CN112008691A - 供给装置以及机器人系统 - Google Patents

供给装置以及机器人系统 Download PDF

Info

Publication number
CN112008691A
CN112008691A CN202010478227.2A CN202010478227A CN112008691A CN 112008691 A CN112008691 A CN 112008691A CN 202010478227 A CN202010478227 A CN 202010478227A CN 112008691 A CN112008691 A CN 112008691A
Authority
CN
China
Prior art keywords
parts
groove
flat
vibration
supply device
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.)
Pending
Application number
CN202010478227.2A
Other languages
English (en)
Chinese (zh)
Inventor
木下豊太郎
梅田博久
八寻勇树
小林義武
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.)
Seiko Epson Corp
Original Assignee
Seiko Epson Corp
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 Seiko Epson Corp filed Critical Seiko Epson Corp
Publication of CN112008691A publication Critical patent/CN112008691A/zh
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • 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
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with leader teach-in 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
    • B25J15/06—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera 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
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0018—Bases fixed on ceiling, i.e. upside down manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • 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
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • 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
    • B65G47/02—Devices for feeding articles or materials to conveyors
    • B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
    • B65G47/12—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
    • B65G47/14—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding
    • B65G47/1407—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a container, e.g. a bowl
    • B65G47/1414—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a container, e.g. a bowl by means of movement of at least the whole wall of the container
    • B65G47/1421—Vibratory movement
    • 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
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/041—Camera
    • 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
    • B65G27/00—Jigging conveyors
    • B65G27/04—Load carriers other than helical or spiral channels or conduits
    • 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
    • B65G2812/00—Indexing codes relating to the kind or type of conveyors
    • B65G2812/03—Vibrating conveyors
    • B65G2812/0304—Driving means or auxiliary devices
    • B65G2812/0308—Driving means

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • Feeding Of Articles To Conveyors (AREA)
  • Manipulator (AREA)
CN202010478227.2A 2019-05-30 2020-05-29 供给装置以及机器人系统 Pending CN112008691A (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019-101036 2019-05-30
JP2019101036A JP2020193098A (ja) 2019-05-30 2019-05-30 供給装置およびロボットシステム

Publications (1)

Publication Number Publication Date
CN112008691A true CN112008691A (zh) 2020-12-01

Family

ID=73507135

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010478227.2A Pending CN112008691A (zh) 2019-05-30 2020-05-29 供给装置以及机器人系统

Country Status (3)

Country Link
US (1) US11565889B2 (enExample)
JP (1) JP2020193098A (enExample)
CN (1) CN112008691A (enExample)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10894316B2 (en) * 2017-06-06 2021-01-19 Seiko Epson Corporation Control apparatus and robot system
US12122618B1 (en) * 2022-03-24 2024-10-22 Amazon Technologies, Inc. Tray flipper

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1955091A (zh) * 2005-10-24 2007-05-02 Ntn株式会社 振动式部件供给装置
US20090090600A1 (en) * 2007-10-03 2009-04-09 Joaquin Alverde Trejo Alignment mechanism for food products
CN101903283A (zh) * 2007-12-14 2010-12-01 宝洁公司 用于定向制品的方法和设备
JP2016141521A (ja) * 2015-02-02 2016-08-08 池上通信機株式会社 小型成形品供給装置および該装置を用いた検査システム
JP2016141546A (ja) * 2015-02-04 2016-08-08 花王株式会社 キャップ供給装置
CN106081578A (zh) * 2016-07-25 2016-11-09 郑州润华智能设备有限公司 香肠直线整列整理输送系统
JP2016199371A (ja) * 2015-04-13 2016-12-01 株式会社京都製作所 整列装置および整列・搬送装置
CN108750598A (zh) * 2018-06-05 2018-11-06 安徽沃德气门制造有限公司 一种气门上料设备
CN108994829A (zh) * 2017-06-06 2018-12-14 精工爱普生株式会社 控制装置及机器人系统

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5134170U (enExample) * 1974-09-03 1976-03-13
JPH0663515A (ja) * 1992-06-15 1994-03-08 Daikin Ind Ltd 部品供給装置
JP2000233823A (ja) * 1998-12-16 2000-08-29 Konica Corp 構成部品の部品供給装置及び部品供給方法
CA2301357A1 (en) * 2000-03-20 2001-09-20 Crestbrook Forest Industries Limited Article alignment and singulating conveyors and conveyor system
US7004306B2 (en) * 2002-12-19 2006-02-28 Fmc Technologies, Inc. Conveying apparatus with piezoelectric driver
CH700371B1 (fr) * 2009-02-05 2013-11-15 Asyril Sa Système d'alimentation en composants.
JP5918935B2 (ja) 2011-06-09 2016-05-18 株式会社京都製作所 振分けトラフおよび振分け装置
US8985305B2 (en) * 2012-08-24 2015-03-24 Asm Technology Singapore Pte Ltd Vibration feeding apparatus and method
CA2793336C (en) * 2012-10-26 2020-08-04 Countlab Inc. Retaining device for a vibration tray
US9669432B2 (en) * 2013-08-27 2017-06-06 Te Connectivity Corporation Component feeding system
WO2015050138A1 (ja) * 2013-10-01 2015-04-09 住友理工株式会社 搬送装置
CN110035963B (zh) * 2016-12-07 2021-03-19 株式会社村田制作所 电子部件的振动存入方法以及装置
JP6992415B2 (ja) * 2017-06-06 2022-01-13 セイコーエプソン株式会社 ロボットシステムの制御装置及びロボットシステム
US10946415B2 (en) * 2018-04-30 2021-03-16 Vermeer Manufacturing Company Shaker assemblies having a vibratory screen clamping system
US10974907B2 (en) * 2018-10-11 2021-04-13 Precision, Inc. Horizontal motion conveyors and methods for reversing such conveyors
US11046528B2 (en) * 2019-04-25 2021-06-29 Precision, Inc. Horizontal motion conveyors having multiple drives
DE102020106350B4 (de) * 2020-03-09 2021-09-16 IMA-TEC GmbH Fördergerät
US10858200B1 (en) * 2020-03-17 2020-12-08 Rong Chang Metal Co., Ltd. Object orientation device, object orientation and printing system and method for use thereof

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1955091A (zh) * 2005-10-24 2007-05-02 Ntn株式会社 振动式部件供给装置
US20090090600A1 (en) * 2007-10-03 2009-04-09 Joaquin Alverde Trejo Alignment mechanism for food products
CN101903283A (zh) * 2007-12-14 2010-12-01 宝洁公司 用于定向制品的方法和设备
JP2016141521A (ja) * 2015-02-02 2016-08-08 池上通信機株式会社 小型成形品供給装置および該装置を用いた検査システム
JP2016141546A (ja) * 2015-02-04 2016-08-08 花王株式会社 キャップ供給装置
JP2016199371A (ja) * 2015-04-13 2016-12-01 株式会社京都製作所 整列装置および整列・搬送装置
CN106081578A (zh) * 2016-07-25 2016-11-09 郑州润华智能设备有限公司 香肠直线整列整理输送系统
CN108994829A (zh) * 2017-06-06 2018-12-14 精工爱普生株式会社 控制装置及机器人系统
CN108750598A (zh) * 2018-06-05 2018-11-06 安徽沃德气门制造有限公司 一种气门上料设备

Also Published As

Publication number Publication date
US11565889B2 (en) 2023-01-31
JP2020193098A (ja) 2020-12-03
US20200377307A1 (en) 2020-12-03

Similar Documents

Publication Publication Date Title
CN114651537B (zh) 散装供料器及元件安装机
CN112008691A (zh) 供给装置以及机器人系统
JPWO2016129069A1 (ja) 部品供給装置
CN114651536B (zh) 散装供料器及元件安装机
JP7473745B2 (ja) バルクフィーダ
JP6802387B2 (ja) 部品供給装置
JPWO2016135909A1 (ja) 部品供給装置、および装着機
WO2022230158A1 (ja) バルクフィーダ
WO2017208323A1 (ja) 部品供給装置
JP6921234B2 (ja) 部品供給装置及び、部品供給方法
JPWO2017051446A1 (ja) 部品供給システム
JP7168709B2 (ja) ピックアップ装置
JP7008835B2 (ja) 部品供給装置
JP7260286B2 (ja) 作業機、および載置方法
JP7339346B2 (ja) 部品保持装置
JP6706709B2 (ja) 部品保持装置、および保持具決定方法
JP7110318B2 (ja) 部品実装システム及び、部品保持方法
JP6764985B2 (ja) 部品保持装置、および吸着ノズル決定方法
JP7014854B2 (ja) 散在部品のピッキング装置、および散在部品のピッキング方法
JP6846543B2 (ja) 部品供給装置
WO2018092228A1 (ja) 作業機
JP7504714B2 (ja) ボウルフィーダ
JP6875512B2 (ja) 部品供給装置
JP6857767B2 (ja) 散在部品のピッキング装置、および部品保持具の交換方法
JP2025183496A (ja) 保持装置

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
WD01 Invention patent application deemed withdrawn after publication
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20201201