JP7146233B2 - 物品移載装置 - Google Patents

物品移載装置 Download PDF

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Publication number
JP7146233B2
JP7146233B2 JP2018052424A JP2018052424A JP7146233B2 JP 7146233 B2 JP7146233 B2 JP 7146233B2 JP 2018052424 A JP2018052424 A JP 2018052424A JP 2018052424 A JP2018052424 A JP 2018052424A JP 7146233 B2 JP7146233 B2 JP 7146233B2
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JP
Japan
Prior art keywords
gripping
article
grip
robot hand
control unit
Prior art date
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Active
Application number
JP2018052424A
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English (en)
Japanese (ja)
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JP2019162695A (ja
JP2019162695A5 (https=
Inventor
修一 前田
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.)
Ishida Co Ltd
Original Assignee
Ishida 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 Ishida Co Ltd filed Critical Ishida Co Ltd
Priority to JP2018052424A priority Critical patent/JP7146233B2/ja
Priority to US16/980,877 priority patent/US11819998B2/en
Priority to CN201980019691.0A priority patent/CN111867790B/zh
Priority to EP19770272.3A priority patent/EP3769918B1/en
Priority to PCT/JP2019/006633 priority patent/WO2019181355A1/ja
Publication of JP2019162695A publication Critical patent/JP2019162695A/ja
Publication of JP2019162695A5 publication Critical patent/JP2019162695A5/ja
Application granted granted Critical
Publication of JP7146233B2 publication Critical patent/JP7146233B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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    • 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
    • B25J9/1612—Program controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • 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
    • B25J11/0045—Manipulators used in the food industry
    • 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
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/905—Control arrangements
    • 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
    • B25J9/1679—Program controls characterised by the tasks executed
    • 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
    • G05B2219/39514—Stability of grasped objects
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45111—Meal, food assistance

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Food Science & Technology (AREA)
  • Manipulator (AREA)
  • Specific Conveyance Elements (AREA)
JP2018052424A 2018-03-20 2018-03-20 物品移載装置 Active JP7146233B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2018052424A JP7146233B2 (ja) 2018-03-20 2018-03-20 物品移載装置
US16/980,877 US11819998B2 (en) 2018-03-20 2019-02-21 Article transfer device
CN201980019691.0A CN111867790B (zh) 2018-03-20 2019-02-21 物品移动载置装置
EP19770272.3A EP3769918B1 (en) 2018-03-20 2019-02-21 Article transfer device
PCT/JP2019/006633 WO2019181355A1 (ja) 2018-03-20 2019-02-21 物品移載装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2018052424A JP7146233B2 (ja) 2018-03-20 2018-03-20 物品移載装置

Publications (3)

Publication Number Publication Date
JP2019162695A JP2019162695A (ja) 2019-09-26
JP2019162695A5 JP2019162695A5 (https=) 2021-04-30
JP7146233B2 true JP7146233B2 (ja) 2022-10-04

Family

ID=67987668

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018052424A Active JP7146233B2 (ja) 2018-03-20 2018-03-20 物品移載装置

Country Status (5)

Country Link
US (1) US11819998B2 (https=)
EP (1) EP3769918B1 (https=)
JP (1) JP7146233B2 (https=)
CN (1) CN111867790B (https=)
WO (1) WO2019181355A1 (https=)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT201900015419A1 (it) * 2019-09-03 2021-03-03 Gd Spa Metodo e sistema di alimentazione di gruppi di prodotti ad una unità di lavorazione
JP7341550B1 (ja) 2022-03-25 2023-09-11 コネクテッドロボティクス株式会社 把持システム
US12318941B2 (en) * 2022-09-28 2025-06-03 International Business Machines Corporation Material movement track to assist robotic arm
JP7364283B1 (ja) 2022-09-29 2023-10-18 コネクテッドロボティクス株式会社 把持システム、及び制御装置
JP7364282B1 (ja) 2022-09-29 2023-10-18 コネクテッドロボティクス株式会社 把持システム、及び制御装置
JP7442229B1 (ja) 2023-01-13 2024-03-04 コネクテッドロボティクス株式会社 把持システム、把持方法、制御装置、及びプログラム
JP7809394B1 (ja) * 2025-02-12 2026-02-02 コネクテッドロボティクス株式会社 制御システム、及び制御プログラム

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2602608Y (zh) 2003-01-23 2004-02-11 李成蛟 食品定量分割器
US20070119125A1 (en) 2005-11-30 2007-05-31 Sverre Stenbom Method for packaging food products, and an arrangement for use in such a method
JP2013086186A (ja) 2011-10-13 2013-05-13 Seiko Epson Corp 把持装置及びロボット
JP2014042965A (ja) 2012-08-27 2014-03-13 Honda Motor Co Ltd ワーク移送方法およびワーク移送システム
JP2015085439A (ja) 2013-10-31 2015-05-07 セイコーエプソン株式会社 把持装置、ロボット、及び、把持方法
JP2015196580A (ja) 2014-04-01 2015-11-09 鈴鹿エンヂニヤリング株式会社 ベールゴムの吊り揚げ搬送方法及びその装置
JP2016183451A (ja) 2015-03-25 2016-10-20 コベルコ建機株式会社 作業機械

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0326445A (ja) * 1989-06-20 1991-02-05 Daikin Ind Ltd ワークの回転割出し方法およびその装置
JPH06197718A (ja) 1992-12-28 1994-07-19 Nippon Bearing Kk 麺茄で上げ盛り付け装置
JPH077888U (ja) 1993-07-07 1995-02-03 高野ベアリング株式会社 加工食材の把持装置
JPH11332486A (ja) * 1998-05-22 1999-12-07 Chiba & Associates:Kk ご飯成形装置
EP2604383A1 (de) * 2011-12-12 2013-06-19 Klingelnberg AG Vorrichtung und Verfahren zum Überführen von in Werkteilgebinden bereitgestellten Werkteilen mittels eines Roboters zu einer Bearbeitungsmaschine
JP5929271B2 (ja) * 2012-02-07 2016-06-01 セイコーエプソン株式会社 ロボットハンドおよびロボット
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
JP6256702B2 (ja) * 2014-12-25 2018-01-10 株式会社ダイフク 物品搬送用容器昇降搬送装置
JP6645774B2 (ja) * 2015-08-31 2020-02-14 国立大学法人東京工業大学 ロボットハンド

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2602608Y (zh) 2003-01-23 2004-02-11 李成蛟 食品定量分割器
US20070119125A1 (en) 2005-11-30 2007-05-31 Sverre Stenbom Method for packaging food products, and an arrangement for use in such a method
JP2013086186A (ja) 2011-10-13 2013-05-13 Seiko Epson Corp 把持装置及びロボット
JP2014042965A (ja) 2012-08-27 2014-03-13 Honda Motor Co Ltd ワーク移送方法およびワーク移送システム
JP2015085439A (ja) 2013-10-31 2015-05-07 セイコーエプソン株式会社 把持装置、ロボット、及び、把持方法
JP2015196580A (ja) 2014-04-01 2015-11-09 鈴鹿エンヂニヤリング株式会社 ベールゴムの吊り揚げ搬送方法及びその装置
JP2016183451A (ja) 2015-03-25 2016-10-20 コベルコ建機株式会社 作業機械

Also Published As

Publication number Publication date
EP3769918A1 (en) 2021-01-27
CN111867790A (zh) 2020-10-30
JP2019162695A (ja) 2019-09-26
WO2019181355A1 (ja) 2019-09-26
EP3769918B1 (en) 2024-09-11
EP3769918A4 (en) 2022-01-05
US20210016451A1 (en) 2021-01-21
US11819998B2 (en) 2023-11-21
EP3769918C0 (en) 2024-09-11
CN111867790B (zh) 2023-12-01

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