JP7493741B2 - 物品把持装置 - Google Patents

物品把持装置 Download PDF

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Publication number
JP7493741B2
JP7493741B2 JP2019143734A JP2019143734A JP7493741B2 JP 7493741 B2 JP7493741 B2 JP 7493741B2 JP 2019143734 A JP2019143734 A JP 2019143734A JP 2019143734 A JP2019143734 A JP 2019143734A JP 7493741 B2 JP7493741 B2 JP 7493741B2
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JP
Japan
Prior art keywords
article
gripping
gripping member
item
gripper
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
JP2019143734A
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English (en)
Japanese (ja)
Other versions
JP2021024026A5 (enExample
JP2021024026A (ja
Inventor
勇次郎 大林
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 JP2019143734A priority Critical patent/JP7493741B2/ja
Priority to CN202010729828.6A priority patent/CN112318532B/zh
Priority to US16/944,090 priority patent/US11331795B2/en
Priority to EP20189109.0A priority patent/EP3772397B1/en
Publication of JP2021024026A publication Critical patent/JP2021024026A/ja
Publication of JP2021024026A5 publication Critical patent/JP2021024026A5/ja
Application granted granted Critical
Publication of JP7493741B2 publication Critical patent/JP7493741B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • 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
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple 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
    • B25J13/085—Force or torque 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
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • 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
    • B25J15/0057—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a turret
    • 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
    • B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
    • 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
    • B25J19/0058—Means for cleaning manipulators, e.g. dust removing means

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)
  • Life Sciences & Earth Sciences (AREA)
  • Food Science & Technology (AREA)
  • Manipulator (AREA)
JP2019143734A 2019-08-05 2019-08-05 物品把持装置 Active JP7493741B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2019143734A JP7493741B2 (ja) 2019-08-05 2019-08-05 物品把持装置
CN202010729828.6A CN112318532B (zh) 2019-08-05 2020-07-27 物品把持装置
US16/944,090 US11331795B2 (en) 2019-08-05 2020-07-30 Article gripping device
EP20189109.0A EP3772397B1 (en) 2019-08-05 2020-08-03 Article gripping device with cleaning mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2019143734A JP7493741B2 (ja) 2019-08-05 2019-08-05 物品把持装置

Publications (3)

Publication Number Publication Date
JP2021024026A JP2021024026A (ja) 2021-02-22
JP2021024026A5 JP2021024026A5 (enExample) 2022-07-28
JP7493741B2 true JP7493741B2 (ja) 2024-06-03

Family

ID=71943955

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2019143734A Active JP7493741B2 (ja) 2019-08-05 2019-08-05 物品把持装置

Country Status (4)

Country Link
US (1) US11331795B2 (enExample)
EP (1) EP3772397B1 (enExample)
JP (1) JP7493741B2 (enExample)
CN (1) CN112318532B (enExample)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6945246B2 (ja) * 2020-03-19 2021-10-06 株式会社イシダ 物品把持システム
JP7766408B2 (ja) * 2021-03-22 2025-11-10 住鉱テクノリサーチ株式会社 試料溶解装置
JP7765812B2 (ja) * 2022-02-14 2025-11-07 株式会社アールティ ロボット、及びこれを備えた細長い部材のピックアップシステム
JP2023137649A (ja) * 2022-03-18 2023-09-29 ＴｅｃｈＭａｇｉｃ株式会社 食品取分け装置およびプログラム
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
JP7364284B1 (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
JP7553156B1 (ja) 2023-11-06 2024-09-18 コネクテッドロボティクス株式会社 保持システム、及び制御装置
JP7780224B1 (ja) 2025-02-12 2025-12-04 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
JP2007125674A (ja) 2005-11-07 2007-05-24 Nisca Corp マイクロマニピュレータ
WO2011152520A1 (ja) 2010-06-03 2011-12-08 レオン自動機株式会社 ロボットハンドおよび食品搬送システム
JP2011251828A (ja) 2010-06-03 2011-12-15 Rheon Automatic Machinerty Co Ltd 食品搬送システム
JP2013136107A (ja) 2011-12-28 2013-07-11 Seiko Epson Corp ロボットハンド、ロボット及びロボットハンドの制御方法
JP2017052055A (ja) 2015-09-10 2017-03-16 富士機械製造株式会社 ワーク搬送装置および工作機械
JP2019025646A (ja) 2017-07-25 2019-02-21 株式会社ケー・デー・イー 分配装置、盛付システム及び学習データ生成装置
JP2019058967A (ja) 2017-09-25 2019-04-18 学校法人慶應義塾 食品移載システム及び食品把持装置

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5733991A (en) * 1980-08-06 1982-02-24 Fujitsu Fanuc Ltd Robot hand with chip removing device
DE69203848T2 (de) 1992-03-07 1995-11-23 Frisco Findus Ag Wiege- und Füllvorrichtung.
US7083208B2 (en) * 2003-01-21 2006-08-01 Embrex, Inc. Vacuum assisted egg lifting apparatus having venturi assembly
US8162366B1 (en) * 2010-03-26 2012-04-24 Western Digital Technologies, Inc. Systems and methods for gripping a component
CN105983877B (zh) * 2015-05-27 2017-12-05 中日龙(襄阳)机电技术开发有限公司 全自动吹液吹屑工件清洁机
EP3504547A1 (en) * 2016-08-25 2019-07-03 Boehringer Ingelheim Animal Health USA Inc. Egg candling and relocation apparatus for use with in ovo injection machines
JP6831723B2 (ja) 2017-03-16 2021-02-17 川崎重工業株式会社 ロボットとロボットの運転方法
CN208166090U (zh) * 2018-03-28 2018-11-30 邛崃驰阳农牧科技有限公司 一种降低原料包装袋内残留物的装置
CN108515515A (zh) * 2018-05-18 2018-09-11 山东博锐机器人科技有限公司 伸缩型复合机械臂
CN208231828U (zh) * 2018-05-21 2018-12-14 昆山科皓机器人有限公司 一种侧姿抓手

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007125674A (ja) 2005-11-07 2007-05-24 Nisca Corp マイクロマニピュレータ
WO2011152520A1 (ja) 2010-06-03 2011-12-08 レオン自動機株式会社 ロボットハンドおよび食品搬送システム
JP2011251828A (ja) 2010-06-03 2011-12-15 Rheon Automatic Machinerty Co Ltd 食品搬送システム
JP2013136107A (ja) 2011-12-28 2013-07-11 Seiko Epson Corp ロボットハンド、ロボット及びロボットハンドの制御方法
JP2017052055A (ja) 2015-09-10 2017-03-16 富士機械製造株式会社 ワーク搬送装置および工作機械
JP2019025646A (ja) 2017-07-25 2019-02-21 株式会社ケー・デー・イー 分配装置、盛付システム及び学習データ生成装置
JP2019058967A (ja) 2017-09-25 2019-04-18 学校法人慶應義塾 食品移載システム及び食品把持装置

Also Published As

Publication number Publication date
EP3772397C0 (en) 2025-10-01
US20210039252A1 (en) 2021-02-11
EP3772397B1 (en) 2025-10-01
US11331795B2 (en) 2022-05-17
CN112318532B (zh) 2024-04-12
EP3772397A1 (en) 2021-02-10
JP2021024026A (ja) 2021-02-22
CN112318532A (zh) 2021-02-05

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