JP7179556B2 - ロボットグリッパー指 - Google Patents

ロボットグリッパー指 Download PDF

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Publication number
JP7179556B2
JP7179556B2 JP2018180930A JP2018180930A JP7179556B2 JP 7179556 B2 JP7179556 B2 JP 7179556B2 JP 2018180930 A JP2018180930 A JP 2018180930A JP 2018180930 A JP2018180930 A JP 2018180930A JP 7179556 B2 JP7179556 B2 JP 7179556B2
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JP
Japan
Prior art keywords
finger
sensor
engaging surface
gripper assembly
retaining bracket
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JP2018180930A
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English (en)
Japanese (ja)
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JP2019059016A5 (enExample
JP2019059016A (ja
Inventor
アマカー マシュー
ポールソヒ アルシャン
ヤオ ジョナサン
Original Assignee
トヨタ リサーチ インスティテュート，インコーポレイティド
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Publication of JP2019059016A5 publication Critical patent/JP2019059016A5/ja
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    • 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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • 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
    • 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
    • B25J13/086—Proximity sensors
    • 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
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
JP2018180930A 2017-09-26 2018-09-26 ロボットグリッパー指 Active JP7179556B2 (ja)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201762563459P 2017-09-26 2017-09-26
US62/563,459 2017-09-26
US15/887,072 US10814494B2 (en) 2017-09-26 2018-02-02 Robotic gripper fingers
US15/887,072 2018-02-02

Publications (3)

Publication Number Publication Date
JP2019059016A JP2019059016A (ja) 2019-04-18
JP2019059016A5 JP2019059016A5 (enExample) 2020-10-22
JP7179556B2 true JP7179556B2 (ja) 2022-11-29

Family

ID=65806370

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018180930A Active JP7179556B2 (ja) 2017-09-26 2018-09-26 ロボットグリッパー指

Country Status (3)

Country Link
US (1) US10814494B2 (enExample)
JP (1) JP7179556B2 (enExample)
CN (1) CN109551504B (enExample)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES3014276T3 (en) * 2017-08-14 2025-04-21 Contactile Pty Ltd System for estimating friction
DE102019129417B4 (de) * 2019-10-31 2022-03-24 Sick Ag Verfahren zum automatischen Handhaben von Objekten
KR20220011464A (ko) 2020-07-21 2022-01-28 삼성전자주식회사 로봇 및 그 제어 방법
DE102021109315A1 (de) * 2021-04-14 2022-10-20 Bundesdruckerei Gmbh Greifer und Verfahren zum Greifen und Prüfen eines Gegenstands
WO2023100666A1 (ja) * 2021-12-01 2023-06-08 ソニーグループ株式会社 移動体及び位置決め制御方法

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005257343A (ja) 2004-03-09 2005-09-22 Nagoya Industrial Science Research Inst 光学式触覚センサ、光学式触覚センサを利用したセンシング方法、センシングシステム、物体操作力制御方法、物体操作力制御装置、物体把持力制御装置及びロボットハンド
JP2006079157A (ja) 2004-09-07 2006-03-23 Figla Co Ltd 自走式作業ロボット
JP2009274204A (ja) 2008-05-13 2009-11-26 Samsung Electronics Co Ltd ロボット、ロボットハンド及びロボットハンドの制御方法
JP2010221359A (ja) 2009-03-24 2010-10-07 Toyota Industries Corp ロボットハンド用フィンガ
JP2011056595A (ja) 2009-09-07 2011-03-24 Kde Corp 搬送ハンド及び搬送ロボット
JP2013248729A (ja) 2012-05-31 2013-12-12 Toyota Motor Engineering & Manufacturing North America Inc 非接触式光学距離及び触覚を感知する装置及び方法
DE102014221294A1 (de) 2014-10-21 2016-04-21 Robert Bosch Gmbh Sensorvorrichtung, greifvorrichtung und herstellungsverfahren
JP2016203264A (ja) 2015-04-15 2016-12-08 株式会社豊田自動織機 ロボットハンド

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US4980626A (en) 1989-08-10 1990-12-25 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Method and apparatus for positioning a robotic end effector
JPH0560792U (ja) * 1991-05-17 1993-08-10 株式会社コガネイ 平行ハンド装置
WO2005029028A1 (en) 2003-09-16 2005-03-31 Toudai Tlo, Ltd. Optical tactile sensor and method of reconstructing force vector distribution using the sensor
JP2006159320A (ja) 2004-12-03 2006-06-22 Sharp Corp ロボットハンド
JP5003336B2 (ja) 2007-07-31 2012-08-15 ソニー株式会社 検出装置、ロボット装置、および入力装置
US8515579B2 (en) * 2009-12-09 2013-08-20 GM Global Technology Operations LLC Systems and methods associated with handling an object with a gripper
US8662552B2 (en) * 2010-02-23 2014-03-04 Massachusetts Institute Of Technology Dexterous and compliant robotic finger
US8937377B2 (en) * 2010-10-08 2015-01-20 Avago Technologies General Ip (Singapore) Pte. Ltd. Package-on-package proximity sensor module
CN201970313U (zh) * 2010-12-09 2011-09-14 贵州大学 一种机械手表面的触压觉传感装置
JP5834478B2 (ja) 2011-05-10 2015-12-24 セイコーエプソン株式会社 ロボット
JP5846057B2 (ja) * 2012-06-29 2016-01-20 トヨタ自動車株式会社 把持装置による把持方法
JP5681271B1 (ja) * 2013-07-26 2015-03-04 ファナック株式会社 ロボット用把持装置
CN105764655B (zh) * 2013-12-10 2017-06-27 Nok株式会社 覆盖材料及机器人把持部的覆盖构造
CN104816310A (zh) * 2014-02-04 2015-08-05 精工爱普生株式会社 机器人手、机器人、以及机器人手的制造方法
CN106687258A (zh) * 2014-09-12 2017-05-17 波利瓦洛尔有限合伙公司 抓取设备的机械手指
CN105666506B (zh) * 2014-11-18 2017-12-12 鸿富锦精密工业（深圳）有限公司 机器人手指
CN106625729A (zh) * 2016-12-19 2017-05-10 浙江大学 带温度和触觉力感知功能的仿人型机械手指

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005257343A (ja) 2004-03-09 2005-09-22 Nagoya Industrial Science Research Inst 光学式触覚センサ、光学式触覚センサを利用したセンシング方法、センシングシステム、物体操作力制御方法、物体操作力制御装置、物体把持力制御装置及びロボットハンド
JP2006079157A (ja) 2004-09-07 2006-03-23 Figla Co Ltd 自走式作業ロボット
JP2009274204A (ja) 2008-05-13 2009-11-26 Samsung Electronics Co Ltd ロボット、ロボットハンド及びロボットハンドの制御方法
JP2010221359A (ja) 2009-03-24 2010-10-07 Toyota Industries Corp ロボットハンド用フィンガ
JP2011056595A (ja) 2009-09-07 2011-03-24 Kde Corp 搬送ハンド及び搬送ロボット
JP2013248729A (ja) 2012-05-31 2013-12-12 Toyota Motor Engineering & Manufacturing North America Inc 非接触式光学距離及び触覚を感知する装置及び方法
DE102014221294A1 (de) 2014-10-21 2016-04-21 Robert Bosch Gmbh Sensorvorrichtung, greifvorrichtung und herstellungsverfahren
JP2016203264A (ja) 2015-04-15 2016-12-08 株式会社豊田自動織機 ロボットハンド

Also Published As

Publication number Publication date
CN109551504B (zh) 2023-08-11
US10814494B2 (en) 2020-10-27
US20190091875A1 (en) 2019-03-28
JP2019059016A (ja) 2019-04-18
CN109551504A (zh) 2019-04-02

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