CN114714333B - 用于更换夹持器设备上的工具的系统 - Google Patents

用于更换夹持器设备上的工具的系统 Download PDF

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Publication number
CN114714333B
CN114714333B CN202210552204.0A CN202210552204A CN114714333B CN 114714333 B CN114714333 B CN 114714333B CN 202210552204 A CN202210552204 A CN 202210552204A CN 114714333 B CN114714333 B CN 114714333B
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China
Prior art keywords
tool
control unit
connector
support structure
compressed air
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CN202210552204.0A
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Chinese (zh)
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CN114714333A (zh
Inventor
雷磊
张溢轩
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Mu Jinkeji
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Mu Jinkeji
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    • 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
    • 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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • 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
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • 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
    • 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
    • B65G67/00—Loading or unloading vehicles
    • B65G67/02—Loading or unloading land vehicles

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Manipulator (AREA)
CN202210552204.0A 2019-07-18 2020-03-04 用于更换夹持器设备上的工具的系统 Active CN114714333B (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201962875880P 2019-07-18 2019-07-18
US62/875,880 2019-07-18
US16/748,539 US11458639B2 (en) 2019-07-18 2020-01-21 Systems for changing tools on a gripper apparatus
US16/748,539 2020-01-21
CN202010141326.1A CN112238441A (zh) 2019-07-18 2020-03-04 用于更换夹持器设备上的工具的系统

Related Parent Applications (1)

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CN202010141326.1A Division CN112238441A (zh) 2019-07-18 2020-03-04 用于更换夹持器设备上的工具的系统

Publications (2)

Publication Number Publication Date
CN114714333A CN114714333A (zh) 2022-07-08
CN114714333B true CN114714333B (zh) 2023-03-21

Family

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Family Applications (2)

Application Number Title Priority Date Filing Date
CN202210552204.0A Active CN114714333B (zh) 2019-07-18 2020-03-04 用于更换夹持器设备上的工具的系统
CN202010141326.1A Pending CN112238441A (zh) 2019-07-18 2020-03-04 用于更换夹持器设备上的工具的系统

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN202010141326.1A Pending CN112238441A (zh) 2019-07-18 2020-03-04 用于更换夹持器设备上的工具的系统

Country Status (4)

Country Link
US (2) US11458639B2 (https=)
JP (2) JP6741329B1 (https=)
CN (2) CN114714333B (https=)
DE (1) DE102020104332A1 (https=)

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ES3042362T3 (en) 2018-01-17 2025-11-20 Berkshire Grey Operating Company Inc Systems and methods for efficiently moving a variety of objects
EP3970927B1 (en) * 2019-05-13 2024-05-01 OMRON Corporation Suction pad and deformation measuring device
US11458639B2 (en) * 2019-07-18 2022-10-04 Mujin, Inc. Systems for changing tools on a gripper apparatus
CN112895460B (zh) * 2021-01-19 2022-12-20 上海电气集团股份有限公司 夹具制备方法、装置、电子设备和存储介质
JP7675532B2 (ja) 2021-02-26 2025-05-13 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、制御プログラム、およびハンドリング方法
EP4429851A4 (en) 2021-11-11 2025-02-26 FORTNA Systems, Inc. SYSTEM AND METHOD FOR PREVENTING DIRT DEPOSIT IN VACUUM SENSOR LINES
LU502324B1 (de) * 2022-06-21 2023-12-21 Saurer Tech Gmbh & Co Kg Fahrerloses Transportfahrzeug
DE102023201921A1 (de) 2023-03-03 2024-09-05 Robert Bosch Gesellschaft mit beschränkter Haftung Kommunikationsvorrichtung für eine Werkzeugkomponente, Werkzeugkomponente und Fertigungsvorrichtung
DE102023201922A1 (de) 2023-03-03 2024-09-05 Robert Bosch Gesellschaft mit beschränkter Haftung Adaptereinrichtung für ein industrielles Werkzeug, industrielles Werkzeugsystem und Verfahren zum Betreiben eines industriellen Werkzeugsystems
DE102023201924A1 (de) 2023-03-03 2024-09-05 Robert Bosch Gesellschaft mit beschränkter Haftung Identifikationsvorrichtung für eine Werkzeugkomponente, Werkzeugkomponente und Robotersystem
WO2024192301A2 (en) * 2023-03-15 2024-09-19 Pickle Robot Company Modular robotic end-effector and connector
US20250074725A1 (en) * 2023-09-01 2025-03-06 Ford Global Technologies, Llc Robotic arm for loading and unloading bins

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US7379790B2 (en) 2004-05-04 2008-05-27 Intuitive Surgical, Inc. Tool memory-based software upgrades for robotic surgery
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US8033002B2 (en) * 2008-02-06 2011-10-11 GM Global Technology Operations LLC Method for configuring an end-of-arm tool for a robotic arm
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CN105143075B (zh) * 2013-01-20 2017-03-29 株式会社大福 用于从拖车和集装箱卸载/卸装产品的自动卡车卸载器
SE1330060A1 (sv) * 2013-05-22 2014-11-18 Vaculex Ab Vakuumtublyftanordning samt lyftslang och metod för styrningav en vakuumtublyftanordning
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US9623569B2 (en) * 2014-03-31 2017-04-18 Intelligrated Headquarters, Llc Autonomous truck loader and unloader
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US9808933B2 (en) * 2015-04-03 2017-11-07 GM Global Technology Operations LLC Robotic system with reconfigurable end-effector assembly
US9630315B2 (en) 2015-08-24 2017-04-25 Rethink Robotics, Inc. Robot with hot-swapped end effectors
US9911640B2 (en) * 2015-09-01 2018-03-06 Boris Kesil Universal gripping and suction chuck
CN108778640B (zh) * 2016-01-20 2019-10-22 软机器人公司 用于杂乱抓持环境、高加速度移动、食品操作以及自动化仓储系统的软机器人抓持器
US10350755B2 (en) 2016-02-08 2019-07-16 Berkshire Grey, Inc. Systems and methods for providing processing of a variety of objects employing motion planning
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JP2018122945A (ja) * 2017-01-30 2018-08-09 株式会社東芝 可変型物品保持装置、移載装置、ロボットハンドリングシステム、および移載装置の制御方法
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US11458639B2 (en) * 2019-07-18 2022-10-04 Mujin, Inc. Systems for changing tools on a gripper apparatus

Also Published As

Publication number Publication date
JP2021016939A (ja) 2021-02-15
CN112238441A (zh) 2021-01-19
JP2021016937A (ja) 2021-02-15
US20210016456A1 (en) 2021-01-21
US11458639B2 (en) 2022-10-04
CN114714333A (zh) 2022-07-08
US20230020813A1 (en) 2023-01-19
JP6741329B1 (ja) 2020-08-19
DE102020104332A1 (de) 2021-01-21
US12246438B2 (en) 2025-03-11

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