CN113276153B - 具有夹持机构的机器人系统 - Google Patents

具有夹持机构的机器人系统

Info

Publication number
CN113276153B
CN113276153B CN202010938985.8A CN202010938985A CN113276153B CN 113276153 B CN113276153 B CN 113276153B CN 202010938985 A CN202010938985 A CN 202010938985A CN 113276153 B CN113276153 B CN 113276153B
Authority
CN
China
Prior art keywords
suction cup
housing
displacement
suction
end effector
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
CN202010938985.8A
Other languages
English (en)
Chinese (zh)
Other versions
CN113276153A (zh
Inventor
溝口弘悟
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.)
Mu Jinkeji
Original Assignee
Mu Jinkeji
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
Priority claimed from US16/945,370 external-priority patent/US12005572B2/en
Application filed by Mu Jinkeji filed Critical Mu Jinkeji
Publication of CN113276153A publication Critical patent/CN113276153A/zh
Application granted granted Critical
Publication of CN113276153B publication Critical patent/CN113276153B/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
    • 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
    • B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
    • B25J15/0633—Air-flow-actuated valves
    • 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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • 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
    • 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
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1602—Program 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program 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
    • 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
    • G05B2219/39557—Vacuum gripper using mask with pattern corresponding to workpiece to be lifted

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
CN202010938985.8A 2020-02-20 2020-09-09 具有夹持机构的机器人系统 Active CN113276153B (zh)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US202062979413P 2020-02-20 2020-02-20
US62/979,413 2020-02-20
US16/945,370 US12005572B2 (en) 2020-02-20 2020-07-31 Robotic system with gripping mechanism
US16/945,370 2020-07-31

Publications (2)

Publication Number Publication Date
CN113276153A CN113276153A (zh) 2021-08-20
CN113276153B true CN113276153B (zh) 2026-04-03

Family

ID=74661667

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010938985.8A Active CN113276153B (zh) 2020-02-20 2020-09-09 具有夹持机构的机器人系统

Country Status (3)

Country Link
JP (2) JP6832599B1 (https=)
CN (1) CN113276153B (https=)
DE (1) DE102020122701A1 (https=)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116323109A (zh) 2020-12-03 2023-06-23 三星电子株式会社 操纵器和用于控制操纵器的方法
US12226907B2 (en) 2021-04-06 2025-02-18 Mujin, Inc. Robotic systems with mass detection, and related systems and methods
DE102021108906A1 (de) * 2021-04-09 2022-10-13 Linde Material Handling Gmbh Mobiler Kommissionierroboter
JP1724248S (ja) 2022-01-21 2022-09-08 シール貼付システム用ロボットアーム
CN114535143A (zh) * 2022-01-27 2022-05-27 阿丘机器人科技(苏州)有限公司 物流货物拣选方法、装置、设备及存储介质
JP7834163B2 (ja) 2022-04-28 2026-03-23 京セラ株式会社 処理装置、吸着機構制御部、プログラム及び処理システム
US20240189982A1 (en) * 2022-12-12 2024-06-13 Mujin, Inc. Robotic system with object handling mechanism for loading and unloading of cargo carriers

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0487788A (ja) * 1990-07-31 1992-03-19 Morinaga Milk Ind Co Ltd ロボットハンド
US5609377A (en) * 1993-12-08 1997-03-11 Fuji Photo Film Co., Ltd. Vacuum chuck apparatus

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06255772A (ja) * 1993-03-02 1994-09-13 Toshiba Corp ガラス基板移送用ハンド及びガラス基板移送装置
JPH07136965A (ja) * 1993-11-19 1995-05-30 Pfu Ltd 物体のハンドリング装置
JPH0831017A (ja) * 1994-07-19 1996-02-02 Kuraray Co Ltd 光ディスク搬送装置
JP4244326B2 (ja) 2004-03-16 2009-03-25 セントラル硝子株式会社 板状ワークの吸着ハンドおよび該吸着ハンドを用いた板状ワークの移載方法
JP2010188483A (ja) * 2009-02-19 2010-09-02 Ihi Corp 搬送ロボット
CN206690112U (zh) * 2016-12-21 2017-12-01 海宁定美电子智能设备有限公司 一种机器人末端执行器
US10902377B2 (en) * 2018-01-24 2021-01-26 Amazon Technologies, Inc. Robotic item handling using a variable area manipulator
US10576630B1 (en) 2019-05-31 2020-03-03 Mujin, Inc. Robotic system with a robot arm suction control mechanism and method of operation thereof

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0487788A (ja) * 1990-07-31 1992-03-19 Morinaga Milk Ind Co Ltd ロボットハンド
US5609377A (en) * 1993-12-08 1997-03-11 Fuji Photo Film Co., Ltd. Vacuum chuck apparatus

Also Published As

Publication number Publication date
JP7562098B2 (ja) 2024-10-07
DE102020122701A1 (de) 2021-08-26
JP2021130189A (ja) 2021-09-09
JP6832599B1 (ja) 2021-02-24
CN113276153A (zh) 2021-08-20
JP2021130188A (ja) 2021-09-09

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