JP5762758B2 - ロボットハンド装置 - Google Patents
ロボットハンド装置 Download PDFInfo
- Publication number
- JP5762758B2 JP5762758B2 JP2011010011A JP2011010011A JP5762758B2 JP 5762758 B2 JP5762758 B2 JP 5762758B2 JP 2011010011 A JP2011010011 A JP 2011010011A JP 2011010011 A JP2011010011 A JP 2011010011A JP 5762758 B2 JP5762758 B2 JP 5762758B2
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- fluid
- gripping
- robot hand
- gel
- flexible membrane
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- 239000012530 fluid Substances 0.000 claims description 67
- 230000007246 mechanism Effects 0.000 claims description 31
- 239000012528 membrane Substances 0.000 claims description 17
- 238000013459 approach Methods 0.000 claims description 7
- 239000000499 gel Substances 0.000 description 28
- 239000000843 powder Substances 0.000 description 8
- 239000007788 liquid Substances 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 230000002706 hydrostatic effect Effects 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- 239000008187 granular material Substances 0.000 description 2
- 235000015110 jellies Nutrition 0.000 description 2
- 239000008274 jelly Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 229910001873 dinitrogen Inorganic materials 0.000 description 1
- 235000011187 glycerol Nutrition 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229920000915 polyvinyl chloride Polymers 0.000 description 1
- 239000004800 polyvinyl chloride Substances 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Manipulator (AREA)
Description
2,12 袋体
3,13 ゲル状流体
4 圧力センサ
6 柔軟膜
14,16 開閉機構
15,17 流体給排機構
Claims (2)
- 対象物を把持する把持体と、
前記把持体の把持面を覆う柔軟膜と、
前記柔軟膜と前記把持体との間の空間に充填された流体またはゲル状流体と、
前記把持体が前記対象物に近付くに連れて前記柔軟膜と前記把持体との間の空間内に前記流体またはゲル状流体を供給するとともに、前記把持体が前記対象物から離れるに連れて前記柔軟膜と前記把持体との間の空間から前記流体またはゲル状流体を排出する流体給排機構と
を有するロボットハンド装置。 - 前記柔軟膜は袋状であり、前記把持体の把持面に固定されたものである請求項1記載のロボットハンド装置。
Priority Applications (1)
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JP2011010011A JP5762758B2 (ja) | 2011-01-20 | 2011-01-20 | ロボットハンド装置 |
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JP2011010011A JP5762758B2 (ja) | 2011-01-20 | 2011-01-20 | ロボットハンド装置 |
Publications (2)
Publication Number | Publication Date |
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JP2012148380A JP2012148380A (ja) | 2012-08-09 |
JP5762758B2 true JP5762758B2 (ja) | 2015-08-12 |
Family
ID=46791168
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JP2011010011A Active JP5762758B2 (ja) | 2011-01-20 | 2011-01-20 | ロボットハンド装置 |
Country Status (1)
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JP (1) | JP5762758B2 (ja) |
Cited By (7)
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CN108377749A (zh) * | 2017-12-30 | 2018-08-10 | 浙江工贸职业技术学院 | 一种柑橘采摘机器人的末端执行器 |
CN108789386A (zh) * | 2018-05-31 | 2018-11-13 | 华南农业大学 | 基于单目视觉的双关节复合机构及柔性并联抓取机构的机械手 |
CN109496559A (zh) * | 2018-12-28 | 2019-03-22 | 贵州大学 | 一种刺梨采摘系统的控制装置及方法 |
WO2020165648A1 (en) * | 2019-02-15 | 2020-08-20 | Nikon Corporation | Gripper assembly using elastic members deformed with viscous fluid |
US10946532B2 (en) | 2017-03-13 | 2021-03-16 | Kabushiki Kaisha Toshiba | Gripping tool and gripping system |
JP6883908B1 (ja) * | 2020-10-02 | 2021-06-09 | KiQ Robotics株式会社 | ロボットハンド装置及びそれに用いられる把持手段 |
DE102017214332B4 (de) | 2016-08-22 | 2022-02-24 | Denso Corporation | Roboterhandvorrichtung |
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CN103039196A (zh) * | 2012-09-26 | 2013-04-17 | 广西大学 | 基于单片机的水果检测采摘一体装置 |
KR101387554B1 (ko) | 2012-12-03 | 2014-04-23 | 서울대학교산학협력단 | 엽채 수확장치 및 이를 구비한 엽채 수확로봇 |
CN103029132B (zh) * | 2012-12-18 | 2016-03-16 | 西北农林科技大学 | 一种用于球状果实自动采摘器的末端执行机构及采摘方法 |
US9156170B2 (en) | 2013-03-05 | 2015-10-13 | Seiko Epson Corporation | Robot hand, robot, and holding method of holding object to be pinched by robot |
CN104552322A (zh) | 2013-10-28 | 2015-04-29 | 精工爱普生株式会社 | 把持装置、机器人以及把持方法 |
US9913428B2 (en) | 2013-12-20 | 2018-03-13 | Harvest Croo, Llc | Individual plant location positioning |
US9888630B2 (en) | 2013-12-20 | 2018-02-13 | Harvest Croo, Llc | Robot positioning with station-keeping |
US9480202B2 (en) | 2013-12-20 | 2016-11-01 | Harvest Croo, Llc | Automated selective harvesting of crops |
US9554513B2 (en) | 2013-12-20 | 2017-01-31 | Harvest Croo, Llc | Automated selective harvesting of crops with continuous offload |
US9888631B2 (en) | 2013-12-20 | 2018-02-13 | Harvest Croo, Llc | Foliage holding |
US11483975B2 (en) | 2013-12-20 | 2022-11-01 | Harvest Croo, Llc | Harvester pick deck suspension |
US9897429B2 (en) | 2013-12-20 | 2018-02-20 | Harvest Croo, Llc | Harvester suspension |
CN104070528A (zh) * | 2014-06-05 | 2014-10-01 | 河海大学 | 一种用于抓取和释放物体的装置和方法 |
JP6483251B2 (ja) | 2014-09-17 | 2019-03-13 | ソフト ロボティクス, インコーポレイテッド | ソフトロボットアクチュエータ取り付けハブアセンブリ |
AU2015350006B2 (en) * | 2014-11-18 | 2019-09-26 | Soft Robotics, Inc. | Soft robotic actuator enhancements |
US10189168B2 (en) | 2014-11-18 | 2019-01-29 | Soft Robotics, Inc. | Soft robotic actuator enhancements |
CN105690411A (zh) * | 2016-02-18 | 2016-06-22 | 陆玉正 | 一种压力可控型软体机械手装置 |
CN105563505A (zh) * | 2016-02-24 | 2016-05-11 | 江南大学 | 一种抓取涡轮壳体精加工面的夹爪装置 |
BE1023881B1 (nl) * | 2016-07-19 | 2017-09-04 | Octinion Bvba | Inrichting voor het plukken van fruit |
ES2899363T3 (es) * | 2016-07-19 | 2022-03-11 | Octinion Robotics Bv | Dispositivo para recolectar fruta que tiene un brazo de robot mejorado |
KR101717884B1 (ko) * | 2016-08-29 | 2017-03-27 | 성균관대학교산학협력단 | 파프리카 자동 수확용 엔드이펙트 |
BE1025755B1 (nl) * | 2017-12-04 | 2019-07-04 | Octinion Bvba | Verbeterde vinger voor een grijpermechanisme voor een inrichting voor het plukken van fruit |
BE1026294B1 (nl) * | 2018-05-22 | 2019-12-17 | Octinion Bvba | Verbeterde methode en apparaat voor het automatisch plukken van een vrucht |
BE1026641B1 (nl) * | 2018-09-21 | 2020-04-20 | Octinion Bvba | Verbeterde methode en apparaat voor het automatisch plukken van een vrucht |
EP3796771B1 (en) * | 2018-05-22 | 2023-08-02 | Octiva Belgium BV | Improved method and apparatus for automatically picking a fruit |
JP6969510B2 (ja) * | 2018-06-29 | 2021-11-24 | トヨタ車体株式会社 | ワーク把持装置 |
CN109328651B (zh) * | 2018-11-05 | 2024-06-25 | 昆明理工大学 | 一种多级分拣式振动采摘大枣机器人 |
EP3742883B1 (en) * | 2018-11-13 | 2022-08-17 | Mycionics Inc. | System and method for autonomous harvesting of mushrooms |
US11198529B2 (en) | 2019-04-01 | 2021-12-14 | Harvest Croo, Llc | Apparatus and method for filling a container with fragile fruit |
JP7111649B2 (ja) * | 2019-04-10 | 2022-08-02 | 本田技研工業株式会社 | 果菜分離方法及びその分離手段 |
US11738893B2 (en) | 2019-04-30 | 2023-08-29 | Soft Robotics, Inc. | Picking, placing, and scanning bagged clothing and other articles |
CN110142904B (zh) * | 2019-06-18 | 2021-07-23 | 浙江理工大学 | 一种机械手模具及使用方法 |
CN110999632B (zh) * | 2019-12-27 | 2022-06-21 | 上海理工大学 | 一种草莓采摘运输收集装置 |
CN113290573B (zh) * | 2021-07-28 | 2021-10-29 | 江苏科华智能加热装备有限公司 | 一种机械手及智能机器人 |
KR102613439B1 (ko) * | 2021-08-25 | 2023-12-12 | 국민대학교산학협력단 | 작물 재배 장치 |
FR3142063A1 (fr) * | 2022-11-23 | 2024-05-24 | Claude Trudelle | outil de cueillette de fruits en hauteur dans un arbre |
JP7471541B1 (ja) | 2023-09-14 | 2024-04-19 | 三菱電機株式会社 | 把持力推定装置及び把持力推定方法 |
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2011
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Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017214332B4 (de) | 2016-08-22 | 2022-02-24 | Denso Corporation | Roboterhandvorrichtung |
US10946532B2 (en) | 2017-03-13 | 2021-03-16 | Kabushiki Kaisha Toshiba | Gripping tool and gripping system |
CN108377749A (zh) * | 2017-12-30 | 2018-08-10 | 浙江工贸职业技术学院 | 一种柑橘采摘机器人的末端执行器 |
CN108789386A (zh) * | 2018-05-31 | 2018-11-13 | 华南农业大学 | 基于单目视觉的双关节复合机构及柔性并联抓取机构的机械手 |
CN109496559A (zh) * | 2018-12-28 | 2019-03-22 | 贵州大学 | 一种刺梨采摘系统的控制装置及方法 |
CN109496559B (zh) * | 2018-12-28 | 2022-04-19 | 贵州大学 | 一种刺梨采摘系统的控制装置及方法 |
WO2020165648A1 (en) * | 2019-02-15 | 2020-08-20 | Nikon Corporation | Gripper assembly using elastic members deformed with viscous fluid |
JP6883908B1 (ja) * | 2020-10-02 | 2021-06-09 | KiQ Robotics株式会社 | ロボットハンド装置及びそれに用いられる把持手段 |
WO2022070413A1 (ja) * | 2020-10-02 | 2022-04-07 | KiQ Robotics株式会社 | ロボットハンド装置及びそれに用いられる把持手段 |
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