CN114761186B - 机器人系统及其运转方法 - Google Patents

机器人系统及其运转方法 Download PDF

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Publication number
CN114761186B
CN114761186B CN202080080568.2A CN202080080568A CN114761186B CN 114761186 B CN114761186 B CN 114761186B CN 202080080568 A CN202080080568 A CN 202080080568A CN 114761186 B CN114761186 B CN 114761186B
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China
Prior art keywords
hand
arm
robot
robot system
engaged
Prior art date
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Active
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CN202080080568.2A
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English (en)
Chinese (zh)
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CN114761186A (zh
Inventor
桥本猛
平田和范
辻森俊行
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.)
Kawasaki Motors Ltd
Original Assignee
Kawasaki Jukogyo KK
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Publication of CN114761186A publication Critical patent/CN114761186A/zh
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Classifications

    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, 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
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
    • 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
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
CN202080080568.2A 2019-11-20 2020-11-20 机器人系统及其运转方法 Active CN114761186B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2019-209743 2019-11-20
JP2019209743A JP7278198B2 (ja) 2019-11-20 2019-11-20 ロボットシステム及びその運転方法
PCT/JP2020/043354 WO2021100845A1 (ja) 2019-11-20 2020-11-20 ロボットシステム及びその運転方法

Publications (2)

Publication Number Publication Date
CN114761186A CN114761186A (zh) 2022-07-15
CN114761186B true CN114761186B (zh) 2023-08-15

Family

ID=75963260

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080080568.2A Active CN114761186B (zh) 2019-11-20 2020-11-20 机器人系统及其运转方法

Country Status (6)

Country Link
US (1) US12195287B2 (https=)
JP (1) JP7278198B2 (https=)
CN (1) CN114761186B (https=)
DE (1) DE112020005682B4 (https=)
TW (1) TWI738572B (https=)
WO (1) WO2021100845A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20230051377A (ko) * 2021-10-08 2023-04-18 삼성전자주식회사 기판 이송 장치 및 이를 이용한 기판 이송 방법

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103707311A (zh) * 2013-12-23 2014-04-09 苏州博众精工科技有限公司 一种可变节距伸缩夹爪
JP2015039768A (ja) * 2013-08-20 2015-03-02 大森機械工業株式会社 集積装置
CN104552284A (zh) * 2013-10-15 2015-04-29 库卡实验仪器有限公司 借助至少两个工业机器人操纵对象的方法及工业机器人
CN105459087A (zh) * 2015-12-30 2016-04-06 苏州澳昆智能机器人技术有限公司 变距柔性机器人工夹具
CN207930664U (zh) * 2018-03-12 2018-10-02 重庆交通大学 一种双臂式搬运机械手
CN108890668A (zh) * 2018-06-13 2018-11-27 天津大学 一种可伸缩和旋转的末端执行器
CN109414822A (zh) * 2016-07-05 2019-03-01 川崎重工业株式会社 产品输送装置及其运行方法
JP2019147196A (ja) * 2018-02-26 2019-09-05 ファナック株式会社 ロボットハンド、ロボットおよびロボットハンドのハンド幅調整方法

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3610673A (en) 1969-10-20 1971-10-05 Svenska Cellulosa Ab Arrangement for handling objects
JPH07102844B2 (ja) 1993-05-12 1995-11-08 東洋水産株式会社 自動箱詰め装置
JP3577028B2 (ja) 2001-11-07 2004-10-13 川崎重工業株式会社 ロボットの協調制御システム
US20050005513A1 (en) 2003-06-30 2005-01-13 Smithers-Oasis Floral display system
DE102004012592B4 (de) 2004-03-12 2006-03-09 Daimlerchrysler Ag Verfahren zum lagegenauen Positionieren von Bauteilen und hierzu geeignete Positioniervorrichtung
CZ309347B6 (cs) 2012-07-11 2022-09-14 České vysoké učení technické v Praze Způsob určení polohy středu obráběcího nástroje uchyceného v kooperující úchopné hlavici a tato hlavice
JP6789728B2 (ja) * 2016-08-31 2020-11-25 川崎重工業株式会社 ロボット及びその運転方法
JP2019000927A (ja) 2017-06-13 2019-01-10 株式会社豊田自動織機 部品位置決め装置及びロボット装置

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015039768A (ja) * 2013-08-20 2015-03-02 大森機械工業株式会社 集積装置
CN104552284A (zh) * 2013-10-15 2015-04-29 库卡实验仪器有限公司 借助至少两个工业机器人操纵对象的方法及工业机器人
CN103707311A (zh) * 2013-12-23 2014-04-09 苏州博众精工科技有限公司 一种可变节距伸缩夹爪
CN105459087A (zh) * 2015-12-30 2016-04-06 苏州澳昆智能机器人技术有限公司 变距柔性机器人工夹具
CN109414822A (zh) * 2016-07-05 2019-03-01 川崎重工业株式会社 产品输送装置及其运行方法
JP2019147196A (ja) * 2018-02-26 2019-09-05 ファナック株式会社 ロボットハンド、ロボットおよびロボットハンドのハンド幅調整方法
CN207930664U (zh) * 2018-03-12 2018-10-02 重庆交通大学 一种双臂式搬运机械手
CN108890668A (zh) * 2018-06-13 2018-11-27 天津大学 一种可伸缩和旋转的末端执行器

Also Published As

Publication number Publication date
JP2021079496A (ja) 2021-05-27
CN114761186A (zh) 2022-07-15
JP7278198B2 (ja) 2023-05-19
DE112020005682T5 (de) 2022-09-15
US20220396437A1 (en) 2022-12-15
TWI738572B (zh) 2021-09-01
US12195287B2 (en) 2025-01-14
WO2021100845A1 (ja) 2021-05-27
DE112020005682B4 (de) 2024-04-25
TW202126447A (zh) 2021-07-16

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