DE112020005682B4 - Robotersystem und verfahren zum betrieb desselben - Google Patents

Robotersystem und verfahren zum betrieb desselben Download PDF

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Publication number
DE112020005682B4
DE112020005682B4 DE112020005682.1T DE112020005682T DE112020005682B4 DE 112020005682 B4 DE112020005682 B4 DE 112020005682B4 DE 112020005682 T DE112020005682 T DE 112020005682T DE 112020005682 B4 DE112020005682 B4 DE 112020005682B4
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DE
Germany
Prior art keywords
hand
arm
robot
robot system
holders
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
DE112020005682.1T
Other languages
German (de)
English (en)
Other versions
DE112020005682T5 (de
Inventor
Takeshi Hashimoto
Kazunori HIRATA
Toshiyuki Tsujimori
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 Heavy Industries Ltd
Kawasaki Motors Ltd
Original Assignee
Kawasaki Heavy Industries Ltd
Kawasaki Jukogyo KK
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.)
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Publication date
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Publication of DE112020005682T5 publication Critical patent/DE112020005682T5/de
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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)
DE112020005682.1T 2019-11-20 2020-11-20 Robotersystem und verfahren zum betrieb desselben Active DE112020005682B4 (de)

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
DE112020005682T5 DE112020005682T5 (de) 2022-09-15
DE112020005682B4 true DE112020005682B4 (de) 2024-04-25

Family

ID=75963260

Family Applications (1)

Application Number Title Priority Date Filing Date
DE112020005682.1T Active DE112020005682B4 (de) 2019-11-20 2020-11-20 Robotersystem und verfahren zum betrieb desselben

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 (7)

* 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
JPH06321204A (ja) 1993-05-12 1994-11-22 Toyo Suisan Kaisha Ltd 自動箱詰め装置
US20050055132A1 (en) 2001-11-07 2005-03-10 Naoyuki Matsumoto Robot collaboration control system
DE102004012592B4 (de) 2004-03-12 2006-03-09 Daimlerchrysler Ag Verfahren zum lagegenauen Positionieren von Bauteilen und hierzu geeignete Positioniervorrichtung
EP2743040A2 (en) 2012-07-11 2014-06-18 CVUT V Praze, Fakulta Strojní A method of determination of a position of a center of a machining tool gripped in a cooperative gripping head and the cooperative gripping head
DE102013220798A1 (de) 2013-10-15 2015-04-16 Kuka Laboratories Gmbh Verfahren zum Handhaben von Objekten mittels wenigstens zweier Industrieroboter, und zugehöriger Industrieroboter
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

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050005513A1 (en) 2003-06-30 2005-01-13 Smithers-Oasis Floral display system
JP6153027B2 (ja) * 2013-08-20 2017-06-28 大森機械工業株式会社 集積装置
CN103707311B (zh) * 2013-12-23 2015-08-05 苏州博众精工科技有限公司 一种可变节距伸缩夹爪
CN105459087B (zh) * 2015-12-30 2017-10-31 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
JP6838895B2 (ja) * 2016-07-05 2021-03-03 川崎重工業株式会社 ワーク搬送装置およびその運転方法
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
JP6777665B2 (ja) * 2018-02-26 2020-10-28 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

Patent Citations (7)

* 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
JPH06321204A (ja) 1993-05-12 1994-11-22 Toyo Suisan Kaisha Ltd 自動箱詰め装置
US20050055132A1 (en) 2001-11-07 2005-03-10 Naoyuki Matsumoto Robot collaboration control system
DE102004012592B4 (de) 2004-03-12 2006-03-09 Daimlerchrysler Ag Verfahren zum lagegenauen Positionieren von Bauteilen und hierzu geeignete Positioniervorrichtung
EP2743040A2 (en) 2012-07-11 2014-06-18 CVUT V Praze, Fakulta Strojní A method of determination of a position of a center of a machining tool gripped in a cooperative gripping head and the cooperative gripping head
DE102013220798A1 (de) 2013-10-15 2015-04-16 Kuka Laboratories Gmbh Verfahren zum Handhaben von Objekten mittels wenigstens zweier Industrieroboter, und zugehöriger Industrieroboter
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

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
CN114761186B (zh) 2023-08-15
US20220396437A1 (en) 2022-12-15
TWI738572B (zh) 2021-09-01
US12195287B2 (en) 2025-01-14
WO2021100845A1 (ja) 2021-05-27
TW202126447A (zh) 2021-07-16

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