DE102020104332A1 - Systeme zum wechseln von werkzeugen an einer greifervorrichtung - Google Patents

Systeme zum wechseln von werkzeugen an einer greifervorrichtung Download PDF

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Publication number
DE102020104332A1
DE102020104332A1 DE102020104332.5A DE102020104332A DE102020104332A1 DE 102020104332 A1 DE102020104332 A1 DE 102020104332A1 DE 102020104332 A DE102020104332 A DE 102020104332A DE 102020104332 A1 DE102020104332 A1 DE 102020104332A1
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DE
Germany
Prior art keywords
tool
connector
control unit
support structure
compressed air
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
DE102020104332.5A
Other languages
German (de)
English (en)
Inventor
Lei Lei
Yixuan Zhang
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.)
Mujin Inc
Original Assignee
Mujin Inc
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 Mujin Inc filed Critical Mujin Inc
Publication of DE102020104332A1 publication Critical patent/DE102020104332A1/de
Pending legal-status Critical Current

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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
    • 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
    • B25J15/04—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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Manipulator (AREA)
DE102020104332.5A 2019-07-18 2020-02-19 Systeme zum wechseln von werkzeugen an einer greifervorrichtung Pending DE102020104332A1 (de)

Applications Claiming Priority (4)

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

Publications (1)

Publication Number Publication Date
DE102020104332A1 true DE102020104332A1 (de) 2021-01-21

Family

ID=72047952

Family Applications (1)

Application Number Title Priority Date Filing Date
DE102020104332.5A Pending DE102020104332A1 (de) 2019-07-18 2020-02-19 Systeme zum wechseln von werkzeugen an einer greifervorrichtung

Country Status (4)

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

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
DE102023201921A1 (de) 2023-03-03 2024-09-05 Robert Bosch Gesellschaft mit beschränkter Haftung Kommunikationsvorrichtung für eine Werkzeugkomponente, Werkzeugkomponente und Fertigungsvorrichtung
DE102023201924A1 (de) 2023-03-03 2024-09-05 Robert Bosch Gesellschaft mit beschränkter Haftung Identifikationsvorrichtung für eine Werkzeugkomponente, Werkzeugkomponente und Robotersystem

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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
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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JPH0569362A (ja) 1991-09-06 1993-03-23 Toshiba Corp 産業用ロボツト
US7379790B2 (en) 2004-05-04 2008-05-27 Intuitive Surgical, Inc. Tool memory-based software upgrades for robotic surgery
US20080003092A1 (en) * 2006-06-30 2008-01-03 Petar Baclija Rotary union connection
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
US8087845B2 (en) * 2008-05-22 2012-01-03 GM Global Technology Operations LLC Integrated locking assembly for reconfigurable end-effectors
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
TWI611997B (zh) * 2013-09-26 2018-01-21 應用材料股份有限公司 用於傳送基板的氣動端效器設備與基板傳送系統
US9623569B2 (en) * 2014-03-31 2017-04-18 Intelligrated Headquarters, Llc Autonomous truck loader and unloader
KR101641164B1 (ko) * 2014-11-25 2016-07-20 유도스타자동화 주식회사 중량측정장치를 갖춘 다관절 로봇
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
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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
US10011022B1 (en) * 2017-02-23 2018-07-03 GM Global Technology Operations LLC Robotic system with reconfigurable end-effector assembly
JP6470331B2 (ja) * 2017-03-13 2019-02-13 株式会社東芝 把持ツール、把持システム、および把持性能の評価方法
JP7024579B2 (ja) * 2018-04-25 2022-02-24 セイコーエプソン株式会社 ロボット制御装置、ロボットシステムおよびロボット制御方法
US11458639B2 (en) * 2019-07-18 2022-10-04 Mujin, Inc. Systems for changing tools on a gripper apparatus

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
DE102023201921A1 (de) 2023-03-03 2024-09-05 Robert Bosch Gesellschaft mit beschränkter Haftung Kommunikationsvorrichtung für eine Werkzeugkomponente, Werkzeugkomponente und Fertigungsvorrichtung
DE102023201924A1 (de) 2023-03-03 2024-09-05 Robert Bosch Gesellschaft mit beschränkter Haftung Identifikationsvorrichtung für eine Werkzeugkomponente, Werkzeugkomponente und Robotersystem

Also Published As

Publication number Publication date
JP2021016939A (ja) 2021-02-15
CN112238441A (zh) 2021-01-19
CN114714333B (zh) 2023-03-21
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
US12246438B2 (en) 2025-03-11

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