CN112109100B - 物品排出系统 - Google Patents

物品排出系统 Download PDF

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Publication number
CN112109100B
CN112109100B CN202010511766.1A CN202010511766A CN112109100B CN 112109100 B CN112109100 B CN 112109100B CN 202010511766 A CN202010511766 A CN 202010511766A CN 112109100 B CN112109100 B CN 112109100B
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CN
China
Prior art keywords
article
gripper
holders
discharge system
holder
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
CN202010511766.1A
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English (en)
Chinese (zh)
Other versions
CN112109100A (zh
Inventor
前田修一
大林勇次郎
北条正晃
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
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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
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Publication of CN112109100A publication Critical patent/CN112109100A/zh
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Anticipated expiration legal-status Critical

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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
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/16—Sorting according to weight
    • B07C5/28—Sorting according to weight using electrical 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/16—Sorting according to weight
    • B07C5/24—Sorting according to weight using moving weighing mechanisms, e.g. moving along a circular path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B07C5/362—Separating or distributor mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • 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
    • B25J9/1694—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
    • 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
    • B65G11/00—Chutes
    • 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
    • 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
    • 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
    • B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/387—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for combinatorial weighing, i.e. selecting a combination of articles whose total weight or number is closest to a desired value
    • 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
    • G05B2219/39529—Force, torque sensor in wrist, end effector
    • 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
    • G05B2219/39553—Dual gripper, two heads to pick up different objects

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Specific Conveyance Elements (AREA)
  • Manipulator (AREA)
CN202010511766.1A 2019-06-21 2020-06-08 物品排出系统 Active CN112109100B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019-115682 2019-06-21
JP2019115682A JP7161207B2 (ja) 2019-06-21 2019-06-21 物品排出システム

Publications (2)

Publication Number Publication Date
CN112109100A CN112109100A (zh) 2020-12-22
CN112109100B true CN112109100B (zh) 2023-12-12

Family

ID=71083430

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010511766.1A Active CN112109100B (zh) 2019-06-21 2020-06-08 物品排出系统

Country Status (5)

Country Link
US (2) US11433430B2 (enExample)
EP (1) EP3753686A1 (enExample)
JP (1) JP7161207B2 (enExample)
CN (1) CN112109100B (enExample)
AU (1) AU2020203723B2 (enExample)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITUB20160440A1 (it) * 2016-01-28 2017-07-28 Unitec Spa Gruppo di trasferimento di prodotti ortofrutticoli, e relativo procedimento.
JP7161207B2 (ja) * 2019-06-21 2022-10-26 株式会社イシダ 物品排出システム
JP6945246B2 (ja) * 2020-03-19 2021-10-06 株式会社イシダ 物品把持システム
JP7725246B2 (ja) * 2021-06-04 2025-08-19 株式会社東芝 ハンドリングシステム、搬送システム、制御装置、プログラム、およびハンドリング方法
JP2023038771A (ja) * 2021-09-07 2023-03-17 株式会社イシダ 計量システム
DE102023127219A1 (de) * 2023-10-06 2025-04-10 Schunk Se & Co. Kg Spanntechnik Greiftechnik Automatisierungstechnik Adhäsionsgreifer, Greifersystem, Handhabungsvorrichtung
EP4644282A1 (en) * 2024-04-30 2025-11-05 MBP S.r.l. Gadget dispensing apparatus for a packaging plant and method for reordering at least one gadget for a gadget dispensing apparatus

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4765124A (en) * 1985-07-20 1988-08-23 Nambu Electric Co., Ltd. Egg sorting and packing device
CN2167526Y (zh) * 1993-03-12 1994-06-08 向建兵 粉丝夹持器
US5321212A (en) * 1992-03-07 1994-06-14 Nestec S.A. Obtaining, weighing and distributing portions of a product
CN103158146A (zh) * 2011-12-16 2013-06-19 精工爱普生株式会社 机器人以及机器人手
CN103240754A (zh) * 2012-02-07 2013-08-14 精工爱普生株式会社 机械手、机器人以及机械手的控制方法
CN104401699A (zh) * 2014-11-27 2015-03-11 典发食品（苏州）有限公司 一种面线盒子脱模装置
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
CN107756422A (zh) * 2016-08-17 2018-03-06 株式会社安川电机 拾取系统
CN207415385U (zh) * 2017-07-25 2018-05-29 冯起成 一种粉丝抓取机械手
CN109201512A (zh) * 2018-08-14 2019-01-15 上海工程技术大学 一种粉丝自动称重、分拣和成型系统及方法
JP2019025646A (ja) * 2017-07-25 2019-02-21 株式会社ケー・デー・イー 分配装置、盛付システム及び学習データ生成装置
CN109613828A (zh) * 2019-01-28 2019-04-12 辽宁工业大学 粉丝智能分拣系统

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JP2002052487A (ja) * 2000-08-10 2002-02-19 Jt Engineering Inc 青果物保持装置および青果物移送装置
ES2554711T3 (es) 2006-05-19 2015-12-22 Marel A/S Un método y un sistema para loteo de objetos
DE202007013673U1 (de) 2007-09-28 2009-02-19 Kuka Systems Gmbh Flexible Greifeinrichtung
FR2936601B1 (fr) * 2008-09-30 2011-02-11 Arbor Sa Procede de traitement d'objets en fonction de leurs poids individuels
DE102010002317B4 (de) 2010-02-24 2018-06-14 Apologistics Gmbh System und Verfahren zur Vereinzelung und Kommissionierung von Artikeln
JP5686323B2 (ja) * 2011-06-21 2015-03-18 ホクト株式会社 組み合わせ計測装置
JP5894477B2 (ja) 2012-03-19 2016-03-30 株式会社イシダ 組合せ計量装置
US10036664B2 (en) 2015-04-03 2018-07-31 Bot Llc Method and apparatus for sorting and combining fragile and varying density pieces
JP6810959B2 (ja) 2017-01-24 2021-01-13 株式会社イシダ 組合せ計量装置、組合せ計量システム、領域設定装置
JP6438525B1 (ja) 2017-05-26 2018-12-12 ファナック株式会社 物品の重さを測定する重さ測定システムおよび方法
DE102017114728B3 (de) 2017-06-30 2018-10-25 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Verfahren zum gegenseitigen Trennen zweier Werkstückteile eines plattenförmigen Materials sowie Greifeinrichtung für eine Handlingsvorrichtung und Handlingsvorrichtung einer Bearbeitungsmaschine
JP7161207B2 (ja) * 2019-06-21 2022-10-26 株式会社イシダ 物品排出システム

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4765124A (en) * 1985-07-20 1988-08-23 Nambu Electric Co., Ltd. Egg sorting and packing device
US5321212A (en) * 1992-03-07 1994-06-14 Nestec S.A. Obtaining, weighing and distributing portions of a product
CN2167526Y (zh) * 1993-03-12 1994-06-08 向建兵 粉丝夹持器
CN103158146A (zh) * 2011-12-16 2013-06-19 精工爱普生株式会社 机器人以及机器人手
CN103240754A (zh) * 2012-02-07 2013-08-14 精工爱普生株式会社 机械手、机器人以及机械手的控制方法
CN104401699A (zh) * 2014-11-27 2015-03-11 典发食品（苏州）有限公司 一种面线盒子脱模装置
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
CN107756422A (zh) * 2016-08-17 2018-03-06 株式会社安川电机 拾取系统
CN207415385U (zh) * 2017-07-25 2018-05-29 冯起成 一种粉丝抓取机械手
JP2019025646A (ja) * 2017-07-25 2019-02-21 株式会社ケー・デー・イー 分配装置、盛付システム及び学習データ生成装置
CN109201512A (zh) * 2018-08-14 2019-01-15 上海工程技术大学 一种粉丝自动称重、分拣和成型系统及方法
CN109613828A (zh) * 2019-01-28 2019-04-12 辽宁工业大学 粉丝智能分拣系统

Also Published As

Publication number Publication date
AU2020203723B2 (en) 2021-08-05
US20220362811A1 (en) 2022-11-17
CN112109100A (zh) 2020-12-22
US20200398314A1 (en) 2020-12-24
US11433430B2 (en) 2022-09-06
JP2021001808A (ja) 2021-01-07
US11826790B2 (en) 2023-11-28
EP3753686A1 (en) 2020-12-23
JP7161207B2 (ja) 2022-10-26
AU2020203723A1 (en) 2021-01-14

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