BR112017019675A2 - ligantes dispositivo de sucção, dispositivo de retenção e método de transporte - Google Patents

ligantes dispositivo de sucção, dispositivo de retenção e método de transporte

Info

Publication number
BR112017019675A2
BR112017019675A2 BR112017019675-1A BR112017019675A BR112017019675A2 BR 112017019675 A2 BR112017019675 A2 BR 112017019675A2 BR 112017019675 A BR112017019675 A BR 112017019675A BR 112017019675 A2 BR112017019675 A2 BR 112017019675A2
Authority
BR
Brazil
Prior art keywords
pair
suction
fixed
mechanisms
section
Prior art date
Application number
BR112017019675-1A
Other languages
English (en)
Japanese (ja)
Inventor
Shimizu Takayuki
Azusawa Naoto
Tsuruda Kenichi
Azuma Hiroki
Goto Takuya
Original Assignee
Mitsubishi Heavy Industries, 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 Mitsubishi Heavy Industries, Ltd. filed Critical Mitsubishi Heavy Industries, Ltd.
Publication of BR112017019675A2 publication Critical patent/BR112017019675A2/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
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
    • 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
    • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
    • 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
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B25J15/065—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with separating means for releasing the gripped object after suction
    • 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
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B25J15/0691—Suction pad made out of porous material, e.g. sponge or foam

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Dispersion Chemistry (AREA)
  • Manipulator (AREA)

Abstract

a presente invenção apresenta uma mão de sucção (310) a qual é fixada à seção da extremidade anterior (330a) de um braço articulado, fixado por sucção a um elemento estrutural em forma de placa (200) tendo uma curvatura ao menos em uma direção predeterminada e dotada de: uma parte de suporte (311) fixada à seção da extremidade anterior (330a) do braço articulado; um par de mecanismos de sucção (312, 313) tendo um par de superfícies de sucção (312c, 313c) e dispostos separadamente um do outro em uma direção x, com a posição de fixação (p1) da parte de suporte (311) fixada à seção da extremidade anterior (330a) interposta entre o par de mecanismos de sucção (312, 313); e um par de primeiros mecanismos de ajuste de ângulo (314, 315) capaz de ajustar o ângulo de inclinação, na direção x, de cada uma do par de superfícies de sucção (312c, 313c) do par de mecanismos de sucção (312, 313).
BR112017019675-1A 2015-07-13 2016-07-01 ligantes dispositivo de sucção, dispositivo de retenção e método de transporte BR112017019675A2 (pt)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2015-139540 2015-07-13
JP2015139540A JP6367158B2 (ja) 2015-07-13 2015-07-13 吸着装置、把持装置および搬送方法
PCT/JP2016/069653 WO2017010320A1 (ja) 2015-07-13 2016-07-01 吸着装置、把持装置および搬送方法

Publications (1)

Publication Number Publication Date
BR112017019675A2 true BR112017019675A2 (pt) 2018-05-15

Family

ID=57757426

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112017019675-1A BR112017019675A2 (pt) 2015-07-13 2016-07-01 ligantes dispositivo de sucção, dispositivo de retenção e método de transporte

Country Status (7)

Country Link
US (1) US10189167B2 (pt)
EP (1) EP3292962A4 (pt)
JP (1) JP6367158B2 (pt)
CN (1) CN107428011A (pt)
BR (1) BR112017019675A2 (pt)
CA (1) CA2979737C (pt)
WO (1) WO2017010320A1 (pt)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
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EP3617936B1 (en) * 2018-08-28 2024-05-08 Kabushiki Kaisha Toshiba Transport system, control method and program
DE102019112867A1 (de) * 2019-05-16 2020-11-19 Homag Automation Gmbh Robotergreifer, Industrieroboter, Handhabungssystem und Verfahren zur Entnahme plattenförmiger Werkstücke von einem Stapel
CN110802629A (zh) * 2019-11-06 2020-02-18 上海应用技术大学 供老年人使用的拾物器
US11981540B2 (en) 2020-06-17 2024-05-14 Famatec S.R.L. Gripping equipment for lifting apparatuses and lifting apparatus provided with such gripping equipment
DE102021111971A1 (de) 2021-05-07 2022-11-10 Homag Automation Gmbh Greifeinheit, Handhabungssystem und Verfahren zum Greifen von plattenförmigen Werkstücken für horizontales Lagern und Puffern
JP7309782B2 (ja) * 2021-06-04 2023-07-18 三菱重工業株式会社 搬送装置および搬送方法
CN116021542B (zh) * 2023-02-13 2023-06-13 绵阳师范学院 一种机器人平衡调节系统

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DE1295342B (de) * 1965-02-06 1969-05-14 Schokoladenformen Vorrichtung zum Entnehmen von Folienformen aus duennem Material aus einem Stapel und Einlegen in Fertigungsformen bei Anlagen zum Herstellen von mit Folien umhuellten Schokoladekoerpern
DE3939349A1 (de) * 1989-11-29 1991-06-06 Krupp Gmbh Einrichtung zur handhabung insbesondere von gegenstaenden aus nachgiebigen werkstoffen
US20020138962A1 (en) * 2001-03-29 2002-10-03 Martin Jack L. Method and apparatus for installing multiple component parts
US7443115B2 (en) * 2002-10-29 2008-10-28 Matsushita Electric Industrial Co., Ltd. Apparatus and method for robot handling control
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PL1685930T3 (pl) * 2003-11-21 2009-06-30 Mitsuboshi Diamond Ind Co Ltd Próżniowa głowica ssąca oraz próżniowe urządzenie ssące i stół do ich stosowania
US7134649B2 (en) 2004-05-27 2006-11-14 The Boeing Company Conformal vacuum cup apparatus and method
US8162557B2 (en) 2005-06-16 2012-04-24 Norgren Automation Solutions, Llc Multi-axis coupling apparatus for adjustably mounting modular tooling members
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US7628434B2 (en) * 2006-07-12 2009-12-08 Honda Motor Co., Ltd. Vacuum-operated vehicle glass handling system
DE202007013673U1 (de) 2007-09-28 2009-02-19 Kuka Systems Gmbh Flexible Greifeinrichtung
US7971916B2 (en) * 2008-05-22 2011-07-05 GM Global Technology Operations LLC Reconfigurable robotic end-effectors for material handling
JP2010253596A (ja) * 2009-04-23 2010-11-11 Seiko Epson Corp チャッキング装置、チャッキング方法、搬送装置、及び搬送方法
ES2537160T3 (es) * 2010-12-31 2015-06-03 Fundación Tecnalia Research & Innovation Dispositivo de garra para manipulación de elementos flexibles
FR2974024B1 (fr) * 2011-04-18 2013-05-24 Amg Ind Dispositif de maintien d'un bras de prehenseur.
JP5775364B2 (ja) * 2011-05-30 2015-09-09 川崎重工業株式会社 合紙付き板状部材移載システム及びその移載方法
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US9656394B2 (en) * 2015-05-21 2017-05-23 GM Global Technology Operations LLC Robotic system with reconfigurable end-effector assembly
JP6628994B2 (ja) * 2015-07-03 2020-01-15 三菱重工業株式会社 構造体
JP6382783B2 (ja) * 2015-11-09 2018-08-29 ファナック株式会社 ワークを吸着する吸着式ハンド

Also Published As

Publication number Publication date
CA2979737A1 (en) 2017-01-19
CA2979737C (en) 2020-01-21
CN107428011A (zh) 2017-12-01
EP3292962A1 (en) 2018-03-14
WO2017010320A1 (ja) 2017-01-19
JP6367158B2 (ja) 2018-08-01
EP3292962A4 (en) 2018-07-18
US20180071924A1 (en) 2018-03-15
US10189167B2 (en) 2019-01-29
JP2017019060A (ja) 2017-01-26

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Legal Events

Date Code Title Description
B06U Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]
B09A Decision: intention to grant [chapter 9.1 patent gazette]
B11D Dismissal acc. art. 38, par 2 of ipl - failure to pay fee after grant in time