ES2902371T3 - Sistema de sujeción robótico autónomo - Google Patents
Sistema de sujeción robótico autónomo Download PDFInfo
- Publication number
- ES2902371T3 ES2902371T3 ES16831472T ES16831472T ES2902371T3 ES 2902371 T3 ES2902371 T3 ES 2902371T3 ES 16831472 T ES16831472 T ES 16831472T ES 16831472 T ES16831472 T ES 16831472T ES 2902371 T3 ES2902371 T3 ES 2902371T3
- Authority
- ES
- Spain
- Prior art keywords
- connector
- actuator
- interface
- accumulator
- inflation fluid
- 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
Links
- 239000012530 fluid Substances 0.000 claims abstract description 101
- 238000005086 pumping Methods 0.000 claims abstract description 3
- 239000000463 material Substances 0.000 claims description 15
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- 238000001994 activation Methods 0.000 description 25
- 230000004913 activation Effects 0.000 description 24
- 239000012636 effector Substances 0.000 description 18
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- 239000007789 gas Substances 0.000 description 14
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- 238000006243 chemical reaction Methods 0.000 description 11
- 230000006870 function Effects 0.000 description 7
- 239000007788 liquid Substances 0.000 description 7
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- FAPWRFPIFSIZLT-UHFFFAOYSA-M Sodium chloride Chemical compound [Na+].[Cl-] FAPWRFPIFSIZLT-UHFFFAOYSA-M 0.000 description 5
- 238000002485 combustion reaction Methods 0.000 description 5
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- 239000011780 sodium chloride Substances 0.000 description 4
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- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 2
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- PXIPVTKHYLBLMZ-UHFFFAOYSA-N Sodium azide Chemical compound [Na+].[N-]=[N+]=[N-] PXIPVTKHYLBLMZ-UHFFFAOYSA-N 0.000 description 2
- XECAHXYUAAWDEL-UHFFFAOYSA-N acrylonitrile butadiene styrene Chemical compound C=CC=C.C=CC#N.C=CC1=CC=CC=C1 XECAHXYUAAWDEL-UHFFFAOYSA-N 0.000 description 2
- 239000004676 acrylonitrile butadiene styrene Substances 0.000 description 2
- 229920000122 acrylonitrile butadiene styrene Polymers 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
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- DHKHKXVYLBGOIT-UHFFFAOYSA-N acetaldehyde Diethyl Acetal Natural products CCOC(C)OCC DHKHKXVYLBGOIT-UHFFFAOYSA-N 0.000 description 1
- 125000002777 acetyl group Chemical class [H]C([H])([H])C(*)=O 0.000 description 1
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- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
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- 239000013536 elastomeric material Substances 0.000 description 1
- 239000011152 fibreglass Substances 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
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- 229920001519 homopolymer Polymers 0.000 description 1
- 230000000415 inactivating effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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- 238000007726 management method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 229920000515 polycarbonate Polymers 0.000 description 1
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- 229920002530 polyetherether ketone Polymers 0.000 description 1
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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
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Actuator (AREA)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201562199029P | 2015-07-30 | 2015-07-30 | |
| PCT/US2016/045063 WO2017020047A1 (en) | 2015-07-30 | 2016-08-01 | Self-contained robotic gripper system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| ES2902371T3 true ES2902371T3 (es) | 2022-03-28 |
Family
ID=57885590
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| ES16831472T Active ES2902371T3 (es) | 2015-07-30 | 2016-08-01 | Sistema de sujeción robótico autónomo |
Country Status (6)
| Country | Link |
|---|---|
| US (4) | US10046462B2 (enExample) |
| EP (2) | EP3964335A1 (enExample) |
| JP (3) | JP6709840B2 (enExample) |
| CN (1) | CN108290284B (enExample) |
| ES (1) | ES2902371T3 (enExample) |
| WO (1) | WO2017020047A1 (enExample) |
Families Citing this family (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10536946B2 (en) | 2015-12-08 | 2020-01-14 | Huawei Technologies Co., Ltd. | Method and system for performing network slicing in a radio access network |
| CN109153120A (zh) * | 2016-04-07 | 2019-01-04 | 软机器人公司 | 用于定位、包装和组装的软机器人致动器 |
| US10350504B2 (en) | 2016-09-13 | 2019-07-16 | Universal City Studios Llc | Systems and methods for incorporating pneumatic robotic systems into amusement park attractions |
| US11389955B2 (en) * | 2017-03-30 | 2022-07-19 | Soft Robotics, Inc. | Servo-pneumatic control systems for soft robotic actuators |
| US10668629B2 (en) * | 2017-05-01 | 2020-06-02 | Soft Robotics Inc. | Structure for a robotic end effector |
| CN107350992A (zh) * | 2017-05-04 | 2017-11-17 | 苏州柔触机器人科技有限公司 | 一种新型柔性夹头及其柔性夹具和柔性夹持笔 |
| US20180363790A1 (en) * | 2017-06-15 | 2018-12-20 | Banza Stamping Industry Corp. | Universal air pressure valve module |
| KR102119946B1 (ko) * | 2017-07-14 | 2020-06-08 | 서울대학교산학협력단 | 대변형 소프트 로봇 및 대변형 소프트 로봇 제작을 위한 스태킹 몰드 |
| WO2019072348A1 (en) * | 2017-10-11 | 2019-04-18 | Softbox Aps | INTERCHANGEABLE ROBOT PREPARATION BASE |
| FR3073440B1 (fr) * | 2017-11-16 | 2019-10-25 | Warein | Tube gonflable a geometrie variable et volume constant, bras robotise et robot |
| WO2019112987A1 (en) * | 2017-12-04 | 2019-06-13 | Soft Robotics, Inc. | Pressurizing housing for a soft robotic actuator |
| DE102018205642A1 (de) * | 2018-04-13 | 2019-10-17 | Festo Ag & Co. Kg | Schnittstellenmodul für eine Greifvorrichtung und damit ausgestatteter Roboter |
| US12103180B2 (en) * | 2018-05-13 | 2024-10-01 | Robotiq Inc. | Robotic gripper |
| FR3084509B1 (fr) * | 2018-07-24 | 2021-01-08 | Commissariat Energie Atomique | Dispositif de manutention pour assemblage combustible et ensemble de manutention comprenant un tel dispositif |
| US10456929B1 (en) * | 2018-08-13 | 2019-10-29 | Schlumberger Technology Corporation | Negative pressure actuated soft bending actuator |
| CN108994865A (zh) * | 2018-09-03 | 2018-12-14 | 苏州迪天机器人自动化有限公司 | 一种抓取装置 |
| WO2020056254A1 (en) * | 2018-09-14 | 2020-03-19 | The Regents Of The University Of California | Four-dimensional-printed pneumatically actuated flexible robotic joints |
| US11597101B2 (en) * | 2018-12-17 | 2023-03-07 | Purdue Research Foundation | 3D-architected soft machines with topologically encoded actuation |
| US10933539B2 (en) | 2019-05-21 | 2021-03-02 | Trustees Of Boston University | Gripping devices and methods for making the same |
| US11938630B2 (en) | 2019-08-30 | 2024-03-26 | Universal City Studios Llc | Edible soft robotic systems and methods |
| US11530621B2 (en) | 2019-10-16 | 2022-12-20 | General Electric Company | Systems and method for use in servicing a machine |
| US11642797B2 (en) | 2020-03-19 | 2023-05-09 | Tata Consultancy Services Limited | Gripper apparatus for grasping objects |
| JP7331246B2 (ja) * | 2020-03-30 | 2023-08-22 | 川崎重工業株式会社 | ロボットアーム |
| WO2021218488A1 (en) * | 2020-04-30 | 2021-11-04 | Versitech Limited | Compact, lightweight hydraulic manipulation system for underwater applications |
| CN112643713B (zh) * | 2020-12-08 | 2022-07-01 | 江苏科技大学 | 机器人端拾器高温传递和变形检测装置及方法 |
| JP2024039555A (ja) * | 2022-09-09 | 2024-03-22 | 株式会社ブリヂストン | ロボットハンド |
| CN119115993B (zh) * | 2024-09-04 | 2025-11-18 | 常州先进制造技术研究所 | 一种快速的开关黏附调控方法及其应用 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US3343864A (en) * | 1965-10-07 | 1967-09-26 | James I Baer | Material handling apparatus and the like |
| US3527492A (en) * | 1968-06-25 | 1970-09-08 | Jimmy L Davis | Trash pick-up device |
| US3561330A (en) * | 1969-11-24 | 1971-02-09 | Stanley R Rich | Fluid operable motor |
| JPS61100394A (ja) | 1984-10-19 | 1986-05-19 | 株式会社日立製作所 | アクチユエ−タ |
| US4708140A (en) * | 1986-05-08 | 1987-11-24 | Baron Howard C | Atraumatic vascular balloon clamp |
| NL8700307A (nl) * | 1987-02-10 | 1988-09-01 | Berend Jan Bloemendal | Door een stroombaar medium te bedienen duwbalk alsmede een als hulpmiddel bij het laden en lossen te gebruiken inrichting, voorzien van een of meer van dergelijke duwbalken. |
| JPH03113104A (ja) * | 1989-09-25 | 1991-05-14 | Bridgestone Corp | 湾曲可能なアクチュエータ |
| JPH03190692A (ja) * | 1989-12-18 | 1991-08-20 | Fujitsu Ltd | ロボットハンド |
| JP3226219B2 (ja) * | 1989-12-20 | 2001-11-05 | 株式会社東芝 | アクチュエータ |
| EP0437792B1 (en) * | 1989-12-20 | 1995-10-11 | Kabushiki Kaisha Toshiba | Flexible finger member |
| US5080000A (en) * | 1990-05-11 | 1992-01-14 | Bubic Frank R | Flexible robotic links and manipulator trunks made thereform |
| US5251538A (en) * | 1991-08-21 | 1993-10-12 | Battelle Memorial Institute | Prehensile apparatus |
| GB9120379D0 (en) * | 1991-09-25 | 1991-11-06 | Univ Bristol | Robotic gripper |
| US5236437A (en) * | 1992-07-14 | 1993-08-17 | Wilk Peter J | Surgical instrument assembly and associated technique |
| US5351602A (en) | 1992-08-05 | 1994-10-04 | The United States Of America As Represented By The Secretary Of The Army | Jointed assembly actuated by fluid pressure |
| JPH1080887A (ja) * | 1996-09-06 | 1998-03-31 | Nippon Suisan Kaisha Ltd | 吸着式高速ロボットハンドシステム |
| US6036706A (en) * | 1998-03-13 | 2000-03-14 | Cardiothoracic Systems, Inc. | Vascular clamp and method for using the same |
| IT1306514B1 (it) * | 1998-08-05 | 2001-06-11 | Vincenzo Arrichiello | Dispositivo di attuazione a soffietto, specialmente per manipolatorerobotico, e metodo di azionamento di detto dispositivo. |
| US6464655B1 (en) * | 1999-03-17 | 2002-10-15 | Environmental Robots, Inc. | Electrically-controllable multi-fingered resilient heart compression devices |
| CN1280070C (zh) * | 2000-03-28 | 2006-10-18 | 精工爱普生株式会社 | 泵一体化的柔性驱动器 |
| JP3925181B2 (ja) * | 2001-12-13 | 2007-06-06 | セイコーエプソン株式会社 | フレキシブルアクチュエータ |
| US6772673B2 (en) * | 2001-12-13 | 2004-08-10 | Seiko Epson Corporation | Flexible actuator |
| WO2004000508A1 (ja) * | 2002-06-24 | 2003-12-31 | Matsushita Electric Industrial Co., Ltd. | 多関節駆動機構及びその製造方法、それを用いた把持ハンドとロボット |
| JP4111792B2 (ja) | 2002-09-20 | 2008-07-02 | 三洋電機株式会社 | 無線送信装置、無線受信装置、無線通信装置、無線送信方法、無線受信方法、無線通信方法、無線送信プログラム、無線受信プログラムおよび無線通信プログラム |
| JP2004181585A (ja) * | 2002-12-04 | 2004-07-02 | Seiko Epson Corp | ロボットハンド |
| WO2005000538A1 (ja) * | 2003-06-27 | 2005-01-06 | Matsushita Electric Industrial Co., Ltd. | 積層型多関節部駆動機構及びその製造方法、それを備えた把持ハンド、ロボットアーム |
| CN101970904B (zh) * | 2008-07-18 | 2013-06-12 | 松下电器产业株式会社 | 液压致动器及使用该液压致动器的关节驱动单元 |
| AU2010214088A1 (en) * | 2009-02-10 | 2011-09-15 | Cbe Global Holdings, Inc. | Non-linear actuator system and method |
| DE102009017591A1 (de) * | 2009-04-19 | 2010-10-21 | Rudolf Dr. Bannasch | Manipulatorwerkzeug und Halt- und/oder Spreizwerkzeug mit wengistens einem Manipulatorwerkzeug |
| WO2011130475A2 (en) * | 2010-04-15 | 2011-10-20 | Cornell University | Gripping and releasing apparatus and method |
| FR2960468B1 (fr) * | 2010-05-31 | 2013-03-29 | Commissariat Energie Atomique | Structure gonflable articulee et bras robotise comportant une telle structure |
| US9464642B2 (en) * | 2010-11-19 | 2016-10-11 | President And Fellows Of Harvard College | Soft robotic actuators |
| WO2014131810A1 (en) * | 2013-02-27 | 2014-09-04 | Materialise N.V. | Gripping apparatus and method of manufacturing a gripping apparatus |
| EP2964427B1 (en) * | 2013-03-04 | 2020-11-18 | President and Fellows of Harvard College | Magnetic assembly of soft robots with hard components |
| WO2014196928A1 (en) * | 2013-06-04 | 2014-12-11 | National University Of Singapore | A gripping device |
| JP6721515B2 (ja) * | 2014-04-11 | 2020-07-15 | プレジデント アンド フェローズ オブ ハーバード カレッジ | 柔らかい空気圧式指をもつポータブルな義手 |
-
2016
- 2016-08-01 ES ES16831472T patent/ES2902371T3/es active Active
- 2016-08-01 EP EP21199625.1A patent/EP3964335A1/en active Pending
- 2016-08-01 CN CN201680044489.XA patent/CN108290284B/zh not_active Expired - Fee Related
- 2016-08-01 JP JP2018504164A patent/JP6709840B2/ja active Active
- 2016-08-01 US US15/225,364 patent/US10046462B2/en active Active
- 2016-08-01 WO PCT/US2016/045063 patent/WO2017020047A1/en not_active Ceased
- 2016-08-01 EP EP16831472.2A patent/EP3328594B1/en active Active
-
2018
- 2018-07-17 US US16/037,748 patent/US10576640B2/en active Active
-
2019
- 2019-07-30 JP JP2019139606A patent/JP6912107B2/ja active Active
- 2019-09-11 US US16/567,364 patent/US11161251B2/en active Active
-
2020
- 2020-12-25 JP JP2020216319A patent/JP2021045848A/ja not_active Withdrawn
-
2021
- 2021-11-01 US US17/515,754 patent/US11752641B2/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| US10046462B2 (en) | 2018-08-14 |
| JP2019177479A (ja) | 2019-10-17 |
| EP3328594B1 (en) | 2021-09-29 |
| WO2017020047A1 (en) | 2017-02-02 |
| JP6709840B2 (ja) | 2020-06-17 |
| CN108290284A (zh) | 2018-07-17 |
| US20220088796A1 (en) | 2022-03-24 |
| JP2018527202A (ja) | 2018-09-20 |
| US20180319018A1 (en) | 2018-11-08 |
| JP6912107B2 (ja) | 2021-07-28 |
| EP3964335A1 (en) | 2022-03-09 |
| US11752641B2 (en) | 2023-09-12 |
| EP3328594A4 (en) | 2019-04-10 |
| US20170028566A1 (en) | 2017-02-02 |
| US20200078957A1 (en) | 2020-03-12 |
| CN108290284B (zh) | 2019-07-12 |
| US11161251B2 (en) | 2021-11-02 |
| EP3328594A1 (en) | 2018-06-06 |
| JP2021045848A (ja) | 2021-03-25 |
| US10576640B2 (en) | 2020-03-03 |
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