CN118973775A - 机械手、处理装置、驱动机构控制部、程序以及控制系统 - Google Patents

机械手、处理装置、驱动机构控制部、程序以及控制系统 Download PDF

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Publication number
CN118973775A
CN118973775A CN202380030482.2A CN202380030482A CN118973775A CN 118973775 A CN118973775 A CN 118973775A CN 202380030482 A CN202380030482 A CN 202380030482A CN 118973775 A CN118973775 A CN 118973775A
Authority
CN
China
Prior art keywords
suction
robot
control device
unit
positional relationship
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
CN202380030482.2A
Other languages
English (en)
Chinese (zh)
Inventor
内竹真洋
三木雅文
石田敬之
宫村博昭
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.)
Kyocera Corp
Original Assignee
Kyocera 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 Kyocera Corp filed Critical Kyocera Corp
Publication of CN118973775A publication Critical patent/CN118973775A/zh
Pending legal-status Critical Current

Links

Classifications

    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1612—Program controls characterised by the hand, wrist, grip control
    • 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1653—Program controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39482—Control position of center of grip
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39504—Grip object in gravity center
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39514—Stability of grasped objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39529—Force, torque sensor in wrist, end effector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39543—Recognize object and plan hand shapes in grasping movements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39558—Vacuum hand has selective gripper area

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
CN202380030482.2A 2022-03-30 2023-03-23 机械手、处理装置、驱动机构控制部、程序以及控制系统 Pending CN118973775A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2022-056033 2022-03-30
JP2022056033 2022-03-30
PCT/JP2023/011451 WO2023190012A1 (ja) 2022-03-30 2023-03-23 ロボットハンド、処理装置、駆動機構制御部、プログラム及び制御システム

Publications (1)

Publication Number Publication Date
CN118973775A true CN118973775A (zh) 2024-11-15

Family

ID=88202013

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202380030482.2A Pending CN118973775A (zh) 2022-03-30 2023-03-23 机械手、处理装置、驱动机构控制部、程序以及控制系统

Country Status (5)

Country Link
US (1) US20250222597A1 (https=)
EP (1) EP4501557A4 (https=)
JP (1) JPWO2023190012A1 (https=)
CN (1) CN118973775A (https=)
WO (1) WO2023190012A1 (https=)

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63150181A (ja) * 1986-12-15 1988-06-22 富士電機株式会社 板状ワ−クの吸着方法
JPS63161689U (https=) * 1987-04-10 1988-10-21
JP3519137B2 (ja) * 1994-09-30 2004-04-12 株式会社アマダ ワーク搬入出装置におけるパッド位置決めセット装置
KR100456858B1 (ko) * 2002-12-18 2004-11-10 현대자동차주식회사 어태치먼트의 수직축 다단 조절장치
JP4943300B2 (ja) * 2007-11-07 2012-05-30 Ｊｕｋｉ株式会社 部品実装装置
JP5896699B2 (ja) * 2011-11-25 2016-03-30 株式会社アマダホールディングス ワーク保持装置
JP6856925B2 (ja) 2016-12-01 2021-04-14 株式会社イシダ 吸着装置
JP6773588B2 (ja) * 2017-03-10 2020-10-21 株式会社東芝 搬送装置
JP6904104B2 (ja) * 2017-06-27 2021-07-14 村田機械株式会社 ピッキングシステム
JP2019155536A (ja) * 2018-03-13 2019-09-19 株式会社東芝 保持装置、飛行体、および搬送システム
JP7287027B2 (ja) * 2019-03-19 2023-06-06 富士電機株式会社 保持機構及び搬送装置
US11345029B2 (en) * 2019-08-21 2022-05-31 Mujin, Inc. Robotic multi-gripper assemblies and methods for gripping and holding objects
JP7685459B2 (ja) * 2021-05-10 2025-05-29 株式会社アマダ 制御データ作成装置、及び制御データ作成方法

Also Published As

Publication number Publication date
EP4501557A1 (en) 2025-02-05
JPWO2023190012A1 (https=) 2023-10-05
EP4501557A4 (en) 2026-01-28
US20250222597A1 (en) 2025-07-10
WO2023190012A1 (ja) 2023-10-05

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