JP6883915B2 - 複数の適合性把持球体を使用して印刷中に一般的な物体を保持するための装置 - Google Patents

複数の適合性把持球体を使用して印刷中に一般的な物体を保持するための装置 Download PDF

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Publication number
JP6883915B2
JP6883915B2 JP2018050872A JP2018050872A JP6883915B2 JP 6883915 B2 JP6883915 B2 JP 6883915B2 JP 2018050872 A JP2018050872 A JP 2018050872A JP 2018050872 A JP2018050872 A JP 2018050872A JP 6883915 B2 JP6883915 B2 JP 6883915B2
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Japan
Prior art keywords
gripping
sphere
spheres
back plate
compatible
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Expired - Fee Related
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JP2018050872A
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English (en)
Japanese (ja)
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JP2018176728A5 (enExample
JP2018176728A (ja
Inventor
ジェフリー・ジェイ・ブラッドウェイ
リン・シー・フーヴァー
アーウィン・ルイーズ
ポール・エム・フロム
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Xerox Corp
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Xerox Corp
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Publication date
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Publication of JP2018176728A5 publication Critical patent/JP2018176728A5/ja
Application granted granted Critical
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
    • B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
    • B41J3/4073—Printing on three-dimensional objects not being in sheet or web form, e.g. spherical or cubic objects
    • B41J3/40731—Holders for objects, e. g. holders specially adapted to the shape of the object to be printed or adapted to hold several objects
    • 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
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
    • B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
    • B41J3/4073—Printing on three-dimensional objects not being in sheet or web form, e.g. spherical or cubic objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
    • B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
    • B41J3/4073—Printing on three-dimensional objects not being in sheet or web form, e.g. spherical or cubic objects
    • B41J3/40733—Printing on cylindrical or rotationally symmetrical objects, e. g. on bottles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING, OR HOLDING
    • B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
    • B25B11/005—Vacuum work holders

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Materials Engineering (AREA)
  • Ink Jet (AREA)
  • Manipulator (AREA)
JP2018050872A 2017-04-03 2018-03-19 複数の適合性把持球体を使用して印刷中に一般的な物体を保持するための装置 Expired - Fee Related JP6883915B2 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US15/477,454 2017-04-03
US15/477,454 US10518421B2 (en) 2017-04-03 2017-04-03 Apparatus for general object holding during printing using multiple conformable gripper balls

Publications (3)

Publication Number Publication Date
JP2018176728A JP2018176728A (ja) 2018-11-15
JP2018176728A5 JP2018176728A5 (enExample) 2021-04-30
JP6883915B2 true JP6883915B2 (ja) 2021-06-09

Family

ID=63672839

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018050872A Expired - Fee Related JP6883915B2 (ja) 2017-04-03 2018-03-19 複数の適合性把持球体を使用して印刷中に一般的な物体を保持するための装置

Country Status (3)

Country Link
US (2) US10518421B2 (enExample)
JP (1) JP6883915B2 (enExample)
CN (1) CN108688341B (enExample)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10518421B2 (en) * 2017-04-03 2019-12-31 Xerox Corporation Apparatus for general object holding during printing using multiple conformable gripper balls
US10308038B2 (en) * 2017-07-10 2019-06-04 Xerox Corporation Universal part holder with conformable membranes
US10369806B2 (en) * 2017-07-10 2019-08-06 Xerox Corporation Universal part gripper with conformable gripper ball with vacuum assist
US10457071B2 (en) * 2018-01-18 2019-10-29 Xerox Corporation Object holder with pneumatic clamping frame for a direct-to-object printer
JP7159951B2 (ja) * 2019-04-04 2022-10-25 株式会社ダイフク 物品把持装置
WO2021102502A1 (en) * 2019-11-29 2021-06-03 Commonwealth Scientific And Industrial Research Organisation Robotic manipulator
US12275140B2 (en) 2019-11-29 2025-04-15 Commonwealth Scientific And Industrial Research Organisation Robotic manipulator
KR102328295B1 (ko) * 2020-09-10 2021-11-17 대우조선해양 주식회사 3d 프린터 출력물 지지장치
US20230241785A1 (en) * 2022-02-03 2023-08-03 Christopher Harrigan Robotic arm grabbing device

Family Cites Families (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4561686A (en) * 1983-08-22 1985-12-31 Raymond Atchley End effector
JPS6085891A (ja) * 1983-10-18 1985-05-15 富士通株式会社 汎用吸着装置
US5364083A (en) * 1992-07-15 1994-11-15 The Boeing Company Universal holding fixture end effector
US5590870A (en) * 1995-06-02 1997-01-07 Advanced Machine & Engineering Co. Universal holding system for a contoured workpiece
IL119213A (en) * 1996-09-06 2000-08-31 Orbot Instr Ltd Universal chuck for holding plates of various sizes
US6264187B1 (en) * 1998-10-13 2001-07-24 Galahad, Co. Method and apparatus for self-conforming support system
JP2003511874A (ja) * 1999-10-08 2003-03-25 エーディーイー コーポレーション 動的力を補償する遠心グリッパ機構
US6846029B1 (en) * 2001-08-09 2005-01-25 Gary Dean Ragner Torus-shaped mechanical gripper
WO2004113015A2 (en) * 2003-06-20 2004-12-29 Par Systems, Inc. Flexible fixture
DE102004039661A1 (de) * 2004-08-16 2006-02-23 Siemens Ag Lastaufnahmemittel zur Handhabung von Stückgut
US7600450B2 (en) 2008-03-13 2009-10-13 National Oilwell Varco Lp Curvature conformable gripping dies
US8882165B2 (en) * 2010-04-15 2014-11-11 Cornell University Gripping and releasing apparatus and method
JP5480340B2 (ja) * 2012-07-26 2014-04-23 ファナック株式会社 ローラ装置を用いた取出しロボットシステム
US9579219B2 (en) * 2012-10-25 2017-02-28 Cornell University Robotic apparatus, method, and applications
US8534728B1 (en) * 2012-11-19 2013-09-17 Harris Corporation Adaptive robotic gripper
US9301576B2 (en) * 2013-04-23 2016-04-05 Nike, Inc. Method of printing onto an article
DE102013016006A1 (de) * 2013-09-26 2015-04-09 Heidelberger Druckmaschinen Ag Maschine zum Tintenstrahl-Bedrucken von dreidimensionalen Objekten
CN104015498B (zh) * 2014-05-28 2016-05-04 阿博建材（昆山）有限公司 一种具有自动夹持定位功能的打标装置
JP6492433B2 (ja) * 2014-07-11 2019-04-03 セイコーエプソン株式会社 記録装置及び記録方法
JP2016162981A (ja) * 2015-03-04 2016-09-05 国立大学法人九州工業大学 改質ｍｒ流体及びこの改質ｍｒ流体を用いた把持機構並びに把持装置
JP2017185553A (ja) * 2016-04-01 2017-10-12 ニッタ株式会社 把持装置及び産業用ロボット
US9827784B1 (en) * 2016-05-25 2017-11-28 Xerox Corporation System for printing on three-dimensional (3D) objects
CN205928689U (zh) * 2016-05-26 2017-02-08 南京理工大学 基于颗粒物塑形的气动多爪夹持器
US10457069B2 (en) * 2017-04-03 2019-10-29 Xerox Corporation Apparatus for repeatable staging and holding objects in a 3-D printer using an array of pins
US10518421B2 (en) * 2017-04-03 2019-12-31 Xerox Corporation Apparatus for general object holding during printing using multiple conformable gripper balls
US10087020B1 (en) * 2017-04-03 2018-10-02 Xerox Corporation Universal object holder for 3-D printing using a conformable gripper ball
US9925799B1 (en) * 2017-04-03 2018-03-27 Xerox Corporation Air pressure loaded membrane and pin array gripper
US10377147B2 (en) * 2017-04-03 2019-08-13 Xerox Corporation Object holder for a direct-to-object printer
US10308038B2 (en) * 2017-07-10 2019-06-04 Xerox Corporation Universal part holder with conformable membranes
US10369806B2 (en) * 2017-07-10 2019-08-06 Xerox Corporation Universal part gripper with conformable gripper ball with vacuum assist
US10661446B2 (en) * 2018-04-06 2020-05-26 Aurora Flight Sciences Corporation Jamming grippers with stencil moldings

Also Published As

Publication number Publication date
CN108688341A (zh) 2018-10-23
US11541671B2 (en) 2023-01-03
US20200078958A1 (en) 2020-03-12
JP2018176728A (ja) 2018-11-15
CN108688341B (zh) 2021-03-02
US20180281199A1 (en) 2018-10-04
US10518421B2 (en) 2019-12-31

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