JP6870040B2 - ロボットハンド - Google Patents

ロボットハンド Download PDF

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Publication number
JP6870040B2
JP6870040B2 JP2019135154A JP2019135154A JP6870040B2 JP 6870040 B2 JP6870040 B2 JP 6870040B2 JP 2019135154 A JP2019135154 A JP 2019135154A JP 2019135154 A JP2019135154 A JP 2019135154A JP 6870040 B2 JP6870040 B2 JP 6870040B2
Authority
JP
Japan
Prior art keywords
finger
robot hand
fixed
tip
banknote
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
JP2019135154A
Other languages
English (en)
Japanese (ja)
Other versions
JP2021016927A (ja
Inventor
順亮 上溝
順亮 上溝
貴司 上田
貴司 上田
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.)
Japan Cash Machine Co Ltd
Original Assignee
Japan Cash Machine Co Ltd
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 Japan Cash Machine Co Ltd filed Critical Japan Cash Machine Co Ltd
Priority to JP2019135154A priority Critical patent/JP6870040B2/ja
Priority to US16/719,249 priority patent/US11302134B2/en
Priority to CN202080046139.3A priority patent/CN114008695B/zh
Priority to PCT/JP2020/023524 priority patent/WO2021014828A1/ja
Priority to CA3139173A priority patent/CA3139173C/en
Publication of JP2021016927A publication Critical patent/JP2021016927A/ja
Application granted granted Critical
Publication of JP6870040B2 publication Critical patent/JP6870040B2/ja
Priority to US17/654,043 priority patent/US11790720B2/en
Priority to US17/654,214 priority patent/US20220198868A1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H31/00—Pile receivers
    • B65H31/30—Arrangements for removing completed piles
    • B65H31/3036—Arrangements for removing completed piles by gripping the pile
    • B65H31/3045—Arrangements for removing completed piles by gripping the pile on the outermost articles of the pile for clamping the pile
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07D—HANDLING OF COINS OR VALUABLE PAPERS, e.g. TESTING, SORTING BY DENOMINATIONS, COUNTING, DISPENSING, CHANGING OR DEPOSITING
    • G07D11/00—Devices accepting coins; Devices accepting, dispensing, sorting or counting valuable papers
    • G07D11/009—Depositing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • 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
    • B25J15/0019—End effectors other than grippers
    • 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
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07D—HANDLING OF COINS OR VALUABLE PAPERS, e.g. TESTING, SORTING BY DENOMINATIONS, COUNTING, DISPENSING, CHANGING OR DEPOSITING
    • G07D11/00—Devices accepting coins; Devices accepting, dispensing, sorting or counting valuable papers
    • G07D11/10—Mechanical details
    • G07D11/16—Handling of valuable papers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/19—Specific article or web
    • B65H2701/1912—Banknotes, bills and cheques or the like

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
JP2019135154A 2019-07-23 2019-07-23 ロボットハンド Active JP6870040B2 (ja)

Priority Applications (7)

Application Number Priority Date Filing Date Title
JP2019135154A JP6870040B2 (ja) 2019-07-23 2019-07-23 ロボットハンド
US16/719,249 US11302134B2 (en) 2019-07-23 2019-12-18 Automatic bill handling system
PCT/JP2020/023524 WO2021014828A1 (ja) 2019-07-23 2020-06-16 ロボットハンド
CA3139173A CA3139173C (en) 2019-07-23 2020-06-16 Robotic hand
CN202080046139.3A CN114008695B (zh) 2019-07-23 2020-06-16 机械手
US17/654,043 US11790720B2 (en) 2019-07-23 2022-03-08 Automatic bill handling system
US17/654,214 US20220198868A1 (en) 2019-07-23 2022-03-09 Automatic bill handling system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2019135154A JP6870040B2 (ja) 2019-07-23 2019-07-23 ロボットハンド

Publications (2)

Publication Number Publication Date
JP2021016927A JP2021016927A (ja) 2021-02-15
JP6870040B2 true JP6870040B2 (ja) 2021-05-12

Family

ID=74193378

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2019135154A Active JP6870040B2 (ja) 2019-07-23 2019-07-23 ロボットハンド

Country Status (4)

Country Link
JP (1) JP6870040B2 (zh)
CN (1) CN114008695B (zh)
CA (1) CA3139173C (zh)
WO (1) WO2021014828A1 (zh)

Family Cites Families (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5101979A (en) * 1988-07-08 1992-04-07 Hitachi, Ltd. Paper sheet depositing and dispensing apparatus, abnormality recovery process of the paper sheet depositing and dispensing apparatus, and automatic cashier
JPH07112389A (ja) * 1993-10-15 1995-05-02 Kubota Corp ロボットハンドの構造
JP2005335025A (ja) * 2004-05-28 2005-12-08 Toyota Motor Corp ロボットハンドの指構造
JP4489641B2 (ja) * 2005-06-10 2010-06-23 アクテス株式会社 把持装置
JP4261533B2 (ja) * 2005-09-21 2009-04-30 株式会社東芝 ロボットハンド機構
JP2010058978A (ja) * 2008-08-08 2010-03-18 Panasonic Electric Works Co Ltd パレタイズ装置
WO2010032280A1 (ja) * 2008-09-22 2010-03-25 富士通フロンテック株式会社 紙幣出金装置
JP2011131341A (ja) * 2009-12-25 2011-07-07 Sony Corp 把持装置
JP6035892B2 (ja) * 2012-06-18 2016-11-30 セイコーエプソン株式会社 ロボットハンド及びロボット装置
CN104063946B (zh) * 2013-03-18 2020-02-04 光荣株式会社 纸币处理装置及纸币处理方法
JP2014226759A (ja) * 2013-05-24 2014-12-08 株式会社ランズワーク 豆腐製品搬送装置
CN103273488A (zh) * 2013-06-21 2013-09-04 苏州速腾电子科技有限公司 一种夹持机械手
CN103448070B (zh) * 2013-08-30 2015-10-28 华南理工大学 一种多用型机械手的末端结构
JP6532232B2 (ja) * 2014-12-26 2019-06-19 オークラ輸送機株式会社 物品移送装置および物品移送方法
CN105347026A (zh) * 2015-11-30 2016-02-24 苏州博众精工科技有限公司 抓取托举装置
JP6661473B2 (ja) * 2016-05-26 2020-03-11 大同特殊鋼株式会社 トランスファ装置の把持機構
CN106313014B (zh) * 2016-11-03 2018-08-17 北京信息科技大学 一种携带卡紧式机械手的仓储拣货机器人及其使用方法
JP6426685B2 (ja) * 2016-12-16 2018-11-21 ファナック株式会社 ロボットに取り付けられる把持装置
JP2018144143A (ja) * 2017-03-03 2018-09-20 本田技研工業株式会社 把持装置
CN107381028A (zh) * 2017-08-15 2017-11-24 广东紫晶信息存储技术股份有限公司 一种标准光盘夹持翻转装置及其方法

Also Published As

Publication number Publication date
CA3139173C (en) 2024-02-20
CN114008695B (zh) 2024-01-30
JP2021016927A (ja) 2021-02-15
WO2021014828A1 (ja) 2021-01-28
CA3139173A1 (en) 2021-01-28
CN114008695A (zh) 2022-02-01

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