DE3761185D1 - Vorrichtung und verfahren zur handhabung von gegenstaenden in der automatisierten fertigung. - Google Patents

Vorrichtung und verfahren zur handhabung von gegenstaenden in der automatisierten fertigung.

Info

Publication number
DE3761185D1
DE3761185D1 DE8787302079T DE3761185T DE3761185D1 DE 3761185 D1 DE3761185 D1 DE 3761185D1 DE 8787302079 T DE8787302079 T DE 8787302079T DE 3761185 T DE3761185 T DE 3761185T DE 3761185 D1 DE3761185 D1 DE 3761185D1
Authority
DE
Germany
Prior art keywords
automated manufacturing
handling objects
handling
objects
automated
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
DE8787302079T
Other languages
English (en)
Inventor
Peter G Goumas
Paul T Wolfe
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.)
Assurance Technologies Inc Garner Nc Us
Original Assignee
Lord 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 Lord Corp filed Critical Lord Corp
Application granted granted Critical
Publication of DE3761185D1 publication Critical patent/DE3761185D1/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
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
    • 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
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/082—Grasping-force detectors
    • 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
    • B25J13/085—Force or torque sensors
    • 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
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components
    • H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
    • H05K13/0408—Incorporating a pick-up tool
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S294/00—Handling: hand and hoist-line implements
    • Y10S294/907—Sensor controlled device

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)
DE8787302079T 1986-03-13 1987-03-11 Vorrichtung und verfahren zur handhabung von gegenstaenden in der automatisierten fertigung. Expired - Lifetime DE3761185D1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US06/839,346 US4680523A (en) 1986-03-13 1986-03-13 Apparatus and method for handling articles in automated assembly processes

Publications (1)

Publication Number Publication Date
DE3761185D1 true DE3761185D1 (de) 1990-01-25

Family

ID=25279489

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8787302079T Expired - Lifetime DE3761185D1 (de) 1986-03-13 1987-03-11 Vorrichtung und verfahren zur handhabung von gegenstaenden in der automatisierten fertigung.

Country Status (4)

Country Link
US (1) US4680523A (de)
EP (1) EP0237336B1 (de)
JP (1) JPS62255023A (de)
DE (1) DE3761185D1 (de)

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US4808898A (en) * 1987-09-30 1989-02-28 Keith Pearson Gripper assembly for robot arm
JPH01234191A (ja) * 1988-03-10 1989-09-19 Internatl Business Mach Corp <Ibm> マニピユレータ・アセンブリ
DE3811887A1 (de) * 1988-04-09 1989-10-19 Bayerische Motoren Werke Ag Automatische greifvorrichtung fuer ein zusammengesetztes bauteil
FR2648072B1 (fr) * 1989-06-08 1994-08-05 Commissariat Energie Atomique Systeme de prehension a pince commandee par un moteur asservi
DE4004230A1 (de) * 1990-02-12 1991-08-14 Gerhard Engel Greifer
US5884951A (en) * 1997-05-30 1999-03-23 Eastman Kodak Company Apparatus and method having short stroke arcuate motion for grasping objects
US5947539A (en) * 1997-05-30 1999-09-07 Eastman Kodak Company Apparatus and method having short linear motion for grasping objects
GB9713966D0 (en) 1997-07-03 1997-09-10 Medical Res Council Tactile simulator
US5934049A (en) 1998-01-27 1999-08-10 Cerf; Alain Automated film wrapping apparatus
DE19817426B4 (de) * 1998-04-18 2004-06-09 J. Schmalz Gmbh Greifersystem, insbesondere Vakuumgreifersystem
KR200212474Y1 (ko) * 1999-02-02 2001-02-15 정문술 모듈 아이씨 핸들러 픽킹장치의 그립퍼
DE19958834C2 (de) * 1999-11-29 2002-10-10 Demag Cranes & Components Gmbh Vorrichtung zum Greifen von Lasten, die insbesondere mittels eines Manipulators von oben oder seitlich zu greifen sind
US20020093212A1 (en) * 1999-11-29 2002-07-18 Demag Cranes & Components Gmbh Holding mechanism, in particular for a gripping apparatus
JP2001198873A (ja) * 2000-01-13 2001-07-24 Fuji Mach Mfg Co Ltd リニアモータチャックおよび電気部品装着システム
US6892444B1 (en) * 2000-09-21 2005-05-17 Axsun Technologies, Inc. Optical system manufacturing and alignment system
KR100371226B1 (ko) * 2000-12-13 2003-02-06 미래산업 주식회사 표면실장기에 적용된 이형부품 그립퍼
KR100371227B1 (ko) * 2000-12-13 2003-02-06 미래산업 주식회사 표면실장기에 적용된 이형부품 그립퍼의 그립팁
DE50214847D1 (de) * 2001-10-31 2011-02-17 Komax Holding Ag Handhabungsvorrichtung für Drahtleitung, Einführungsmaschine und Einführungsverfahren mit einer solchen Handhabungsvorrichtung
KR100860522B1 (ko) * 2002-03-23 2008-09-26 엘지디스플레이 주식회사 액정 패널의 이송장치
CN100362905C (zh) * 2002-07-19 2008-01-16 松下电器产业株式会社 零件插入头装置、零件插入装置以及零件插入方法
DE10247731B4 (de) * 2002-10-12 2007-04-12 Eppendorf Ag Greifwerkzeug, Dosierwerkzeug und Werkzeughalter für einen Laborautomaten
AT412622B (de) * 2002-11-29 2005-05-25 Ame Allg Maschinenentwicklungs Greifzangenanordnung für roboteranlagen
US7300082B2 (en) * 2003-07-21 2007-11-27 Asyst Technologies, Inc. Active edge gripping and effector
US8134799B1 (en) * 2004-04-06 2012-03-13 Oracle America, Inc. Gripper assembly for data storage system
FI117133B (fi) * 2004-10-19 2006-06-30 Auramo Oy Menetelmä ja pihtilaite kuormien käsittelemiseksi
JP4737456B2 (ja) * 2007-11-22 2011-08-03 Ｓｍｃ株式会社 グリッパ機構
DE102009037586A1 (de) * 2009-08-14 2011-02-17 Weiß GmbH Sondermaschinentechnik Greifvorrichtung
US8936289B1 (en) * 2010-03-15 2015-01-20 Telefactor Robotics LLC Robotic finger assemblies
JP2011200943A (ja) * 2010-03-24 2011-10-13 Canon Inc 力制御ロボット
US8504205B2 (en) 2011-03-17 2013-08-06 Harris Corporation Robotic grasping device with multi-force sensing at base of fingers
US9815193B2 (en) 2011-06-27 2017-11-14 Delaware Capital Formation, Inc. Electric motor based holding control systems and methods
US8534729B2 (en) 2011-08-04 2013-09-17 Harris Corporation High-force robotic gripper
JP5543539B2 (ja) * 2012-07-25 2014-07-09 ファナック株式会社 力制御電動ハンド
US8534728B1 (en) 2012-11-19 2013-09-17 Harris Corporation Adaptive robotic gripper
US10530109B2 (en) * 2015-08-14 2020-01-07 The Boeing Company Automated systems and methods for manufacturing electrical connectors using universal connector support assemblies
GB201601880D0 (en) * 2016-02-02 2016-03-16 Ocado Innovation Ltd Robotic gripping device system and method
DE102016106344B4 (de) * 2016-04-07 2018-12-20 Festo Ag & Co. Kg Handhabungseinrichtung
WO2018069990A1 (ja) * 2016-10-12 2018-04-19 富士機械製造株式会社 部品装着機
JP6876476B2 (ja) * 2017-03-17 2021-05-26 株式会社東芝 保持機構、移載装置及びハンドリングロボットシステム
DE102017210213A1 (de) 2017-06-19 2018-12-20 Kuka Deutschland Gmbh Greifer mit einem Sensor an einem Getriebegliedlager des Greifers
JP7000838B2 (ja) * 2017-12-18 2022-01-19 セイコーエプソン株式会社 把持ハンドおよびロボット
US11433556B2 (en) * 2019-01-24 2022-09-06 Flexiv Ltd. Gripper with high-precision pinching force sensor
CA203910S (en) * 2021-06-03 2023-05-30 Macdonald Dettwiler & Associates Inc Robotic end effector and end of arm tool
CA203911S (en) * 2021-06-03 2023-05-31 Macdonald Dettwiler & Associates Inc Robotic end effector and end of arm tool
US11542103B1 (en) * 2021-07-29 2023-01-03 Rios Intelligent Machines, Inc. Food-grade robotic gripper for automated production work cell
DE102021211275A1 (de) 2021-10-06 2023-04-06 Festo Se & Co. Kg Greifvorrichtung
GB2611769B (en) * 2021-10-13 2023-11-01 Ocado Innovation Ltd Gripper assembly for a robotic manipulator

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US3261479A (en) * 1962-12-26 1966-07-19 Samuel W Baker Manipulating devices
US3226833A (en) * 1963-01-11 1966-01-04 Jerome H Lemelson Automatic inspection apparatus and method
US3509583A (en) * 1965-09-09 1970-05-05 Bendix Corp Electro-mechanical hand having tactile sensing means
US3449008A (en) * 1967-06-08 1969-06-10 Gen Dynamics Corp Object handling system with remote manual control
US3895729A (en) * 1969-09-25 1975-07-22 American Ass Cybernetics Sensor responsive cybernetics machine
US3770140A (en) * 1969-09-25 1973-11-06 American Ass Cybernetics Sensor responsive cybernetics machine
US3620095A (en) * 1970-09-03 1971-11-16 Nasa Mechanically actuated triggered hand
US3904234A (en) * 1973-10-15 1975-09-09 Stanford Research Inst Manipulator with electromechanical transducer means
SU503714A1 (ru) * 1974-12-08 1976-02-25 Предприятие П/Я А-7631 Захват манипул тора
US4001556A (en) * 1975-04-07 1977-01-04 International Business Machines Corporation Computer controlled pneumatic retractable search sensor
US3948093A (en) * 1975-06-30 1976-04-06 International Business Machines Corporation Six degree of freedom force transducer for a manipulator system
JPS537071A (en) * 1976-07-09 1978-01-23 Hitachi Ltd Finger mechanism of robot
US4132318A (en) * 1976-12-30 1979-01-02 International Business Machines Corporation Asymmetric six-degree-of-freedom force-transducer system for a computer-controlled manipulator system
DE2930006A1 (de) * 1979-07-24 1981-02-12 Gildemeister Ag Werkstueckbeschickungsvorrichtung mit beweglichkeit fuer fluchtausgleich
JPS59353B2 (ja) * 1980-07-24 1984-01-06 ファナック株式会社 把持装置
JPS57113115A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
JPS57113116A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
JPS5856785A (ja) * 1981-09-30 1983-04-04 株式会社三協精機製作所 工業用ロボツトの動作制御装置
FR2520279A1 (fr) * 1982-01-28 1983-07-29 Commissariat Energie Atomique Dispositif de prehension a mesure d'effort a structure articulee possedant plusieurs degres de liberte intercalee entre la plaque de contact et son support
FR2551389B1 (fr) * 1983-09-02 1987-02-06 Calhene Prehenseur a patins de contact multiples
US4579380A (en) * 1983-12-06 1986-04-01 Carnegie-Mellon University Servo robot gripper
US4533167A (en) * 1984-02-13 1985-08-06 Honeywell Inc. Robotics manipulator with gripping force control means
US4591944A (en) * 1984-09-10 1986-05-27 Gmf Robotics Corporation Electronic circuit for tactile sensors
US4667997A (en) * 1984-10-31 1987-05-26 Hitachi, Ltd. Grip device

Also Published As

Publication number Publication date
US4680523A (en) 1987-07-14
JPS62255023A (ja) 1987-11-06
EP0237336A2 (de) 1987-09-16
EP0237336A3 (en) 1988-01-07
EP0237336B1 (de) 1989-12-20

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8327 Change in the person/name/address of the patent owner

Owner name: ASSURANCE TECHNOLOGIES, INC., GARNER, N.C., US

8339 Ceased/non-payment of the annual fee