 上海好夫满信息技术有限公司 程控机器人以及控制方法
DE102017201057B4 (de) 2017-01-24 2020-07-23 Festo Se & Co. Kg Greifvorrichtung mit elastisch nachgiebiger Greiffäche an einem von drei Greiffingern
JP6551805B2 (ja) * 2017-03-06 2019-07-31 パナソニックＩｐマネジメント株式会社 部品実装装置及び部品実装方法
US10343290B2 (en) * 2017-03-08 2019-07-09 Amazon Technologies, Inc. Conformable variable friction manipulator
US20180282086A1 (en) * 2017-04-03 2018-10-04 Xerox Corporation Universal part gripper with conformable tube grippers
CN106887395B (zh) * 2017-04-14 2023-06-20 常州亿晶光电科技有限公司 硅片检测装置
US11607817B2 (en) 2017-06-02 2023-03-21 The Research Foundation For The State University Of New York Robotic gripper with variable stiffness actuators and methods for same
USD845372S1 (en) * 2017-07-27 2019-04-09 JLS Automation Gripping tool
JP7122690B2 (ja) * 2017-07-28 2022-08-22 パナソニックＩｐマネジメント株式会社 ロボットハンド装置、ロボットハンドシステム及び保持方法
CN107813333B (zh) * 2017-09-05 2021-04-27 芜湖瑞思机器人有限公司 一种用于高速并联机器人的食品抓取机构
JP7014497B2 (ja) * 2017-10-12 2022-02-01 Thk株式会社 把持システム
JP6881268B2 (ja) * 2017-12-05 2021-06-02 トヨタ自動車株式会社 把持装置、把持判定方法および把持判定プログラム
JP7006404B2 (ja) * 2018-03-15 2022-01-24 トヨタ自動車株式会社 ワークの支持装置、支持方法及びロボットアーム
US10661446B2 (en) * 2018-04-06 2020-05-26 Aurora Flight Sciences Corporation Jamming grippers with stencil moldings
JP7035761B2 (ja) * 2018-04-24 2022-03-15 セイコーエプソン株式会社 移動体装置、ハンド、ロボットおよび移動体装置の制御方法
JP7218538B2 (ja) * 2018-10-17 2023-02-07 京セラドキュメントソリューションズ株式会社 組立装置及び構造物製造方法
KR102317265B1 (ko) * 2018-11-02 2021-10-22 주식회사 엘지에너지솔루션 로봇 아암을 포함하는 로봇
JP7159951B2 (ja) * 2019-04-04 2022-10-25 株式会社ダイフク 物品把持装置
CN110757463B (zh) * 2019-11-20 2023-06-27 贵州大学 一种机械手抓取力度控制方法及装置
CN111906808B (zh) * 2020-08-28 2021-11-09 上海海事大学 一种多自由度汽轮机自带冠叶片机械抓手装置
CN112091996B (zh) * 2020-08-31 2023-04-18 上海大学 一种基于颗粒塑形的仿生机器人夹持器
US11345050B2 (en) 2020-10-20 2022-05-31 Phd, Inc. Articulating gripper tooling
CN112222925A (zh) * 2020-10-30 2021-01-15 广州云也科技有限公司 一种数控机床加工用工件进给装置
CN217288979U (zh) * 2021-01-28 2022-08-26 三赢科技（深圳）有限公司 清洗装置
CN113523802A (zh) * 2021-08-27 2021-10-22 重庆凯宝机器人股份有限公司 一种发动机箱盖装配总成以及控制方法
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TWI826312B (zh) * 2023-04-28 2023-12-11 台達電子工業股份有限公司 模組化夾爪

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Also Published As

Publication number Publication date
US9067324B2 (en) 2015-06-30
CN103338902A (zh) 2013-10-02
EP2669065A1 (en) 2013-12-04
EP2669065A4 (en) 2017-09-13
EP2669065B1 (en) 2018-09-19
CN103338902B (zh) 2016-08-10
PL2669065T3 (pl) 2018-12-31
US20130310980A1 (en) 2013-11-21
JP2012152860A (ja) 2012-08-16
WO2012101953A1 (ja) 2012-08-02
BR112013018876B1 (pt) 2021-05-25

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Legal Events

Date Code Title Description
B06F Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]
B06U Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]
B06A Patent application procedure suspended [chapter 6.1 patent gazette]
B09A Decision: intention to grant [chapter 9.1 patent gazette]
B16A Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]

Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 29/12/2011, OBSERVADAS AS CONDICOES LEGAIS.