JPS6171302A - ロボットハンド用近接センサ装置 - Google Patents

ロボットハンド用近接センサ装置

Info

Publication number
JPS6171302A
JPS6171302A JP59193208A JP19320884A JPS6171302A JP S6171302 A JPS6171302 A JP S6171302A JP 59193208 A JP59193208 A JP 59193208A JP 19320884 A JP19320884 A JP 19320884A JP S6171302 A JPS6171302 A JP S6171302A
Authority
JP
Japan
Prior art keywords
light
output
light emitting
fingers
gripped
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.)
Granted
Application number
JP59193208A
Other languages
English (en)
Japanese (ja)
Other versions
JPH0377922B2 (OSRAM
Inventor
Hideaki Hashimoto
英昭 橋本
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.)
Toshiba Corp
Original Assignee
Toshiba 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 Toshiba Corp filed Critical Toshiba Corp
Priority to JP59193208A priority Critical patent/JPS6171302A/ja
Priority to EP86301866A priority patent/EP0236611B1/en
Priority to DE8686301866T priority patent/DE3681729D1/de
Priority to US06/839,574 priority patent/US4766322A/en
Publication of JPS6171302A publication Critical patent/JPS6171302A/ja
Publication of JPH0377922B2 publication Critical patent/JPH0377922B2/ja
Granted legal-status Critical Current

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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • 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
    • 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
    • B25J19/021—Optical 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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/1015—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. microadjustment of the end effector
    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones

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)
  • Length Measuring Devices By Optical Means (AREA)
JP59193208A 1984-09-14 1984-09-14 ロボットハンド用近接センサ装置 Granted JPS6171302A (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP59193208A JPS6171302A (ja) 1984-09-14 1984-09-14 ロボットハンド用近接センサ装置
EP86301866A EP0236611B1 (en) 1984-09-14 1986-03-14 A robot hand
DE8686301866T DE3681729D1 (de) 1984-09-14 1986-03-14 Roboterhand.
US06/839,574 US4766322A (en) 1984-09-14 1986-03-14 Robot hand including optical approach sensing apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP59193208A JPS6171302A (ja) 1984-09-14 1984-09-14 ロボットハンド用近接センサ装置

Publications (2)

Publication Number Publication Date
JPS6171302A true JPS6171302A (ja) 1986-04-12
JPH0377922B2 JPH0377922B2 (OSRAM) 1991-12-12

Family

ID=16304096

Family Applications (1)

Application Number Title Priority Date Filing Date
JP59193208A Granted JPS6171302A (ja) 1984-09-14 1984-09-14 ロボットハンド用近接センサ装置

Country Status (4)

Country Link
US (1) US4766322A (OSRAM)
EP (1) EP0236611B1 (OSRAM)
JP (1) JPS6171302A (OSRAM)
DE (1) DE3681729D1 (OSRAM)

Cited By (4)

* Cited by examiner, † Cited by third party
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KR20130012061A (ko) * 2011-07-22 2013-01-31 그리폴스, 에스.에이. 혈액 제품 백을 비우기 위한 장치
JP2018194500A (ja) * 2017-05-19 2018-12-06 日本精工株式会社 近接覚センサ
CN111558936A (zh) * 2019-09-18 2020-08-21 深圳市今天国际物流技术股份有限公司 多工位电池机械手控制方法、装置、存储介质和机械手
WO2023084883A1 (ja) * 2021-11-09 2023-05-19 パナソニックＩｐマネジメント株式会社 把持装置、検知プログラム、検知方法、衣類処理装置、及び衣類処理方法

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RU2191106C2 (ru) * 2000-07-03 2002-10-20 Институт автоматики и процессов управления Дальневосточного отделения РАН Устройство для управления движителем подводного робота
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JP3805310B2 (ja) * 2003-01-30 2006-08-02 ファナック株式会社 ワーク取出し装置
US20050091060A1 (en) * 2003-10-23 2005-04-28 Wing Thomas W. Hearing aid for increasing voice recognition through voice frequency downshift and/or voice substitution
RU2263021C1 (ru) * 2004-10-18 2005-10-27 Курский государственный технический университет Устройство для управления движением транспортного робота
RU2273559C1 (ru) * 2004-11-18 2006-04-10 Александр Алексеевич Бурба Устройство для выбора управляющих воздействий
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ES2306348T3 (es) * 2006-11-30 2008-11-01 Wafios Aktiengesellschaft Procedimiento y dispositivo para separar cuerpos en forma de barra.
US8789568B2 (en) * 2010-08-06 2014-07-29 First Solar, Inc. Tape detection system
JP5904475B2 (ja) * 2011-10-10 2016-04-13 ボルボ グループ ノース アメリカ，エルエルシー ごみ運搬車制御システム及びごみ運搬車を制御する方法
US9120233B2 (en) 2012-05-31 2015-09-01 Toyota Motor Engineering & Manufacturing North America, Inc. Non-contact optical distance and tactile sensing system and method
US9114963B2 (en) * 2013-02-26 2015-08-25 Cascade Corporation Clamping surface positioning system for mobile load-handling clamps
WO2015139716A1 (de) * 2014-03-17 2015-09-24 F&P Robotics Ag Greiferfinger, greiferspitze und greiferbacke, sowie ein robotersystem
KR102325282B1 (ko) * 2015-04-30 2021-11-11 에스케이하이닉스 주식회사 반도체 장치 제조 설비를 위한 로봇 제어 시스템 및 방법, 이를 위한 컴퓨터 프로그램
US10632617B2 (en) * 2015-09-18 2020-04-28 Sony Corporation Attachment apparatus, attachment method, and hand mechanism
EP3444081B1 (en) * 2016-04-12 2023-03-15 Fuji Corporation Working robot
JP3228266U (ja) * 2017-06-19 2020-10-22 ジョンルイ フーニン ロボティクス （シェンヤン） カンパニー リミテッド 人との社会的相互作用のための行為を実施するように構成されたロボット
JP7014114B2 (ja) * 2018-09-25 2022-02-01 オムロン株式会社 エンドエフェクタおよびエンドエフェクタ装置
JP2020049642A (ja) * 2018-09-28 2020-04-02 セイコーエプソン株式会社 制御装置、ロボットシステム、及びロボット
DE102019107851B4 (de) * 2019-03-27 2022-06-23 Franka Emika Gmbh Robotergreifer sowie Verfahren zum Betrieb eines Robotergreifers
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20130012061A (ko) * 2011-07-22 2013-01-31 그리폴스, 에스.에이. 혈액 제품 백을 비우기 위한 장치
JP2018194500A (ja) * 2017-05-19 2018-12-06 日本精工株式会社 近接覚センサ
CN111558936A (zh) * 2019-09-18 2020-08-21 深圳市今天国际物流技术股份有限公司 多工位电池机械手控制方法、装置、存储介质和机械手
CN111558936B (zh) * 2019-09-18 2024-04-19 深圳市今天国际物流技术股份有限公司 多工位电池机械手控制方法、装置、存储介质和机械手
WO2023084883A1 (ja) * 2021-11-09 2023-05-19 パナソニックＩｐマネジメント株式会社 把持装置、検知プログラム、検知方法、衣類処理装置、及び衣類処理方法

Also Published As

Publication number Publication date
JPH0377922B2 (OSRAM) 1991-12-12
EP0236611B1 (en) 1991-09-25
DE3681729D1 (de) 1991-10-31
EP0236611A1 (en) 1987-09-16
US4766322A (en) 1988-08-23

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