CN113729587A - 装载洗碗机的系统、用于装载的抓具和洗碗机 - Google Patents

装载洗碗机的系统、用于装载的抓具和洗碗机 Download PDF

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Publication number
CN113729587A
CN113729587A CN202110556068.8A CN202110556068A CN113729587A CN 113729587 A CN113729587 A CN 113729587A CN 202110556068 A CN202110556068 A CN 202110556068A CN 113729587 A CN113729587 A CN 113729587A
Authority
CN
China
Prior art keywords
gripper
parallel
jaws
gripping
jaw
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
CN202110556068.8A
Other languages
English (en)
Chinese (zh)
Inventor
马丁·施伦普
马可·费弗
艾德里安·博尔特
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.)
Illinois Tool Works Inc
Original Assignee
Illinois Tool Works Inc
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 Illinois Tool Works Inc filed Critical Illinois Tool Works Inc
Publication of CN113729587A publication Critical patent/CN113729587A/zh
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L15/00—Washing or rinsing machines for crockery or tableware
    • A47L15/24—Washing or rinsing machines for crockery or tableware with movement of the crockery baskets by conveyors
    • A47L15/241—Washing or rinsing machines for crockery or tableware with movement of the crockery baskets by conveyors the dishes moving in a horizontal plane
    • A47L15/245—Washing or rinsing machines for crockery or tableware with movement of the crockery baskets by conveyors the dishes moving in a horizontal plane the dishes being placed directly on the conveyors, i.e. not in dish racks
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L15/00—Washing or rinsing machines for crockery or tableware
    • A47L15/26—Washing or rinsing machines for crockery or tableware with movement of the crockery baskets by other means
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L15/00—Washing or rinsing machines for crockery or tableware
    • A47L15/24—Washing or rinsing machines for crockery or tableware with movement of the crockery baskets by conveyors
    • A47L15/241—Washing or rinsing machines for crockery or tableware with movement of the crockery baskets by conveyors the dishes moving in a horizontal plane
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L15/00—Washing or rinsing machines for crockery or tableware
    • A47L15/0076—Washing or rinsing machines for crockery or tableware of non-domestic use type, e.g. commercial dishwashers for bars, hotels, restaurants, canteens or hospitals
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L15/00—Washing or rinsing machines for crockery or tableware
    • A47L15/24—Washing or rinsing machines for crockery or tableware with movement of the crockery baskets by conveyors
    • A47L15/247—Details specific to conveyor-type machines, e.g. curtains
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L15/00—Washing or rinsing machines for crockery or tableware
    • A47L15/42—Details
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L15/00—Washing or rinsing machines for crockery or tableware
    • A47L15/42—Details
    • A47L15/50—Racks ; Baskets
    • A47L15/502—Cutlery baskets
    • 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
    • B25J11/008—Manipulators for service tasks
    • 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
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • 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
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • 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
    • B25J15/0023—Gripper surfaces directly activated by a fluid
    • 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • 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
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2401/00—Automatic detection in controlling methods of washing or rinsing machines for crockery or tableware, e.g. information provided by sensors entered into controlling devices
    • A47L2401/04—Crockery or tableware details, e.g. material, quantity, condition
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2501/00—Output in controlling method of washing or rinsing machines for crockery or tableware, i.e. quantities or components controlled, or actions performed by the controlling device executing the controlling method
    • A47L2501/36—Other output

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Washing And Drying Of Tableware (AREA)
CN202110556068.8A 2020-05-28 2021-05-21 装载洗碗机的系统、用于装载的抓具和洗碗机 Pending CN113729587A (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020114362.1A DE102020114362A1 (de) 2020-05-28 2020-05-28 System zum beladen einer spülmaschine, greifersystem für eine beladeanordnung zum beladen einer spülmaschine sowie spülmaschine
DE102020114362.1 2020-05-28

Publications (1)

Publication Number Publication Date
CN113729587A true CN113729587A (zh) 2021-12-03

Family

ID=75801489

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110556068.8A Pending CN113729587A (zh) 2020-05-28 2021-05-21 装载洗碗机的系统、用于装载的抓具和洗碗机

Country Status (6)

Country Link
US (1) US20210369077A1 (enExample)
EP (1) EP3970592B1 (enExample)
JP (1) JP2021186677A (enExample)
CN (1) CN113729587A (enExample)
AU (1) AU2021203145B2 (enExample)
DE (1) DE102020114362A1 (enExample)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020214301A1 (de) * 2020-11-13 2022-05-19 Robert Bosch Gesellschaft mit beschränkter Haftung Vorrichtung und verfahren zum steuern eines roboters zum aufnehmen eines objekts in verschiedenen lagen
US20230338995A1 (en) * 2022-04-21 2023-10-26 Skyworks Solutions, Inc. Cleaning system for trays used for handling semiconductor packages
GB2622813A (en) * 2022-09-28 2024-04-03 Dyson Technology Ltd Finger for a robotic gripper

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103622655A (zh) * 2013-12-20 2014-03-12 广东远东食品包装机械有限公司 洗碗机夹具及应用该种夹具的洗碗机
CN107584492A (zh) * 2017-10-30 2018-01-16 安徽理工大学 铸造机器人用自适应气动抓手
CN108095654A (zh) * 2017-12-27 2018-06-01 重庆市臻憬科技开发有限公司 一种碗碟清洗机
US20190375114A1 (en) * 2018-06-08 2019-12-12 Phd, Inc. Autonomously encapsulating gripper tooling

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Publication number Priority date Publication date Assignee Title
DD248315A1 (de) 1986-04-17 1987-08-05 Univ Dresden Tech Greiforgan mit in axialfuehrungen beweglichen stiften i
JPH06135549A (ja) * 1992-10-26 1994-05-17 Omron Corp トレイ分離装置
US6530996B2 (en) 2000-07-13 2003-03-11 Fuuga-Controls Oy Method for washing items
JP4918004B2 (ja) * 2006-11-24 2012-04-18 パナソニック株式会社 多指ロボットハンド
DE112008004009B4 (de) * 2008-09-10 2023-10-12 Harmonic Drive Systems Inc. Roboterhand und Verfahren für die Handhabung von flächigen Gegenständen
NL2006950C2 (en) 2011-06-16 2012-12-18 Kampri Support B V Cleaning of crockery.
CN106687258A (zh) * 2014-09-12 2017-05-17 波利瓦洛尔有限合伙公司 抓取设备的机械手指
SG10201707766SA (en) * 2017-09-20 2019-04-29 Teoh Hwa Ang Dish washing apparatus and dish drying apprartus
US10759062B2 (en) * 2017-12-08 2020-09-01 Dishcraft Robotics, Inc. Article of dishware gripping systems
IT201900002695A1 (it) * 2019-02-26 2020-08-26 Ima Spa Assieme di manipolazione robotizzato.
CN110802622A (zh) * 2019-11-15 2020-02-18 北京邮电大学 一种可手内操作的手爪

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103622655A (zh) * 2013-12-20 2014-03-12 广东远东食品包装机械有限公司 洗碗机夹具及应用该种夹具的洗碗机
CN107584492A (zh) * 2017-10-30 2018-01-16 安徽理工大学 铸造机器人用自适应气动抓手
CN108095654A (zh) * 2017-12-27 2018-06-01 重庆市臻憬科技开发有限公司 一种碗碟清洗机
US20190375114A1 (en) * 2018-06-08 2019-12-12 Phd, Inc. Autonomously encapsulating gripper tooling

Also Published As

Publication number Publication date
DE102020114362A1 (de) 2021-12-02
AU2021203145A1 (en) 2021-12-16
EP3970592B1 (de) 2024-08-14
US20210369077A1 (en) 2021-12-02
EP3970592A1 (de) 2022-03-23
JP2021186677A (ja) 2021-12-13
AU2021203145B2 (en) 2023-03-16

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Application publication date: 20211203