JP2021130189A5 - - Google Patents
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- JP2021130189A5 JP2021130189A5 JP2021006133A JP2021006133A JP2021130189A5 JP 2021130189 A5 JP2021130189 A5 JP 2021130189A5 JP 2021006133 A JP2021006133 A JP 2021006133A JP 2021006133 A JP2021006133 A JP 2021006133A JP 2021130189 A5 JP2021130189 A5 JP 2021130189A5
- Authority
- JP
- Japan
- Prior art keywords
- suction
- suction cup
- displaceable
- housing
- cups
- 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
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Claims (17)
コントローラと、を備え、
前記エンドエフェクタは、
前記物体に接触するように構成された2以上の変位可能な吸着カップを有し、前記2以上の変位可能な吸着カップが、互いに異なる変位距離を有するように構成された少なくとも2つの変位可能な吸着カップを有する、吸着カップアセンブリと、
前記2以上の変位可能な吸着カップのうちの少なくとも1つの変位可能な吸着カップの変位に基づいて、接触情報を送信する接触センサと、を備え、
前記コントローラは、前記接触情報に基づいて、前記物体に向かう前記エンドエフェクタの移動を制限する、ロボットシステム。 an end effector configured to grip an object;
comprising a controller;
The end effector is
at least two displaceable suction cups configured to contact the object, the two or more displaceable suction cups configured to have different displacement distances from each other; a suction cup assembly having a suction cup;
a contact sensor that transmits contact information based on displacement of at least one displaceable suction cup among the two or more displaceable suction cups,
The robot system wherein the controller limits movement of the end effector toward the object based on the contact information.
前記第1の吸着カップは、前記第2の吸着カップの変位距離よりも小さい変位距離を有する、請求項1に記載のロボットシステム。 the at least two displaceable suction cups include a first suction cup and a second suction cup;
The robot system according to claim 1, wherein the first suction cup has a displacement distance that is smaller than a displacement distance of the second suction cup.
ハウジングと、
前記ハウジングを通って延びている2以上の吸着シャフトと、
2以上の吸着シャフトインタフェースと、をさらに含み、
前記2以上の変位可能な吸着カップは、それぞれ、前記吸着シャフト及び前記吸着シャフトインタフェースを介して真空圧源に連通しており、
前記吸着シャフトは、前記ハウジングに対して移動可能である、請求項1から3のいずれか一項に記載のロボットシステム。 The suction cup assembly includes:
housing and
two or more suction shafts extending through the housing;
further comprising two or more suction shaft interfaces;
the two or more displaceable suction cups each communicate with a vacuum pressure source via the suction shaft and the suction shaft interface;
The robot system according to any one of claims 1 to 3, wherein the suction shaft is movable with respect to the housing.
前記2以上の変位可能な吸着カップは、前記ハウジングよりも下に位置する、請求項6に記載のロボットシステム。 the two or more suction shaft interfaces are located above the housing;
7. The robotic system of claim 6, wherein the two or more displaceable suction cups are located below the housing.
物体を把持するように構成されたエンドエフェクタを備え、
前記エンドエフェクタは、
前記物体に接触するように構成された2以上の変位可能な吸着カップを有し、前記2以上の変位可能な吸着カップが、互いに異なる変位距離を有するように構成された少なくとも2つの変位可能な吸着カップを有する、吸着カップアセンブリと、
前記2以上の変位可能な吸着カップのうちの少なくとも1つの変位可能な吸着カップの変位に基づいて、接触情報を送信する接触センサと、を備え、
前記送信された接触情報により、前記物体に向かう前記エンドエフェクタの移動が制限される、グリッパアタッチメント。 A gripper attachment for an object manipulation system, the gripper attachment comprising:
an end effector configured to grip an object;
The end effector is
at least two displaceable suction cups configured to contact the object, the two or more displaceable suction cups configured to have different displacement distances from each other; a suction cup assembly having a suction cup;
a contact sensor that transmits contact information based on displacement of at least one displaceable suction cup among the two or more displaceable suction cups,
A gripper attachment, wherein the transmitted contact information limits movement of the end effector toward the object.
前記第1の吸着カップは、前記第2の吸着カップの変位距離よりも小さい変位距離を有する、請求項11に記載のグリッパアタッチメント。 the at least two displaceable suction cups include a first suction cup and a second suction cup;
12. The gripper attachment of claim 11, wherein the first suction cup has a displacement distance that is less than the displacement distance of the second suction cup.
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US202062979413P | 2020-02-20 | 2020-02-20 | |
US62/979,413 | 2020-02-20 | ||
US16/945,370 US12005572B2 (en) | 2020-07-31 | Robotic system with gripping mechanism | |
US16/945,370 | 2020-07-31 | ||
JP2020134325A JP6832599B1 (en) | 2020-02-20 | 2020-08-07 | Robot system with gripping mechanism |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2020134325A Division JP6832599B1 (en) | 2020-02-20 | 2020-08-07 | Robot system with gripping mechanism |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2021130189A JP2021130189A (en) | 2021-09-09 |
JP2021130189A5 true JP2021130189A5 (en) | 2023-10-25 |
Family
ID=74661667
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2020134325A Active JP6832599B1 (en) | 2020-02-20 | 2020-08-07 | Robot system with gripping mechanism |
JP2021006133A Pending JP2021130189A (en) | 2020-02-20 | 2021-01-19 | Robotic system with gripping mechanism |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2020134325A Active JP6832599B1 (en) | 2020-02-20 | 2020-08-07 | Robot system with gripping mechanism |
Country Status (3)
Country | Link |
---|---|
JP (2) | JP6832599B1 (en) |
CN (1) | CN113276153A (en) |
DE (1) | DE102020122701A1 (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20220314440A1 (en) | 2021-04-06 | 2022-10-06 | Mujin, Inc. | Robotic systems with mass detection, and related systems and methods |
DE102021108906A1 (en) * | 2021-04-09 | 2022-10-13 | Linde Material Handling Gmbh | Mobile picking robot |
CN114535143A (en) * | 2022-01-27 | 2022-05-27 | 阿丘机器人科技(苏州)有限公司 | Logistics goods sorting method, device, equipment and storage medium |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0487788A (en) * | 1990-07-31 | 1992-03-19 | Morinaga Milk Ind Co Ltd | Robot hand |
JPH06255772A (en) * | 1993-03-02 | 1994-09-13 | Toshiba Corp | Glass substrate transferring hand and glass substrate transferring device |
JPH07136965A (en) * | 1993-11-19 | 1995-05-30 | Pfu Ltd | Object handling device |
JP2010188483A (en) * | 2009-02-19 | 2010-09-02 | Ihi Corp | Conveying robot |
-
2020
- 2020-08-07 JP JP2020134325A patent/JP6832599B1/en active Active
- 2020-08-31 DE DE102020122701.9A patent/DE102020122701A1/en active Pending
- 2020-09-09 CN CN202010938985.8A patent/CN113276153A/en active Pending
-
2021
- 2021-01-19 JP JP2021006133A patent/JP2021130189A/en active Pending
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