CN113544069B - 机器人手、机器人以及机器人系统 - Google Patents
机器人手、机器人以及机器人系统 Download PDFInfo
- Publication number
- CN113544069B CN113544069B CN202080019994.5A CN202080019994A CN113544069B CN 113544069 B CN113544069 B CN 113544069B CN 202080019994 A CN202080019994 A CN 202080019994A CN 113544069 B CN113544069 B CN 113544069B
- Authority
- CN
- China
- Prior art keywords
- conveyor
- robot
- article
- conveying surface
- conveying
- 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
Links
Images
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
- B25J13/08—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
- B25J15/00—Gripping heads and other end effectors
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- 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
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/10—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface
- B65G15/12—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface with two or more endless belts
- B65G15/14—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface with two or more endless belts the load being conveyed between the belts
-
- 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
- B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
- B65G21/10—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof
- B65G21/14—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof to allow adjustment of length or configuration of load-carrier or traction element
-
- 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
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/22—Arrangements or mountings of driving motors
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/11—Stacking of articles by adding to the top of the stack the articles being stacked by direct action of the feeding conveyor
- B65G57/112—Stacking of articles by adding to the top of the stack the articles being stacked by direct action of the feeding conveyor the conveyor being adjustable in height
-
- 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
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
-
- 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—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
- B65G2814/00—Indexing codes relating to loading or unloading articles or bulk materials
- B65G2814/03—Loading or unloading means
- B65G2814/0301—General arrangements
- B65G2814/0304—Stacking devices
- B65G2814/0305—Adding to the top
-
- 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
- B65G2814/00—Indexing codes relating to loading or unloading articles or bulk materials
- B65G2814/03—Loading or unloading means
- B65G2814/0301—General arrangements
- B65G2814/0308—Destacking devices
- B65G2814/031—Removing from the top
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019-074448 | 2019-04-09 | ||
JP2019074448A JP7220115B2 (ja) | 2019-04-09 | 2019-04-09 | ロボットハンド、ロボット及びロボットシステム |
PCT/JP2020/015971 WO2020209334A1 (ja) | 2019-04-09 | 2020-04-09 | ロボットハンド、ロボット及びロボットシステム |
Publications (2)
Publication Number | Publication Date |
---|---|
CN113544069A CN113544069A (zh) | 2021-10-22 |
CN113544069B true CN113544069B (zh) | 2023-06-13 |
Family
ID=72751326
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202080019994.5A Active CN113544069B (zh) | 2019-04-09 | 2020-04-09 | 机器人手、机器人以及机器人系统 |
Country Status (5)
Country | Link |
---|---|
JP (1) | JP7220115B2 (ko) |
KR (1) | KR20210149154A (ko) |
CN (1) | CN113544069B (ko) |
TW (1) | TWI765246B (ko) |
WO (1) | WO2020209334A1 (ko) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11130242B1 (en) * | 2020-01-23 | 2021-09-28 | Amazon Technologies, Inc. | Container transporter |
JP7078342B1 (ja) * | 2020-11-13 | 2022-05-31 | 三菱ロジスネクスト株式会社 | 無人搬送車および無人搬送方法 |
JP7466435B2 (ja) | 2020-11-24 | 2024-04-12 | 川崎重工業株式会社 | ロボット及び物品寸法取得方法 |
CN114873160A (zh) * | 2022-01-29 | 2022-08-09 | 安徽鲲鹏装备模具制造有限公司 | 一种发泡模具输送带高度调节结构 |
US11827460B1 (en) * | 2022-04-20 | 2023-11-28 | Advanced Farm Technologies, Inc. | Item de-binning systems and methods |
FR3137009A1 (fr) * | 2022-06-22 | 2023-12-29 | Institut National De Recherche En Informatique Et En Automatique | Convoyeur déformable |
KR20240026376A (ko) * | 2022-08-19 | 2024-02-28 | 주식회사 에스티씨엔지니어링 | 화물 하차 자동화 방법 및 이를 수행하기 위한 화물 하차 자동화 머신 |
Family Cites Families (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3914596C2 (de) * | 1989-05-03 | 1996-12-05 | Focke & Co | Verfahren und Fördervorrichtung zum Abnehmen von Gegenständen von einer Unterlage |
DE59106570D1 (de) * | 1990-06-20 | 1995-11-02 | Digitron Ag | Verfahren und Vorrichtung zum Aufnehmen bzw. Absetzen von paketförmigem Gut. |
JPH05246549A (ja) * | 1992-03-06 | 1993-09-24 | Mitsubishi Heavy Ind Ltd | 貨物積出し設備 |
JPH0784258B2 (ja) * | 1992-05-20 | 1995-09-13 | 村田機械株式会社 | ピッキング装置 |
US6234745B1 (en) * | 2000-03-06 | 2001-05-22 | Ergonomic Design Specialties, Inc. | Container destacking and transfer apparatus |
JP3550541B2 (ja) | 2000-12-05 | 2004-08-04 | 信越エンジニアリング株式会社 | 粘着物の移載装置 |
JP2004188594A (ja) | 2004-03-01 | 2004-07-08 | Fanuc Ltd | ロボット制御装置 |
FR2980183B1 (fr) * | 2011-09-15 | 2014-11-14 | Sidel Participations | Dispositif de transfert de couches pre-conformees d'objets sur le dessus d'une palette. |
JP5820260B2 (ja) | 2011-12-15 | 2015-11-24 | アサヒビール株式会社 | バッチシート給紙装置 |
JP5480340B2 (ja) | 2012-07-26 | 2014-04-23 | ファナック株式会社 | ローラ装置を用いた取出しロボットシステム |
JP2014124741A (ja) | 2012-12-27 | 2014-07-07 | Seiko Epson Corp | エンドエフェクター |
JP6365832B2 (ja) | 2014-07-29 | 2018-08-01 | 学校法人立命館 | 把持装置 |
JP6386972B2 (ja) | 2015-05-26 | 2018-09-05 | オークラ輸送機株式会社 | ハンド装置、物品移送装置および物品移送方法 |
FR3038309B1 (fr) | 2015-06-30 | 2017-08-11 | C E R M E X Constructions Etudes Et Rech De Materiels Pour L'emballage D'expedition | Dispositif et methode de chargement d'un magasin |
JP6848269B2 (ja) | 2016-09-01 | 2021-03-24 | アイシン精機株式会社 | パレタイジング装置 |
CN106426252B (zh) * | 2016-09-30 | 2018-07-20 | 渤海大学 | 具有输送功能的机械手终端夹具 |
US10016902B2 (en) | 2016-11-01 | 2018-07-10 | The Boeing Company | Robot end effectors that carry objects |
JP2019018280A (ja) | 2017-07-14 | 2019-02-07 | Thk株式会社 | 把持システム |
JP7117193B2 (ja) | 2018-08-23 | 2022-08-12 | 川崎重工業株式会社 | ロボット及びそれを備えるロボットシステム |
JP7117192B2 (ja) * | 2018-08-23 | 2022-08-12 | 川崎重工業株式会社 | ロボットハンド、ロボット及びロボットシステム |
CN109434861B (zh) * | 2018-11-16 | 2020-08-14 | 肇庆华信高精密机械有限公司 | 一种数控设备智能机器手的防脱装置及工件位置调节方法 |
CN109573596A (zh) * | 2019-01-17 | 2019-04-05 | 攀枝花学院 | 一种搬运机器人 |
-
2019
- 2019-04-09 JP JP2019074448A patent/JP7220115B2/ja active Active
-
2020
- 2020-04-09 KR KR1020217036264A patent/KR20210149154A/ko not_active Application Discontinuation
- 2020-04-09 WO PCT/JP2020/015971 patent/WO2020209334A1/ja active Application Filing
- 2020-04-09 TW TW109112051A patent/TWI765246B/zh active
- 2020-04-09 CN CN202080019994.5A patent/CN113544069B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
JP7220115B2 (ja) | 2023-02-09 |
CN113544069A (zh) | 2021-10-22 |
TWI765246B (zh) | 2022-05-21 |
KR20210149154A (ko) | 2021-12-08 |
WO2020209334A1 (ja) | 2020-10-15 |
JP2020171982A (ja) | 2020-10-22 |
TW202043128A (zh) | 2020-12-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN113544069B (zh) | 机器人手、机器人以及机器人系统 | |
CN111776762B (zh) | 具有自动化包裹扫描和登记机构的机器人系统及其操作方法 | |
TWI595987B (zh) | 機械臂系統 | |
US11845621B2 (en) | Robot and robot system having the same | |
JP5561260B2 (ja) | ロボットシステム及び撮像方法 | |
EP1621296A1 (en) | Transfer robot system comprising a manipulator and a temporary container depository moving synchronously with the manipulator | |
CN113661138B (zh) | 机器人手、机器人以及机器人系统 | |
US20140277716A1 (en) | Robot system and robot working method | |
US20200306982A1 (en) | Transfer device and delivery system | |
JP2016068233A (ja) | 搬送ロボット | |
US10780579B2 (en) | Work robot system | |
CN110271019A (zh) | 协作机器人的控制装置以及控制方法 | |
CN110914025B (zh) | 把持系统 | |
US10960542B2 (en) | Control device and robot system | |
CN113573996B (zh) | 机器人手、机器人以及机器人系统 | |
KR102662077B1 (ko) | 로봇핸드, 로봇 및 로봇시스템 | |
TW202337653A (zh) | 作業機器人系統 |
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 |