CN115362113B - 机械手系统和机械手 - Google Patents

机械手系统和机械手

Info

Publication number
CN115362113B
CN115362113B CN202180025920.7A CN202180025920A CN115362113B CN 115362113 B CN115362113 B CN 115362113B CN 202180025920 A CN202180025920 A CN 202180025920A CN 115362113 B CN115362113 B CN 115362113B
Authority
CN
China
Prior art keywords
workpiece
electrodes
contact
fluid
suction cup
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
CN202180025920.7A
Other languages
English (en)
Chinese (zh)
Other versions
CN115362113A (zh
Inventor
金泽曜平
赤川直树
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.)
Fanuc Corp
Original Assignee
Fanuc Corp
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 Fanuc Corp filed Critical Fanuc Corp
Publication of CN115362113A publication Critical patent/CN115362113A/zh
Application granted granted Critical
Publication of CN115362113B publication Critical patent/CN115362113B/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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • 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
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/08—Separating articles from piles using pneumatic force
    • B65H3/0808—Suction grippers
    • B65H3/0816—Suction grippers separating from the top of pile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/08—Separating articles from piles using pneumatic force
    • B65H3/14—Air blasts producing partial vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H7/00—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles
    • B65H7/02—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors
    • B65H7/06—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors responsive to presence of faulty articles or incorrect separation or feed
    • B65H7/12—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors responsive to presence of faulty articles or incorrect separation or feed responsive to double feed or separation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/50—Occurence
    • B65H2511/52—Defective operating conditions
    • B65H2511/524—Multiple articles, e.g. double feed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
    • B65H2515/70—Electrical or magnetic properties, e.g. electric power or current
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/17—Nature of material
    • B65H2701/171—Physical features of handled article or web
    • B65H2701/1718—Porous or permeable

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Controlling Sheets Or Webs (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)
CN202180025920.7A 2020-04-07 2021-04-02 机械手系统和机械手 Active CN115362113B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020-069322 2020-04-07
JP2020069322 2020-04-07
PCT/JP2021/014393 WO2021206028A1 (ja) 2020-04-07 2021-04-02 ハンドシステム及びハンド

Publications (2)

Publication Number Publication Date
CN115362113A CN115362113A (zh) 2022-11-18
CN115362113B true CN115362113B (zh) 2025-12-05

Family

ID=78023155

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180025920.7A Active CN115362113B (zh) 2020-04-07 2021-04-02 机械手系统和机械手

Country Status (5)

Country Link
US (1) US12162718B2 (https=)
JP (1) JP7405956B2 (https=)
CN (1) CN115362113B (https=)
DE (1) DE112021002176T5 (https=)
WO (1) WO2021206028A1 (https=)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR653044A (fr) * 1927-09-27 1929-03-15 Safi Interrupteur universel
DE102012109888A1 (de) * 2012-10-17 2014-04-17 Karlsruher Institut für Technologie Innovationsmanagement Sauggreifer, Sauggreifersystem und Regelungseinrichtung zum Regeln wenigstens eines Sauggreifers

Family Cites Families (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3826487A (en) * 1972-01-24 1974-07-30 Polygraph Leipzig Control apparatus and method for transporting sheets
US4185814A (en) * 1977-12-12 1980-01-29 International Business Machines Corporation Pick up and placement head for green sheet and spacer
US4509891A (en) * 1979-06-22 1985-04-09 Precision Steel Warehouse, Inc. Method and apparatus for supplying metal coils to a processing station
US4883300A (en) * 1988-10-13 1989-11-28 Intelmatec Corporation End effector for IC chip handling
JPH0278284U (https=) 1988-11-30 1990-06-15
JP3006558B2 (ja) * 1997-08-22 2000-02-07 日本電気株式会社 フォトマスクの帯電防止方法およびそれに用いる装置
JP4083892B2 (ja) 1998-09-29 2008-04-30 株式会社アマダ 板材の１枚取り方法およびその装置
US6388452B1 (en) * 2000-04-20 2002-05-14 Hewlett-Packard Company Device for sensing media thickness using capacitance measurements
JP2002018760A (ja) * 2000-07-12 2002-01-22 Mitsubishi Paper Mills Ltd 電子材料搬送用静電吸着板
JP4030038B2 (ja) 2001-08-21 2008-01-09 株式会社村田製作所 通気性ワーク取り出し・保持装置及び通気性ワークの取り扱い方法
WO2009129030A2 (en) * 2008-04-14 2009-10-22 Applied Materials, Inc. Solar parametric testing module and processes
JP2010254438A (ja) 2009-04-27 2010-11-11 Ryoei Engineering Kk シート状磁性材の分離方法及びその装置
US8325458B2 (en) * 2010-02-10 2012-12-04 Sri International Electroadhesive gripping
US8534730B2 (en) * 2010-08-18 2013-09-17 Deutsches Zentrum Fur Luft- Und Raumfahrt E.V. (Dlr E.V.) Areal gripper
CN201849969U (zh) * 2010-09-29 2011-06-01 苏州松下电工有限公司 一种用于覆铜箔层压板制造工序的铜箔吸取装置
DE102011018228A1 (de) * 2011-04-19 2012-10-25 Cerbomed Gmbh Vorrichtung und Verfahren zur Aufbringung eines transkutanen elektrischen Stimulationsreizes auf die Oberfläche eines Abschnitts des menschlichen Ohrs
US9093926B2 (en) * 2012-05-02 2015-07-28 Sri International Electroadhesive conveying surfaces
DE102012212465B3 (de) * 2012-07-17 2013-11-07 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Elektroadhäsionsgreifer zum Halten von Werkstücken
EP2878918B1 (en) * 2013-11-29 2018-11-21 Neopost Technologies Apparatus for determining the thickness of a mail item
DE102014110464B4 (de) * 2014-07-24 2021-11-11 Deutsches Zentrum für Luft- und Raumfahrt e.V. Greifvorrichtung
KR20180003900A (ko) * 2016-07-01 2018-01-10 현대자동차주식회사 연료전지 스택 컴포넌트 공급장치 및 그 공급방법
WO2018105121A1 (ja) 2016-12-09 2018-06-14 トーヨーカネツソリューションズ株式会社 物品探りあて把持装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR653044A (fr) * 1927-09-27 1929-03-15 Safi Interrupteur universel
DE102012109888A1 (de) * 2012-10-17 2014-04-17 Karlsruher Institut für Technologie Innovationsmanagement Sauggreifer, Sauggreifersystem und Regelungseinrichtung zum Regeln wenigstens eines Sauggreifers

Also Published As

Publication number Publication date
CN115362113A (zh) 2022-11-18
DE112021002176T5 (de) 2023-01-19
US12162718B2 (en) 2024-12-10
JPWO2021206028A1 (https=) 2021-10-14
WO2021206028A1 (ja) 2021-10-14
US20230140740A1 (en) 2023-05-04
JP7405956B2 (ja) 2023-12-26

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