CN111867790B - 物品移动载置装置 - Google Patents

物品移动载置装置 Download PDF

Info

Publication number
CN111867790B
CN111867790B CN201980019691.0A CN201980019691A CN111867790B CN 111867790 B CN111867790 B CN 111867790B CN 201980019691 A CN201980019691 A CN 201980019691A CN 111867790 B CN111867790 B CN 111867790B
Authority
CN
China
Prior art keywords
article
grip
grip portion
gripping
control unit
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.)
Active
Application number
CN201980019691.0A
Other languages
English (en)
Chinese (zh)
Other versions
CN111867790A (zh
Inventor
前田修一
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ishida Co Ltd
Original Assignee
Ishida 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 Ishida Co Ltd filed Critical Ishida Co Ltd
Publication of CN111867790A publication Critical patent/CN111867790A/zh
Application granted granted Critical
Publication of CN111867790B publication Critical patent/CN111867790B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • 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
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0045—Manipulators used in the food industry
    • 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
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more 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
    • B65G47/905—Control arrangements
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39514—Stability of grasped objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45111—Meal, food assistance

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Food Science & Technology (AREA)
  • Manipulator (AREA)
  • Specific Conveyance Elements (AREA)
CN201980019691.0A 2018-03-20 2019-02-21 物品移动载置装置 Active CN111867790B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2018-052424 2018-03-20
JP2018052424A JP7146233B2 (ja) 2018-03-20 2018-03-20 物品移載装置
PCT/JP2019/006633 WO2019181355A1 (ja) 2018-03-20 2019-02-21 物品移載装置

Publications (2)

Publication Number Publication Date
CN111867790A CN111867790A (zh) 2020-10-30
CN111867790B true CN111867790B (zh) 2023-12-01

Family

ID=67987668

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980019691.0A Active CN111867790B (zh) 2018-03-20 2019-02-21 物品移动载置装置

Country Status (5)

Country Link
US (1) US11819998B2 (enExample)
EP (1) EP3769918B1 (enExample)
JP (1) JP7146233B2 (enExample)
CN (1) CN111867790B (enExample)
WO (1) WO2019181355A1 (enExample)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT201900015419A1 (it) * 2019-09-03 2021-03-03 Gd Spa Metodo e sistema di alimentazione di gruppi di prodotti ad una unità di lavorazione
JP7341550B1 (ja) 2022-03-25 2023-09-11 コネクテッドロボティクス株式会社 把持システム
US12318941B2 (en) * 2022-09-28 2025-06-03 International Business Machines Corporation Material movement track to assist robotic arm
JP7364283B1 (ja) 2022-09-29 2023-10-18 コネクテッドロボティクス株式会社 把持システム、及び制御装置
JP7364282B1 (ja) 2022-09-29 2023-10-18 コネクテッドロボティクス株式会社 把持システム、及び制御装置
JP7442229B1 (ja) 2023-01-13 2024-03-04 コネクテッドロボティクス株式会社 把持システム、把持方法、制御装置、及びプログラム

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0326445A (ja) * 1989-06-20 1991-02-05 Daikin Ind Ltd ワークの回転割出し方法およびその装置
WO2013087554A1 (de) * 2011-12-12 2013-06-20 Klingelnberg Ag Vorrichtung und verfahren zum überführen von in werkteilgebinden bereitgestellten werkteilen mittels eines roboters zu einer bearbeitungsmaschine
JP2014042965A (ja) * 2012-08-27 2014-03-13 Honda Motor Co Ltd ワーク移送方法およびワーク移送システム
JP2015085439A (ja) * 2013-10-31 2015-05-07 セイコーエプソン株式会社 把持装置、ロボット、及び、把持方法
JP2017047481A (ja) * 2015-08-31 2017-03-09 国立大学法人東京工業大学 ロボットハンド
CN107108120A (zh) * 2014-12-25 2017-08-29 株式会社大福 物品搬运用容器升降搬运装置

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06197718A (ja) 1992-12-28 1994-07-19 Nippon Bearing Kk 麺茄で上げ盛り付け装置
JPH077888U (ja) 1993-07-07 1995-02-03 高野ベアリング株式会社 加工食材の把持装置
JPH11332486A (ja) * 1998-05-22 1999-12-07 Chiba & Associates:Kk ご飯成形装置
CN2602608Y (zh) * 2003-01-23 2004-02-11 李成蛟 食品定量分割器
ES2323472T5 (es) * 2005-11-30 2012-11-13 Sverre Stenbom Método para envarsar productos alimenticios, y una disposición para su uso en tal método
JP2013086186A (ja) * 2011-10-13 2013-05-13 Seiko Epson Corp 把持装置及びロボット
JP5929271B2 (ja) * 2012-02-07 2016-06-01 セイコーエプソン株式会社 ロボットハンドおよびロボット
CN104029209B (zh) * 2013-03-05 2017-06-30 精工爱普生株式会社 机械手、机器人、以及利用机器人保持被夹持物的保持方法
JP6270595B2 (ja) * 2014-04-01 2018-01-31 鈴鹿エンヂニヤリング株式会社 ベールゴムの吊り揚げ搬送方法及びその装置
JP6447295B2 (ja) * 2015-03-25 2019-01-09 コベルコ建機株式会社 作業機械

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0326445A (ja) * 1989-06-20 1991-02-05 Daikin Ind Ltd ワークの回転割出し方法およびその装置
WO2013087554A1 (de) * 2011-12-12 2013-06-20 Klingelnberg Ag Vorrichtung und verfahren zum überführen von in werkteilgebinden bereitgestellten werkteilen mittels eines roboters zu einer bearbeitungsmaschine
JP2014042965A (ja) * 2012-08-27 2014-03-13 Honda Motor Co Ltd ワーク移送方法およびワーク移送システム
JP2015085439A (ja) * 2013-10-31 2015-05-07 セイコーエプソン株式会社 把持装置、ロボット、及び、把持方法
CN107108120A (zh) * 2014-12-25 2017-08-29 株式会社大福 物品搬运用容器升降搬运装置
JP2017047481A (ja) * 2015-08-31 2017-03-09 国立大学法人東京工業大学 ロボットハンド

Also Published As

Publication number Publication date
EP3769918C0 (en) 2024-09-11
EP3769918A4 (en) 2022-01-05
EP3769918B1 (en) 2024-09-11
US11819998B2 (en) 2023-11-21
US20210016451A1 (en) 2021-01-21
WO2019181355A1 (ja) 2019-09-26
EP3769918A1 (en) 2021-01-27
CN111867790A (zh) 2020-10-30
JP7146233B2 (ja) 2022-10-04
JP2019162695A (ja) 2019-09-26

Similar Documents

Publication Publication Date Title
CN111867790B (zh) 物品移动载置装置
EP2986446B1 (en) Pouch collection robot system and method for the assembly and collection of non-filled spouted pouches
US9233804B2 (en) Apparatus for loading biological material containers in a conveying system
US9926147B2 (en) Stacking device and stacking method
EP2184233A2 (en) Apparatus for packaging articles and method for same
CN112041248B (zh) 用于定位物体的机器和方法
JP7345826B2 (ja) 物品移動システム
RU2770162C2 (ru) Узел снабжения заклепочными элементами
WO2013042184A1 (ja) ロボット、ハンドリングシステムおよび容器入り物品作製方法
WO2018186290A1 (ja) ロボット及びその動作方法
JP2017148924A (ja) ロボットハンド
EP4480645A1 (en) Robot, and elongated member pick-up system provided with same
EP4035843A1 (en) Method for packaging pieces by means of a manipulator robot and head for fastening and transporting said pieces by means of the manipulator robot
WO2019206924A1 (en) Method for inserting objects into a common object receptacle
EP3708979A1 (en) Article supplying apparatus and combinatorial weighing device
CA2903011A1 (en) Centrifuge loading/unloading apparatus, systems, and methods
Mathiesen et al. Vision-less bin-picking for small parts feeding
US6254156B1 (en) Rolling blade cup gripper
JP2021195182A (ja) ワークの整列装置、整列方法、及び整列ロボット
US11981023B2 (en) Tote handling system with integrated hand and method of using same
EP4052552B1 (en) System and method for automating propagation material sampling and propagation material sampling equipment
TW202005761A (zh) 將物件插入共同收納裝置之方法
EP4480646A1 (en) Robot, and elongate member pick-up system comprising same
WO2021186806A1 (ja) ワーク移載方法およびワーク移載システム
WO2006104445A1 (en) Storage module for production unit

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant