CN108688341B - 使用多个适形夹持器球在打印期间进行一般物体保持的装置 - Google Patents

使用多个适形夹持器球在打印期间进行一般物体保持的装置 Download PDF

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Publication number
CN108688341B
CN108688341B CN201810186567.0A CN201810186567A CN108688341B CN 108688341 B CN108688341 B CN 108688341B CN 201810186567 A CN201810186567 A CN 201810186567A CN 108688341 B CN108688341 B CN 108688341B
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CN
China
Prior art keywords
balls
gripper
holder
conformal
gripper balls
Prior art date
Legal status (The legal status 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 status listed.)
Expired - Fee Related
Application number
CN201810186567.0A
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English (en)
Chinese (zh)
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CN108688341A (zh
Inventor
J·J·布莱德威
L·C·胡佛
E·鲁伊斯
P·M·弗罗姆
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Xerox Corp
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Xerox Corp
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Publication date
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Publication of CN108688341A publication Critical patent/CN108688341A/zh
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
    • B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
    • B41J3/4073—Printing on three-dimensional objects not being in sheet or web form, e.g. spherical or cubic objects
    • B41J3/40731—Holders for objects, e. g. holders specially adapted to the shape of the object to be printed or adapted to hold several objects
    • 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
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
    • B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
    • B41J3/4073—Printing on three-dimensional objects not being in sheet or web form, e.g. spherical or cubic objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
    • B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
    • B41J3/4073—Printing on three-dimensional objects not being in sheet or web form, e.g. spherical or cubic objects
    • B41J3/40733—Printing on cylindrical or rotationally symmetrical objects, e. g. on bottles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING, OR HOLDING
    • B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
    • B25B11/005—Vacuum work holders

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Materials Engineering (AREA)
  • Ink Jet (AREA)
  • Manipulator (AREA)
CN201810186567.0A 2017-04-03 2018-03-07 使用多个适形夹持器球在打印期间进行一般物体保持的装置 Expired - Fee Related CN108688341B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US15/477,454 US10518421B2 (en) 2017-04-03 2017-04-03 Apparatus for general object holding during printing using multiple conformable gripper balls
US15/477454 2017-04-03

Publications (2)

Publication Number Publication Date
CN108688341A CN108688341A (zh) 2018-10-23
CN108688341B true CN108688341B (zh) 2021-03-02

Family

ID=63672839

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810186567.0A Expired - Fee Related CN108688341B (zh) 2017-04-03 2018-03-07 使用多个适形夹持器球在打印期间进行一般物体保持的装置

Country Status (3)

Country Link
US (2) US10518421B2 (enExample)
JP (1) JP6883915B2 (enExample)
CN (1) CN108688341B (enExample)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10518421B2 (en) * 2017-04-03 2019-12-31 Xerox Corporation Apparatus for general object holding during printing using multiple conformable gripper balls
US10308038B2 (en) * 2017-07-10 2019-06-04 Xerox Corporation Universal part holder with conformable membranes
US10369806B2 (en) * 2017-07-10 2019-08-06 Xerox Corporation Universal part gripper with conformable gripper ball with vacuum assist
US10457071B2 (en) * 2018-01-18 2019-10-29 Xerox Corporation Object holder with pneumatic clamping frame for a direct-to-object printer
JP7159951B2 (ja) * 2019-04-04 2022-10-25 株式会社ダイフク 物品把持装置
WO2021102502A1 (en) * 2019-11-29 2021-06-03 Commonwealth Scientific And Industrial Research Organisation Robotic manipulator
US12275140B2 (en) 2019-11-29 2025-04-15 Commonwealth Scientific And Industrial Research Organisation Robotic manipulator
KR102328295B1 (ko) * 2020-09-10 2021-11-17 대우조선해양 주식회사 3d 프린터 출력물 지지장치
US20230241785A1 (en) * 2022-02-03 2023-08-03 Christopher Harrigan Robotic arm grabbing device

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5797317A (en) * 1996-09-06 1998-08-25 Orbot Instruments Ltd. Universal chuck for holding plates of various sizes
US6264187B1 (en) * 1998-10-13 2001-07-24 Galahad, Co. Method and apparatus for self-conforming support system
CN102939189A (zh) * 2010-04-15 2013-02-20 康奈尔大学 夹持与释放设备及方法
CN104015498A (zh) * 2014-05-28 2014-09-03 阿博建材（昆山）有限公司 一种具有自动夹持定位功能的打标装置
CN104512122A (zh) * 2013-09-26 2015-04-15 海德堡印刷机械股份公司 用于喷墨打印三维物体的机器
CN105120698A (zh) * 2013-04-23 2015-12-02 耐克创新有限合伙公司 在物品上进行印刷的方法
CN205928689U (zh) * 2016-05-26 2017-02-08 南京理工大学 基于颗粒物塑形的气动多爪夹持器
CN106470843A (zh) * 2014-07-11 2017-03-01 精工爱普生株式会社 记录装置和记录方法

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US4561686A (en) * 1983-08-22 1985-12-31 Raymond Atchley End effector
JPS6085891A (ja) * 1983-10-18 1985-05-15 富士通株式会社 汎用吸着装置
US5364083A (en) * 1992-07-15 1994-11-15 The Boeing Company Universal holding fixture end effector
US5590870A (en) * 1995-06-02 1997-01-07 Advanced Machine & Engineering Co. Universal holding system for a contoured workpiece
JP2003511874A (ja) * 1999-10-08 2003-03-25 エーディーイー コーポレーション 動的力を補償する遠心グリッパ機構
US6846029B1 (en) * 2001-08-09 2005-01-25 Gary Dean Ragner Torus-shaped mechanical gripper
WO2004113015A2 (en) * 2003-06-20 2004-12-29 Par Systems, Inc. Flexible fixture
DE102004039661A1 (de) * 2004-08-16 2006-02-23 Siemens Ag Lastaufnahmemittel zur Handhabung von Stückgut
US7600450B2 (en) 2008-03-13 2009-10-13 National Oilwell Varco Lp Curvature conformable gripping dies
JP5480340B2 (ja) * 2012-07-26 2014-04-23 ファナック株式会社 ローラ装置を用いた取出しロボットシステム
US9579219B2 (en) * 2012-10-25 2017-02-28 Cornell University Robotic apparatus, method, and applications
US8534728B1 (en) * 2012-11-19 2013-09-17 Harris Corporation Adaptive robotic gripper
JP2016162981A (ja) * 2015-03-04 2016-09-05 国立大学法人九州工業大学 改質ｍｒ流体及びこの改質ｍｒ流体を用いた把持機構並びに把持装置
JP2017185553A (ja) * 2016-04-01 2017-10-12 ニッタ株式会社 把持装置及び産業用ロボット
US9827784B1 (en) * 2016-05-25 2017-11-28 Xerox Corporation System for printing on three-dimensional (3D) objects
US10457069B2 (en) * 2017-04-03 2019-10-29 Xerox Corporation Apparatus for repeatable staging and holding objects in a 3-D printer using an array of pins
US10518421B2 (en) * 2017-04-03 2019-12-31 Xerox Corporation Apparatus for general object holding during printing using multiple conformable gripper balls
US10087020B1 (en) * 2017-04-03 2018-10-02 Xerox Corporation Universal object holder for 3-D printing using a conformable gripper ball
US9925799B1 (en) * 2017-04-03 2018-03-27 Xerox Corporation Air pressure loaded membrane and pin array gripper
US10377147B2 (en) * 2017-04-03 2019-08-13 Xerox Corporation Object holder for a direct-to-object printer
US10308038B2 (en) * 2017-07-10 2019-06-04 Xerox Corporation Universal part holder with conformable membranes
US10369806B2 (en) * 2017-07-10 2019-08-06 Xerox Corporation Universal part gripper with conformable gripper ball with vacuum assist
US10661446B2 (en) * 2018-04-06 2020-05-26 Aurora Flight Sciences Corporation Jamming grippers with stencil moldings

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5797317A (en) * 1996-09-06 1998-08-25 Orbot Instruments Ltd. Universal chuck for holding plates of various sizes
US6264187B1 (en) * 1998-10-13 2001-07-24 Galahad, Co. Method and apparatus for self-conforming support system
CN102939189A (zh) * 2010-04-15 2013-02-20 康奈尔大学 夹持与释放设备及方法
CN105120698A (zh) * 2013-04-23 2015-12-02 耐克创新有限合伙公司 在物品上进行印刷的方法
CN104512122A (zh) * 2013-09-26 2015-04-15 海德堡印刷机械股份公司 用于喷墨打印三维物体的机器
CN104015498A (zh) * 2014-05-28 2014-09-03 阿博建材（昆山）有限公司 一种具有自动夹持定位功能的打标装置
CN106470843A (zh) * 2014-07-11 2017-03-01 精工爱普生株式会社 记录装置和记录方法
CN205928689U (zh) * 2016-05-26 2017-02-08 南京理工大学 基于颗粒物塑形的气动多爪夹持器

Also Published As

Publication number Publication date
CN108688341A (zh) 2018-10-23
US11541671B2 (en) 2023-01-03
US20200078958A1 (en) 2020-03-12
JP2018176728A (ja) 2018-11-15
JP6883915B2 (ja) 2021-06-09
US20180281199A1 (en) 2018-10-04
US10518421B2 (en) 2019-12-31

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