CN119053413A - 处理装置、吸附机构控制部、程序、处理系统以及吸附机构 - Google Patents

处理装置、吸附机构控制部、程序、处理系统以及吸附机构 Download PDF

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Publication number
CN119053413A
CN119053413A CN202380035042.6A CN202380035042A CN119053413A CN 119053413 A CN119053413 A CN 119053413A CN 202380035042 A CN202380035042 A CN 202380035042A CN 119053413 A CN119053413 A CN 119053413A
Authority
CN
China
Prior art keywords
suction
adsorption
unit
information
force
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
CN202380035042.6A
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 CN119053413A publication Critical patent/CN119053413A/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
    • B25J15/06—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
    • B25J15/0052—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
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1612—Program controls characterised by the hand, wrist, grip control
    • 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
    • B65G47/915—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rotary movements only
    • 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
    • B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
    • 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
    • G05B2219/39523—Set holding force as function of dimension, weight, shape, hardness, surface
    • 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)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
CN202380035042.6A 2022-04-28 2023-04-26 处理装置、吸附机构控制部、程序、处理系统以及吸附机构 Pending CN119053413A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2022-074422 2022-04-28
JP2022074422 2022-04-28
PCT/JP2023/016408 WO2023210677A1 (ja) 2022-04-28 2023-04-26 処理装置、吸着機構制御部、プログラム、処理システム及び吸着機構

Publications (1)

Publication Number Publication Date
CN119053413A true CN119053413A (zh) 2024-11-29

Family

ID=88519082

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202380035042.6A Pending CN119053413A (zh) 2022-04-28 2023-04-26 处理装置、吸附机构控制部、程序、处理系统以及吸附机构

Country Status (5)

Country Link
US (1) US20250289146A1 (https=)
EP (1) EP4516706A4 (https=)
JP (1) JP7834163B2 (https=)
CN (1) CN119053413A (https=)
WO (1) WO2023210677A1 (https=)

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10329074A (ja) * 1997-05-29 1998-12-15 Mitsubishi Electric Corp 産業ロボット装置及び産業ロボットの制御方法
JP2007331056A (ja) 2006-06-14 2007-12-27 Sharp Corp 真空吸着装置および吸引力推定方法
JP4943300B2 (ja) * 2007-11-07 2012-05-30 Ｊｕｋｉ株式会社 部品実装装置
JP2010089936A (ja) * 2008-10-09 2010-04-22 Amada Co Ltd 部品取出装置及びその方法
JP6056708B2 (ja) * 2013-08-23 2017-01-11 株式会社ダイフク 物品移載装置
JP2018058175A (ja) * 2016-10-06 2018-04-12 株式会社東芝 搬送装置、および搬送プログラム
JP6877156B2 (ja) * 2017-01-24 2021-05-26 株式会社東芝 保持装置、保持方法及び荷降ろし装置
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
DE102018110741A1 (de) * 2018-05-04 2019-11-07 J. Schmalz Gmbh Unterdruckhandhabungsvorrichtung
US11345029B2 (en) * 2019-08-21 2022-05-31 Mujin, Inc. Robotic multi-gripper assemblies and methods for gripping and holding objects
KR102305322B1 (ko) * 2019-10-25 2021-09-24 박민욱 진공 흡착 장치의 오류 검출 방법 및 진공 흡착 장치의 오류 검출 시스템
JP6832599B1 (ja) 2020-02-20 2021-02-24 株式会社Ｍｕｊｉｎ グリッピング機構を有するロボットシステム

Also Published As

Publication number Publication date
EP4516706A4 (en) 2026-01-28
EP4516706A1 (en) 2025-03-05
US20250289146A1 (en) 2025-09-18
WO2023210677A1 (ja) 2023-11-02
JPWO2023210677A1 (https=) 2023-11-02
JP7834163B2 (ja) 2026-03-23

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