JP7834163B2 - 処理装置、吸着機構制御部、プログラム及び処理システム - Google Patents

処理装置、吸着機構制御部、プログラム及び処理システム

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Publication number
JP7834163B2
JP7834163B2 JP2024517367A JP2024517367A JP7834163B2 JP 7834163 B2 JP7834163 B2 JP 7834163B2 JP 2024517367 A JP2024517367 A JP 2024517367A JP 2024517367 A JP2024517367 A JP 2024517367A JP 7834163 B2 JP7834163 B2 JP 7834163B2
Authority
JP
Japan
Prior art keywords
suction
adsorption
unit
pad
determination unit
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
JP2024517367A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2023210677A5 (https=
JPWO2023210677A1 (https=
Inventor
真洋 内竹
雅文 三木
敬之 石田
博昭 宮村
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.)
Kyocera Corp
Original Assignee
Kyocera Corp
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 Kyocera Corp filed Critical Kyocera Corp
Publication of JPWO2023210677A1 publication Critical patent/JPWO2023210677A1/ja
Publication of JPWO2023210677A5 publication Critical patent/JPWO2023210677A5/ja
Application granted granted Critical
Publication of JP7834163B2 publication Critical patent/JP7834163B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • 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
    • 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
    • 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
    • B65G47/915—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rotary movements only
    • 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
    • B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
    • 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
    • G05B2219/39482—Control position of center of grip
    • 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
    • G05B2219/39504—Grip object in gravity center
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39523—Set holding force as function of dimension, weight, shape, hardness, surface
    • 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
    • G05B2219/39529—Force, torque sensor in wrist, end effector
    • 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
    • G05B2219/39543—Recognize object and plan hand shapes in grasping movements
    • 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
    • G05B2219/39558—Vacuum hand has selective gripper area

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
JP2024517367A 2022-04-28 2023-04-26 処理装置、吸着機構制御部、プログラム及び処理システム Active JP7834163B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2022074422 2022-04-28
JP2022074422 2022-04-28
PCT/JP2023/016408 WO2023210677A1 (ja) 2022-04-28 2023-04-26 処理装置、吸着機構制御部、プログラム、処理システム及び吸着機構

Publications (3)

Publication Number Publication Date
JPWO2023210677A1 JPWO2023210677A1 (https=) 2023-11-02
JPWO2023210677A5 JPWO2023210677A5 (https=) 2025-01-06
JP7834163B2 true JP7834163B2 (ja) 2026-03-23

Family

ID=88519082

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2024517367A Active JP7834163B2 (ja) 2022-04-28 2023-04-26 処理装置、吸着機構制御部、プログラム及び処理システム

Country Status (5)

Country Link
US (1) US20250289146A1 (https=)
EP (1) EP4516706A4 (https=)
JP (1) JP7834163B2 (https=)
CN (1) CN119053413A (https=)
WO (1) WO2023210677A1 (https=)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007331056A (ja) 2006-06-14 2007-12-27 Sharp Corp 真空吸着装置および吸引力推定方法
JP2010089936A (ja) 2008-10-09 2010-04-22 Amada Co Ltd 部品取出装置及びその方法
JP2015040130A (ja) 2013-08-23 2015-03-02 株式会社ダイフク 物品移載装置
JP2018058175A (ja) 2016-10-06 2018-04-12 株式会社東芝 搬送装置、および搬送プログラム
JP2018118337A (ja) 2017-01-24 2018-08-02 株式会社東芝 保持装置、保持方法及び荷降ろし装置

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10329074A (ja) * 1997-05-29 1998-12-15 Mitsubishi Electric Corp 産業ロボット装置及び産業ロボットの制御方法
JP4943300B2 (ja) * 2007-11-07 2012-05-30 Ｊｕｋｉ株式会社 部品実装装置
JP6904104B2 (ja) * 2017-06-27 2021-07-14 村田機械株式会社 ピッキングシステム
DE102018110741A1 (de) * 2018-05-04 2019-11-07 J. Schmalz Gmbh Unterdruckhandhabungsvorrichtung
US11345029B2 (en) * 2019-08-21 2022-05-31 Mujin, Inc. Robotic multi-gripper assemblies and methods for gripping and holding objects
KR102305322B1 (ko) * 2019-10-25 2021-09-24 박민욱 진공 흡착 장치의 오류 검출 방법 및 진공 흡착 장치의 오류 검출 시스템
JP6832599B1 (ja) 2020-02-20 2021-02-24 株式会社Ｍｕｊｉｎ グリッピング機構を有するロボットシステム

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007331056A (ja) 2006-06-14 2007-12-27 Sharp Corp 真空吸着装置および吸引力推定方法
JP2010089936A (ja) 2008-10-09 2010-04-22 Amada Co Ltd 部品取出装置及びその方法
JP2015040130A (ja) 2013-08-23 2015-03-02 株式会社ダイフク 物品移載装置
JP2018058175A (ja) 2016-10-06 2018-04-12 株式会社東芝 搬送装置、および搬送プログラム
JP2018118337A (ja) 2017-01-24 2018-08-02 株式会社東芝 保持装置、保持方法及び荷降ろし装置

Also Published As

Publication number Publication date
EP4516706A4 (en) 2026-01-28
EP4516706A1 (en) 2025-03-05
US20250289146A1 (en) 2025-09-18
WO2023210677A1 (ja) 2023-11-02
CN119053413A (zh) 2024-11-29
JPWO2023210677A1 (https=) 2023-11-02

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