JP6832599B1 - グリッピング機構を有するロボットシステム - Google Patents

グリッピング機構を有するロボットシステム Download PDF

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Publication number
JP6832599B1
JP6832599B1 JP2020134325A JP2020134325A JP6832599B1 JP 6832599 B1 JP6832599 B1 JP 6832599B1 JP 2020134325 A JP2020134325 A JP 2020134325A JP 2020134325 A JP2020134325 A JP 2020134325A JP 6832599 B1 JP6832599 B1 JP 6832599B1
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JP
Japan
Prior art keywords
suction cup
housing
suction
end effector
displacement
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
Application number
JP2020134325A
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English (en)
Japanese (ja)
Other versions
JP2021130188A (ja
Inventor
弘悟 溝口
弘悟 溝口
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.)
Mujin Inc
Original Assignee
Mujin Inc
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
Priority claimed from US16/945,370 external-priority patent/US12005572B2/en
Application filed by Mujin Inc filed Critical Mujin Inc
Priority to JP2021006133A priority Critical patent/JP7562098B2/ja
Application granted granted Critical
Publication of JP6832599B1 publication Critical patent/JP6832599B1/ja
Publication of JP2021130188A publication Critical patent/JP2021130188A/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • 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
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
    • B25J15/0633—Air-flow-actuated valves
    • 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
    • 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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39557—Vacuum gripper using mask with pattern corresponding to workpiece to be lifted

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
JP2020134325A 2020-02-20 2020-08-07 グリッピング機構を有するロボットシステム Active JP6832599B1 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2021006133A JP7562098B2 (ja) 2020-02-20 2021-01-19 グリッピング機構を有するロボットシステム

Applications Claiming Priority (4)

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) 2020-02-20 2020-07-31 Robotic system with gripping mechanism
US16/945,370 2020-07-31

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2021006133A Division JP7562098B2 (ja) 2020-02-20 2021-01-19 グリッピング機構を有するロボットシステム

Publications (2)

Publication Number Publication Date
JP6832599B1 true JP6832599B1 (ja) 2021-02-24
JP2021130188A JP2021130188A (ja) 2021-09-09

Family

ID=74661667

Family Applications (2)

Application Number Title Priority Date Filing Date
JP2020134325A Active JP6832599B1 (ja) 2020-02-20 2020-08-07 グリッピング機構を有するロボットシステム
JP2021006133A Active JP7562098B2 (ja) 2020-02-20 2021-01-19 グリッピング機構を有するロボットシステム

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP2021006133A Active JP7562098B2 (ja) 2020-02-20 2021-01-19 グリッピング機構を有するロボットシステム

Country Status (3)

Country Link
JP (2) JP6832599B1 (https=)
CN (1) CN113276153B (https=)
DE (1) DE102020122701A1 (https=)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114535143A (zh) * 2022-01-27 2022-05-27 阿丘机器人科技(苏州)有限公司 物流货物拣选方法、装置、设备及存储介质
JP7138324B1 (ja) 2021-04-06 2022-09-16 株式会社Mujin エンドエフェクタ、及びロボットシステム
EP4082728A3 (de) * 2021-04-09 2023-02-22 STILL GmbH Mobiler kommissionierroboter
US12186904B2 (en) 2020-12-03 2025-01-07 Samsung Electronics Co., Ltd. Manipulator and method for controlling thereof

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP1724248S (ja) 2022-01-21 2022-09-08 シール貼付システム用ロボットアーム
JP7834163B2 (ja) 2022-04-28 2026-03-23 京セラ株式会社 処理装置、吸着機構制御部、プログラム及び処理システム
US20240189982A1 (en) * 2022-12-12 2024-06-13 Mujin, Inc. Robotic system with object handling mechanism for loading and unloading of cargo carriers

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0487788A (ja) * 1990-07-31 1992-03-19 Morinaga Milk Ind Co Ltd ロボットハンド
JPH06255772A (ja) * 1993-03-02 1994-09-13 Toshiba Corp ガラス基板移送用ハンド及びガラス基板移送装置
JPH07136965A (ja) * 1993-11-19 1995-05-30 Pfu Ltd 物体のハンドリング装置
JPH07157117A (ja) * 1993-12-08 1995-06-20 Fuji Photo Film Co Ltd 板状体または箱体の真空チャック装置
JPH0831017A (ja) * 1994-07-19 1996-02-02 Kuraray Co Ltd 光ディスク搬送装置
JP4244326B2 (ja) 2004-03-16 2009-03-25 セントラル硝子株式会社 板状ワークの吸着ハンドおよび該吸着ハンドを用いた板状ワークの移載方法
JP2010188483A (ja) * 2009-02-19 2010-09-02 Ihi Corp 搬送ロボット
CN206690112U (zh) * 2016-12-21 2017-12-01 海宁定美电子智能设备有限公司 一种机器人末端执行器
US10902377B2 (en) * 2018-01-24 2021-01-26 Amazon Technologies, Inc. Robotic item handling using a variable area manipulator
US10576630B1 (en) 2019-05-31 2020-03-03 Mujin, Inc. Robotic system with a robot arm suction control mechanism and method of operation thereof

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12186904B2 (en) 2020-12-03 2025-01-07 Samsung Electronics Co., Ltd. Manipulator and method for controlling thereof
JP7138324B1 (ja) 2021-04-06 2022-09-16 株式会社Mujin エンドエフェクタ、及びロボットシステム
JP2022160384A (ja) * 2021-04-06 2022-10-19 株式会社Mujin エンドエフェクタ、及びロボットシステム
US12226907B2 (en) 2021-04-06 2025-02-18 Mujin, Inc. Robotic systems with mass detection, and related systems and methods
EP4082728A3 (de) * 2021-04-09 2023-02-22 STILL GmbH Mobiler kommissionierroboter
CN114535143A (zh) * 2022-01-27 2022-05-27 阿丘机器人科技(苏州)有限公司 物流货物拣选方法、装置、设备及存储介质

Also Published As

Publication number Publication date
JP7562098B2 (ja) 2024-10-07
DE102020122701A1 (de) 2021-08-26
JP2021130189A (ja) 2021-09-09
CN113276153B (zh) 2026-04-03
CN113276153A (zh) 2021-08-20
JP2021130188A (ja) 2021-09-09

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