DE3681729D1 - Roboterhand. - Google Patents

Roboterhand.

Info

Publication number
DE3681729D1
DE3681729D1 DE8686301866T DE3681729T DE3681729D1 DE 3681729 D1 DE3681729 D1 DE 3681729D1 DE 8686301866 T DE8686301866 T DE 8686301866T DE 3681729 T DE3681729 T DE 3681729T DE 3681729 D1 DE3681729 D1 DE 3681729D1
Authority
DE
Germany
Prior art keywords
digit
sensors
light emitting
digits
moveable
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.)
Expired - Lifetime
Application number
DE8686301866T
Other languages
English (en)
Inventor
Hideaki Hashimoto
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.)
Toshiba Corp
Original Assignee
Toshiba 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 Toshiba Corp filed Critical Toshiba Corp
Application granted granted Critical
Publication of DE3681729D1 publication Critical patent/DE3681729D1/de
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • 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
    • B25J13/086—Proximity sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/1015—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. microadjustment of the end effector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme 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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)
DE8686301866T 1984-09-14 1986-03-14 Roboterhand. Expired - Lifetime DE3681729D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP59193208A JPS6171302A (ja) 1984-09-14 1984-09-14 ロボットハンド用近接センサ装置
EP86301866A EP0236611B1 (de) 1984-09-14 1986-03-14 Roboterhand

Publications (1)

Publication Number Publication Date
DE3681729D1 true DE3681729D1 (de) 1991-10-31

Family

ID=16304096

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8686301866T Expired - Lifetime DE3681729D1 (de) 1984-09-14 1986-03-14 Roboterhand.

Country Status (4)

Country Link
US (1) US4766322A (de)
EP (1) EP0236611B1 (de)
JP (1) JPS6171302A (de)
DE (1) DE3681729D1 (de)

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US5064337A (en) * 1988-07-19 1991-11-12 Tokyo Electron Limited Handling apparatus for transferring carriers and a method of transferring carriers
DE3836245A1 (de) * 1988-10-25 1990-04-26 Zinser Textilmaschinen Gmbh Transportvorrichtung zum automatischen transportieren von wickeln zu mehreren kaemmaschinen
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US4980626A (en) * 1989-08-10 1990-12-25 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Method and apparatus for positioning a robotic end effector
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US5042709A (en) * 1990-06-22 1991-08-27 International Business Machines Corporation Methods and apparatus for precise alignment of objects
WO1992005920A1 (en) * 1990-09-27 1992-04-16 Genmark Automation Scanning end effector assembly
US5059789A (en) * 1990-10-22 1991-10-22 International Business Machines Corp. Optical position and orientation sensor
US5673367A (en) * 1992-10-01 1997-09-30 Buckley; Theresa M. Method for neural network control of motion using real-time environmental feedback
US5461298A (en) * 1993-01-15 1995-10-24 Hughes Aircraft Company Automatic electric vehicle charging system
DE4315162A1 (de) * 1993-05-07 1994-11-10 Masch Und Werkzeugbau D Fried Verfahren zum Abtasten eines mit einem Greifer zu erfassenden Gegenstandes mittels eines Strahles und Greifer zur Durchführung des Verfahrens
US5457367A (en) * 1993-08-06 1995-10-10 Cycle Time Corporation Tool center point calibration apparatus and method
JPH07100786A (ja) * 1993-10-01 1995-04-18 Yaskawa Electric Corp 無配線ロボット
US5541485A (en) * 1994-05-06 1996-07-30 New York University Reactive robotic gripper
US6121743A (en) * 1996-03-22 2000-09-19 Genmark Automation, Inc. Dual robotic arm end effectors having independent yaw motion
US5789890A (en) * 1996-03-22 1998-08-04 Genmark Automation Robot having multiple degrees of freedom
US6249591B1 (en) * 1997-08-25 2001-06-19 Hewlett-Packard Company Method and apparatus for control of robotic grip or for activating contrast-based navigation
DE19806231C1 (de) * 1998-02-16 1999-07-22 Jenoptik Jena Gmbh Einrichtung zum Greifen eines Objektes
FR2778496B1 (fr) * 1998-05-05 2002-04-19 Recif Sa Procede et dispositif de changement de position d'une plaque de semi-conducteur
US6489741B1 (en) 1998-08-25 2002-12-03 Genmark Automation, Inc. Robot motion compensation system
CA2251243C (en) 1998-10-21 2006-12-19 Robert Dworkowski Distance tracking control system for single pass topographical mapping
US6545465B1 (en) * 2000-06-14 2003-04-08 Syron Engineering & Manufacturing Corporation Gripper with coiled sensor wire
FR2835337B1 (fr) * 2002-01-29 2004-08-20 Recif Sa Procede et dispositif d'identification de caracteres inscrits sur une plaque de semi-conducteur comportant au moins une marque d'orientation
US7572092B2 (en) * 2002-10-07 2009-08-11 Brooks Automation, Inc. Substrate alignment system
US7443115B2 (en) * 2002-10-29 2008-10-28 Matsushita Electric Industrial Co., Ltd. Apparatus and method for robot handling control
JP3805310B2 (ja) * 2003-01-30 2006-08-02 ファナック株式会社 ワーク取出し装置
US20050091060A1 (en) * 2003-10-23 2005-04-28 Wing Thomas W. Hearing aid for increasing voice recognition through voice frequency downshift and/or voice substitution
NL1028344C2 (nl) 2005-02-18 2006-08-21 Csi Ind B V Depalletiseerinrichting.
ES2306348T3 (es) * 2006-11-30 2008-11-01 Wafios Aktiengesellschaft Procedimiento y dispositivo para separar cuerpos en forma de barra.
WO2012019079A1 (en) * 2010-08-06 2012-02-09 First Solar, Inc Tape detection system
RU2602913C2 (ru) * 2011-07-22 2016-11-20 Грифольс, С.А. Устройство опорожнения мешка с продуктом крови
BR112014008508B1 (pt) * 2011-10-10 2021-01-12 Volvo Group North America, Llc sistema de controle de veículo de resíduo e método de controle de um veículo de resíduo
US9120233B2 (en) 2012-05-31 2015-09-01 Toyota Motor Engineering & Manufacturing North America, Inc. Non-contact optical distance and tactile sensing system and method
US9114963B2 (en) * 2013-02-26 2015-08-25 Cascade Corporation Clamping surface positioning system for mobile load-handling clamps
JP2017507798A (ja) * 2014-03-17 2017-03-23 エフアンドピー ロボテックス アクチェンゲゼルシャフト グリッパ・フィンガ、グリッパ・チップ、グリッパ・ジョー及びロボット・システム
KR102325282B1 (ko) * 2015-04-30 2021-11-11 에스케이하이닉스 주식회사 반도체 장치 제조 설비를 위한 로봇 제어 시스템 및 방법, 이를 위한 컴퓨터 프로그램
US10632617B2 (en) * 2015-09-18 2020-04-28 Sony Corporation Attachment apparatus, attachment method, and hand mechanism
WO2017179114A1 (ja) * 2016-04-12 2017-10-19 富士機械製造株式会社 作業用ロボット
JP2018194500A (ja) * 2017-05-19 2018-12-06 日本精工株式会社 近接覚センサ
JP3226609U (ja) * 2017-06-19 2020-07-09 ジョンルイ フーニン ロボティクス （シェンヤン） カンパニー リミテッド ロボット用グリッパシステム
JP7014114B2 (ja) * 2018-09-25 2022-02-01 オムロン株式会社 エンドエフェクタおよびエンドエフェクタ装置
JP2020049642A (ja) * 2018-09-28 2020-04-02 セイコーエプソン株式会社 制御装置、ロボットシステム、及びロボット
DE102019107851B4 (de) * 2019-03-27 2022-06-23 Franka Emika Gmbh Robotergreifer sowie Verfahren zum Betrieb eines Robotergreifers
DE102019206010A1 (de) * 2019-04-26 2020-10-29 Kuka Aktiengesellschaft Verfahren und System zur Überwachung einer Roboteranordnung
CN111558936B (zh) * 2019-09-18 2024-04-19 深圳市今天国际物流技术股份有限公司 多工位电池机械手控制方法、装置、存储介质和机械手
US11285623B2 (en) * 2020-02-04 2022-03-29 Toyota Motor Engineering & Manufacturing North America, Inc. Fiber optic paint robot tool
US11858755B2 (en) * 2020-02-06 2024-01-02 Murata Machinery, Ltd. Gripping apparatus and stacker
WO2022025893A1 (en) * 2020-07-30 2022-02-03 Abb Schweiz Ag Visual-tactile sensing device for use in robotic gripper
GB202012448D0 (en) * 2020-08-11 2020-09-23 Ocado Innovation Ltd Object presence sensing
DE102021109315A1 (de) * 2021-04-14 2022-10-20 Bundesdruckerei Gmbh Greifer und Verfahren zum Greifen und Prüfen eines Gegenstands
JP2023070460A (ja) * 2021-11-09 2023-05-19 パナソニックＩｐマネジメント株式会社 把持装置、検知プログラム、検知方法、衣類処理装置、及び衣類処理方法

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SE419709B (sv) * 1979-02-21 1981-08-24 Roland Kaufeldt Sett och anordning for att astadkomma snabb gang och mjuk inbromsning samt ett noggrant bestemt slutlege hos en rorlig robotram
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JPS59353B2 (ja) * 1980-07-24 1984-01-06 ファナック株式会社 把持装置
US4356554A (en) * 1980-09-12 1982-10-26 Thermwood Corporation Method and apparatus for compensating for system error in an industrial robot control
US4460826A (en) * 1980-10-24 1984-07-17 Diffracto Ltd. Fiber optic based robot controls
JPS57113107A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
US4641251A (en) * 1982-02-16 1987-02-03 Inoue-Japax Research Incorporated Robot
JPS59182087A (ja) * 1983-03-29 1984-10-16 株式会社東芝 多関節ア−ム装置
US4541771A (en) * 1983-03-31 1985-09-17 At&T Bell Laboratories Robot having magnetic proximity sensor and manufacturing method using same
USH65H (en) * 1983-05-27 1986-05-06 At&T Bell Laboratories Dynamic optical sensing: Robotic system and manufacturing method utilizing same
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Also Published As

Publication number Publication date
JPS6171302A (ja) 1986-04-12
EP0236611B1 (de) 1991-09-25
JPH0377922B2 (de) 1991-12-12
EP0236611A1 (de) 1987-09-16
US4766322A (en) 1988-08-23

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee