CN109789561B - 把持工具以及把持系统 - Google Patents

把持工具以及把持系统 Download PDF

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Publication number
CN109789561B
CN109789561B CN201780058513.XA CN201780058513A CN109789561B CN 109789561 B CN109789561 B CN 109789561B CN 201780058513 A CN201780058513 A CN 201780058513A CN 109789561 B CN109789561 B CN 109789561B
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CN
China
Prior art keywords
workpiece
space
gripping
holding
port
Prior art date
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Active
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CN201780058513.XA
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English (en)
Chinese (zh)
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CN109789561A (zh
Inventor
石田惠美子
大庭典之
高桥宏昌
牛岛彰
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Toshiba Corp
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Toshiba Corp
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Publication date
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Priority to CN202210546174.2A priority Critical patent/CN114734472B/zh
Publication of CN109789561A publication Critical patent/CN109789561A/zh
Application granted granted Critical
Publication of CN109789561B publication Critical patent/CN109789561B/zh
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    • 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
    • B25J15/0023—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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
    • 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
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
CN201780058513.XA 2016-11-09 2017-09-26 把持工具以及把持系统 Active CN109789561B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210546174.2A CN114734472B (zh) 2016-11-09 2017-09-26 把持工具以及把持系统

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2016-218855 2016-11-09
JP2016218855 2016-11-09
PCT/JP2017/034745 WO2018088046A1 (ja) 2016-11-09 2017-09-26 把持ツールおよび把持システム

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN202210546174.2A Division CN114734472B (zh) 2016-11-09 2017-09-26 把持工具以及把持系统

Publications (2)

Publication Number Publication Date
CN109789561A CN109789561A (zh) 2019-05-21
CN109789561B true CN109789561B (zh) 2022-05-24

Family

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Family Applications (2)

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CN201780058513.XA Active CN109789561B (zh) 2016-11-09 2017-09-26 把持工具以及把持系统
CN202210546174.2A Active CN114734472B (zh) 2016-11-09 2017-09-26 把持工具以及把持系统

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN202210546174.2A Active CN114734472B (zh) 2016-11-09 2017-09-26 把持工具以及把持系统

Country Status (4)

Country Link
US (2) US10926419B2 (enExample)
JP (2) JP6581166B2 (enExample)
CN (2) CN109789561B (enExample)
WO (1) WO2018088046A1 (enExample)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018088046A1 (ja) * 2016-11-09 2018-05-17 株式会社 東芝 把持ツールおよび把持システム
JP6588935B2 (ja) 2017-03-13 2019-10-09 株式会社東芝 把持ツール、把持システム、および把持性能の評価方法
JP6486402B2 (ja) * 2017-03-13 2019-03-20 株式会社東芝 把持ツール、把持システム、および把持部の製造方法
JP6470331B2 (ja) 2017-03-13 2019-02-13 株式会社東芝 把持ツール、把持システム、および把持性能の評価方法
JP6505762B2 (ja) 2017-03-13 2019-04-24 株式会社東芝 把持ツール、把持システム、および把持部の製造方法
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
CN110026997B (zh) * 2019-04-30 2022-01-18 哈尔滨工业大学 一种电动多功能柔性机械手
CN109968344B (zh) * 2019-04-30 2022-03-01 哈尔滨工业大学 一种气动多功能柔性机械手
JP7393761B2 (ja) 2019-10-24 2023-12-07 国立大学法人東北大学 吸着グリッパ
CN111319060B (zh) * 2020-03-03 2021-03-26 清华大学 一种软体机器人抓持装置及抓持方法
JP2022012493A (ja) * 2020-07-01 2022-01-17 ニッタ株式会社 把持装置及び産業用ロボット
CN113954112B (zh) * 2021-10-25 2022-12-23 清华大学深圳国际研究生院 一种适于浑浊液体环境中具备近场视觉的变刚度柔性夹爪
WO2025047143A1 (ja) * 2023-08-30 2025-03-06 株式会社クリエイティブテクノロジー ワーク把持装置

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* Cited by examiner, † Cited by third party
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FR2431635A1 (fr) * 1978-07-20 1980-02-15 Sgn Soc Gen Tech Nouvelle Dispositif de prehension par ventouse
US4561686A (en) * 1983-08-22 1985-12-31 Raymond Atchley End effector
US6846029B1 (en) * 2001-08-09 2005-01-25 Gary Dean Ragner Torus-shaped mechanical gripper
JP4559970B2 (ja) * 2003-12-19 2010-10-13 パナソニック株式会社 部品装着ヘッド及び吸着ノズルの製造方法
EP1846195A1 (de) * 2005-02-05 2007-10-24 Andreas Plaas-Link Universelle greif- und haltevorrichtung
US7997554B2 (en) * 2008-03-28 2011-08-16 Carnevali Jeffrey D Adaptive mounting structure
US20100054903A1 (en) * 2008-09-03 2010-03-04 Christopher Vernon Jones Method and Device for Manipulating an Object
US8548626B2 (en) * 2009-09-03 2013-10-01 Irobot Corporation Method and device for manipulating an object
JP2011183536A (ja) 2010-03-11 2011-09-22 Ihi Corp 形状自在な吸着パッド
WO2011130475A2 (en) * 2010-04-15 2011-10-20 Cornell University Gripping and releasing apparatus and method
JP5408102B2 (ja) * 2010-10-22 2014-02-05 トヨタ自動車株式会社 把持装置
JP5843212B2 (ja) * 2011-02-28 2016-01-13 株式会社Ihi 形状自在な吸着グリッパとこれによる把持方法
JP5800127B2 (ja) * 2011-05-10 2015-10-28 株式会社Ihi 形状自在な吸着グリッパ
JP5584165B2 (ja) 2011-05-10 2014-09-03 富士フイルム株式会社 インクジェットヘッドおよびインクジェットヘッドの製造方法
JP5979584B2 (ja) * 2012-04-13 2016-08-24 株式会社Ihi 把持装置および把持方法
US9539730B2 (en) * 2012-07-10 2017-01-10 Nissan Motor Co., Ltd. Holding apparatus for fuel cell electrolyte membrane
WO2015006613A1 (en) * 2013-07-10 2015-01-15 Empire Robotics, Inc. End effector, apparatus, system and method for gripping and releasing articles and the like
CN203665546U (zh) * 2014-01-18 2014-06-25 黑龙江工程学院 基于小颗粒物真空状态转换的被动式通用机器手
DE102014205988A1 (de) * 2014-03-31 2015-10-15 Bayerische Motoren Werke Aktiengesellschaft Formadaptierendes Greifsystem
JP2015202543A (ja) * 2014-04-15 2015-11-16 トヨタ自動車東日本株式会社 物体把持装置
CN104070528A (zh) * 2014-06-05 2014-10-01 河海大学 一种用于抓取和释放物体的装置和方法
US20160052147A1 (en) * 2014-08-19 2016-02-25 GM Global Technology Operations LLC Conformable magnetic holding device
JP6415273B2 (ja) * 2014-11-26 2018-10-31 アルパイン株式会社 吸着保持装置
JP6264276B2 (ja) * 2014-12-17 2018-01-24 豊田合成株式会社 物品把持具
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
CN105729492A (zh) * 2016-04-22 2016-07-06 清华大学 球形自适应机器人手装置
CN105798940A (zh) * 2016-05-19 2016-07-27 清华大学 绳驱磁流变液颗粒增强通用抓持装置
WO2018088046A1 (ja) * 2016-11-09 2018-05-17 株式会社 東芝 把持ツールおよび把持システム
US11951338B2 (en) * 2018-08-14 2024-04-09 Textron Innovations Inc. Fall protection monitor

Also Published As

Publication number Publication date
JP2018079561A (ja) 2018-05-24
US10926419B2 (en) 2021-02-23
US11712811B2 (en) 2023-08-01
CN114734472A (zh) 2022-07-12
WO2018088046A1 (ja) 2018-05-17
CN109789561A (zh) 2019-05-21
US20190210231A1 (en) 2019-07-11
JP2019214121A (ja) 2019-12-19
CN114734472B (zh) 2023-11-21
JP7121707B2 (ja) 2022-08-18
JP6581166B2 (ja) 2019-09-25
US20210237283A1 (en) 2021-08-05

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