CN112318532B - 物品把持装置 - Google Patents

物品把持装置 Download PDF

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Publication number
CN112318532B
CN112318532B CN202010729828.6A CN202010729828A CN112318532B CN 112318532 B CN112318532 B CN 112318532B CN 202010729828 A CN202010729828 A CN 202010729828A CN 112318532 B CN112318532 B CN 112318532B
Authority
CN
China
Prior art keywords
article
gripping
holding device
gripping member
gripper
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
CN202010729828.6A
Other languages
English (en)
Chinese (zh)
Other versions
CN112318532A (zh
Inventor
大林勇次郎
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 CN112318532A publication Critical patent/CN112318532A/zh
Application granted granted Critical
Publication of CN112318532B publication Critical patent/CN112318532B/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
    • 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
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • 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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0057—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a turret
    • 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
    • B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
    • 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
    • B25J19/0058—Means for cleaning manipulators, e.g. dust removing means

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (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)
CN202010729828.6A 2019-08-05 2020-07-27 物品把持装置 Active CN112318532B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019-143734 2019-08-05
JP2019143734A JP7493741B2 (ja) 2019-08-05 2019-08-05 物品把持装置

Publications (2)

Publication Number Publication Date
CN112318532A CN112318532A (zh) 2021-02-05
CN112318532B true CN112318532B (zh) 2024-04-12

Family

ID=71943955

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010729828.6A Active CN112318532B (zh) 2019-08-05 2020-07-27 物品把持装置

Country Status (4)

Country Link
US (1) US11331795B2 (enExample)
EP (1) EP3772397B1 (enExample)
JP (1) JP7493741B2 (enExample)
CN (1) CN112318532B (enExample)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6945246B2 (ja) * 2020-03-19 2021-10-06 株式会社イシダ 物品把持システム
JP7766408B2 (ja) * 2021-03-22 2025-11-10 住鉱テクノリサーチ株式会社 試料溶解装置
JP7765812B2 (ja) * 2022-02-14 2025-11-07 株式会社アールティ ロボット、及びこれを備えた細長い部材のピックアップシステム
JP2023137649A (ja) * 2022-03-18 2023-09-29 ＴｅｃｈＭａｇｉｃ株式会社 食品取分け装置およびプログラム
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
JP7364284B1 (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
JP7553156B1 (ja) 2023-11-06 2024-09-18 コネクテッドロボティクス株式会社 保持システム、及び制御装置
JP7780224B1 (ja) 2025-02-12 2025-12-04 コネクテッドロボティクス株式会社 制御システム、及び制御プログラム

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5321212A (en) * 1992-03-07 1994-06-14 Nestec S.A. Obtaining, weighing and distributing portions of a product
WO2011152520A1 (ja) * 2010-06-03 2011-12-08 レオン自動機株式会社 ロボットハンドおよび食品搬送システム
CN105983877A (zh) * 2015-05-27 2016-10-05 中日龙(襄阳)机电技术开发有限公司 全自动吹液吹屑工件清洁机
CN208166090U (zh) * 2018-03-28 2018-11-30 邛崃驰阳农牧科技有限公司 一种降低原料包装袋内残留物的装置
CN208231828U (zh) * 2018-05-21 2018-12-14 昆山科皓机器人有限公司 一种侧姿抓手
CN109952509A (zh) * 2016-08-25 2019-06-28 勃林格殷格翰动物保健美国公司 用于卵内注射机的蛋光检和重定位设备

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JPS5733991A (en) * 1980-08-06 1982-02-24 Fujitsu Fanuc Ltd Robot hand with chip removing device
US7083208B2 (en) * 2003-01-21 2006-08-01 Embrex, Inc. Vacuum assisted egg lifting apparatus having venturi assembly
JP2007125674A (ja) * 2005-11-07 2007-05-24 Nisca Corp マイクロマニピュレータ
US8162366B1 (en) * 2010-03-26 2012-04-24 Western Digital Technologies, Inc. Systems and methods for gripping a component
JP5767787B2 (ja) * 2010-06-03 2015-08-19 レオン自動機株式会社 食品搬送システム
JP5929179B2 (ja) * 2011-12-28 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
JP6673657B2 (ja) * 2015-09-10 2020-03-25 株式会社Ｆｕｊｉ ワーク搬送装置および工作機械
JP6831723B2 (ja) 2017-03-16 2021-02-17 川崎重工業株式会社 ロボットとロボットの運転方法
JP7044366B2 (ja) * 2017-07-25 2022-03-30 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
JP7201313B2 (ja) * 2017-09-25 2023-01-10 慶應義塾 食品移載システム及び食品把持装置
CN108515515A (zh) * 2018-05-18 2018-09-11 山东博锐机器人科技有限公司 伸缩型复合机械臂

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5321212A (en) * 1992-03-07 1994-06-14 Nestec S.A. Obtaining, weighing and distributing portions of a product
WO2011152520A1 (ja) * 2010-06-03 2011-12-08 レオン自動機株式会社 ロボットハンドおよび食品搬送システム
CN105983877A (zh) * 2015-05-27 2016-10-05 中日龙(襄阳)机电技术开发有限公司 全自动吹液吹屑工件清洁机
CN109952509A (zh) * 2016-08-25 2019-06-28 勃林格殷格翰动物保健美国公司 用于卵内注射机的蛋光检和重定位设备
CN208166090U (zh) * 2018-03-28 2018-11-30 邛崃驰阳农牧科技有限公司 一种降低原料包装袋内残留物的装置
CN208231828U (zh) * 2018-05-21 2018-12-14 昆山科皓机器人有限公司 一种侧姿抓手

Also Published As

Publication number Publication date
EP3772397C0 (en) 2025-10-01
US20210039252A1 (en) 2021-02-11
JP7493741B2 (ja) 2024-06-03
EP3772397B1 (en) 2025-10-01
US11331795B2 (en) 2022-05-17
EP3772397A1 (en) 2021-02-10
JP2021024026A (ja) 2021-02-22
CN112318532A (zh) 2021-02-05

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