JP7278198B2 - ロボットシステム及びその運転方法 - Google Patents

ロボットシステム及びその運転方法 Download PDF

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Publication number
JP7278198B2
JP7278198B2 JP2019209743A JP2019209743A JP7278198B2 JP 7278198 B2 JP7278198 B2 JP 7278198B2 JP 2019209743 A JP2019209743 A JP 2019209743A JP 2019209743 A JP2019209743 A JP 2019209743A JP 7278198 B2 JP7278198 B2 JP 7278198B2
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Japan
Prior art keywords
arm
hand
robot
robot system
engaging portion
Prior art date
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Application number
JP2019209743A
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English (en)
Japanese (ja)
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JP2021079496A5 (https=
JP2021079496A (ja
Inventor
猛 橋本
和範 平田
俊行 辻森
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.)
Kawasaki Motors Ltd
Original Assignee
Kawasaki Jukogyo KK
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 to JP2019209743A priority Critical patent/JP7278198B2/ja
Application filed by Kawasaki Jukogyo KK filed Critical Kawasaki Jukogyo KK
Priority to PCT/JP2020/043354 priority patent/WO2021100845A1/ja
Priority to DE112020005682.1T priority patent/DE112020005682B4/de
Priority to CN202080080568.2A priority patent/CN114761186B/zh
Priority to US17/778,016 priority patent/US12195287B2/en
Priority to TW109140710A priority patent/TWI738572B/zh
Publication of JP2021079496A publication Critical patent/JP2021079496A/ja
Publication of JP2021079496A5 publication Critical patent/JP2021079496A5/ja
Application granted granted Critical
Publication of JP7278198B2 publication Critical patent/JP7278198B2/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
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
    • 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
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, 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
    • B25J15/06—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
    • 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
    • B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
JP2019209743A 2019-11-20 2019-11-20 ロボットシステム及びその運転方法 Active JP7278198B2 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
JP2019209743A JP7278198B2 (ja) 2019-11-20 2019-11-20 ロボットシステム及びその運転方法
DE112020005682.1T DE112020005682B4 (de) 2019-11-20 2020-11-20 Robotersystem und verfahren zum betrieb desselben
CN202080080568.2A CN114761186B (zh) 2019-11-20 2020-11-20 机器人系统及其运转方法
US17/778,016 US12195287B2 (en) 2019-11-20 2020-11-20 Robot system and method of operating the same
PCT/JP2020/043354 WO2021100845A1 (ja) 2019-11-20 2020-11-20 ロボットシステム及びその運転方法
TW109140710A TWI738572B (zh) 2019-11-20 2020-11-20 機器人系統及其運轉方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2019209743A JP7278198B2 (ja) 2019-11-20 2019-11-20 ロボットシステム及びその運転方法

Publications (3)

Publication Number Publication Date
JP2021079496A JP2021079496A (ja) 2021-05-27
JP2021079496A5 JP2021079496A5 (https=) 2022-11-21
JP7278198B2 true JP7278198B2 (ja) 2023-05-19

Family

ID=75963260

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2019209743A Active JP7278198B2 (ja) 2019-11-20 2019-11-20 ロボットシステム及びその運転方法

Country Status (6)

Country Link
US (1) US12195287B2 (https=)
JP (1) JP7278198B2 (https=)
CN (1) CN114761186B (https=)
DE (1) DE112020005682B4 (https=)
TW (1) TWI738572B (https=)
WO (1) WO2021100845A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20230051377A (ko) * 2021-10-08 2023-04-18 삼성전자주식회사 기판 이송 장치 및 이를 이용한 기판 이송 방법

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015039768A (ja) 2013-08-20 2015-03-02 大森機械工業株式会社 集積装置
JP2019147196A (ja) 2018-02-26 2019-09-05 ファナック株式会社 ロボットハンド、ロボットおよびロボットハンドのハンド幅調整方法

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3610673A (en) 1969-10-20 1971-10-05 Svenska Cellulosa Ab Arrangement for handling objects
JPH07102844B2 (ja) 1993-05-12 1995-11-08 東洋水産株式会社 自動箱詰め装置
JP3577028B2 (ja) 2001-11-07 2004-10-13 川崎重工業株式会社 ロボットの協調制御システム
US20050005513A1 (en) 2003-06-30 2005-01-13 Smithers-Oasis Floral display system
DE102004012592B4 (de) 2004-03-12 2006-03-09 Daimlerchrysler Ag Verfahren zum lagegenauen Positionieren von Bauteilen und hierzu geeignete Positioniervorrichtung
CZ309347B6 (cs) 2012-07-11 2022-09-14 České vysoké učení technické v Praze Způsob určení polohy středu obráběcího nástroje uchyceného v kooperující úchopné hlavici a tato hlavice
DE102013220798A1 (de) 2013-10-15 2015-04-16 Kuka Laboratories Gmbh Verfahren zum Handhaben von Objekten mittels wenigstens zweier Industrieroboter, und zugehöriger Industrieroboter
CN103707311B (zh) * 2013-12-23 2015-08-05 苏州博众精工科技有限公司 一种可变节距伸缩夹爪
CN105459087B (zh) * 2015-12-30 2017-10-31 苏州澳昆智能机器人技术有限公司 变距柔性机器人工夹具
JP6838895B2 (ja) * 2016-07-05 2021-03-03 川崎重工業株式会社 ワーク搬送装置およびその運転方法
JP6789728B2 (ja) * 2016-08-31 2020-11-25 川崎重工業株式会社 ロボット及びその運転方法
JP2019000927A (ja) 2017-06-13 2019-01-10 株式会社豊田自動織機 部品位置決め装置及びロボット装置
CN207930664U (zh) * 2018-03-12 2018-10-02 重庆交通大学 一种双臂式搬运机械手
CN108890668A (zh) * 2018-06-13 2018-11-27 天津大学 一种可伸缩和旋转的末端执行器

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015039768A (ja) 2013-08-20 2015-03-02 大森機械工業株式会社 集積装置
JP2019147196A (ja) 2018-02-26 2019-09-05 ファナック株式会社 ロボットハンド、ロボットおよびロボットハンドのハンド幅調整方法

Also Published As

Publication number Publication date
JP2021079496A (ja) 2021-05-27
CN114761186A (zh) 2022-07-15
DE112020005682T5 (de) 2022-09-15
CN114761186B (zh) 2023-08-15
US20220396437A1 (en) 2022-12-15
TWI738572B (zh) 2021-09-01
US12195287B2 (en) 2025-01-14
WO2021100845A1 (ja) 2021-05-27
DE112020005682B4 (de) 2024-04-25
TW202126447A (zh) 2021-07-16

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