JPWO2021025019A1 - - Google Patents

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Publication number
JPWO2021025019A1
JPWO2021025019A1 JP2021537321A JP2021537321A JPWO2021025019A1 JP WO2021025019 A1 JPWO2021025019 A1 JP WO2021025019A1 JP 2021537321 A JP2021537321 A JP 2021537321A JP 2021537321 A JP2021537321 A JP 2021537321A JP WO2021025019 A1 JPWO2021025019 A1 JP WO2021025019A1
Authority
JP
Japan
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
JP2021537321A
Other languages
Japanese (ja)
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JP7289916B2 (ja
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 filed Critical
Publication of JPWO2021025019A1 publication Critical patent/JPWO2021025019A1/ja
Priority to JP2023078586A priority Critical patent/JP7507284B2/ja
Application granted granted Critical
Publication of JP7289916B2 publication Critical patent/JP7289916B2/ja
Priority to JP2024078170A priority patent/JP7727046B2/ja
Priority to JP2025132325A priority patent/JP2025166091A/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
    • 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
    • B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
    • 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
    • B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
    • 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
    • B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
    • 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
    • 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
    • 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
    • B25J15/06—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
    • B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
    • 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
    • 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
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1653—Program controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • 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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • 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
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/025—Boxes
    • 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
    • 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)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
  • De-Stacking Of Articles (AREA)
  • Specific Conveyance Elements (AREA)
JP2021537321A 2019-08-05 2020-08-04 ロボットハンド、ロボット、ロボットシステム及び搬送方法 Active JP7289916B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2023078586A JP7507284B2 (ja) 2019-08-05 2023-05-11 ロボットハンド、ロボット及びロボットシステム
JP2024078170A JP7727046B2 (ja) 2019-08-05 2024-05-13 ロボットハンド、ロボット及びロボットシステム
JP2025132325A JP2025166091A (ja) 2019-08-05 2025-08-07 ロボット

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2019143711 2019-08-05
JP2019143711 2019-08-05
PCT/JP2020/029835 WO2021025019A1 (ja) 2019-08-05 2020-08-04 ロボットハンド、ロボット、ロボットシステム及び搬送方法

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2023078586A Division JP7507284B2 (ja) 2019-08-05 2023-05-11 ロボットハンド、ロボット及びロボットシステム

Publications (2)

Publication Number Publication Date
JPWO2021025019A1 true JPWO2021025019A1 (https=) 2021-02-11
JP7289916B2 JP7289916B2 (ja) 2023-06-12

Family

ID=74502706

Family Applications (4)

Application Number Title Priority Date Filing Date
JP2021537321A Active JP7289916B2 (ja) 2019-08-05 2020-08-04 ロボットハンド、ロボット、ロボットシステム及び搬送方法
JP2023078586A Active JP7507284B2 (ja) 2019-08-05 2023-05-11 ロボットハンド、ロボット及びロボットシステム
JP2024078170A Active JP7727046B2 (ja) 2019-08-05 2024-05-13 ロボットハンド、ロボット及びロボットシステム
JP2025132325A Pending JP2025166091A (ja) 2019-08-05 2025-08-07 ロボット

Family Applications After (3)

Application Number Title Priority Date Filing Date
JP2023078586A Active JP7507284B2 (ja) 2019-08-05 2023-05-11 ロボットハンド、ロボット及びロボットシステム
JP2024078170A Active JP7727046B2 (ja) 2019-08-05 2024-05-13 ロボットハンド、ロボット及びロボットシステム
JP2025132325A Pending JP2025166091A (ja) 2019-08-05 2025-08-07 ロボット

Country Status (6)

Country Link
US (1) US12589508B2 (https=)
EP (1) EP4011570A4 (https=)
JP (4) JP7289916B2 (https=)
KR (1) KR102631871B1 (https=)
CN (1) CN114245767B (https=)
WO (1) WO2021025019A1 (https=)

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CN110482268B (zh) * 2018-12-12 2024-07-19 广东天酿智能装备有限公司 装卸设备和货物装卸系统
JP7448372B2 (ja) * 2020-02-18 2024-03-12 株式会社東芝 保持装置、搬送システム、支持装置、載置方法、及び搬送方法
JP7466435B2 (ja) * 2020-11-24 2024-04-12 川崎重工業株式会社 ロボット及び物品寸法取得方法
WO2022268569A1 (en) * 2021-06-21 2022-12-29 Teknologisk Institut A robotic working tool and a robotic meat handling system for use in slaughterhouses
JP7840179B2 (ja) * 2022-03-04 2026-04-03 川崎重工業株式会社 ハンド
AT526215B1 (de) * 2022-06-08 2025-06-15 Tgw Logistics Group Gmbh Transfervorrichtung und Verfahren zum Handhaben von Packeinheiten
US20240017940A1 (en) * 2022-07-18 2024-01-18 Dexterity, Inc. Robotic gripper with support structure
CN115351814B (zh) * 2022-08-10 2025-11-14 北京计算机技术及应用研究所 一种移动立体收集存储设备
IT202200021810A1 (it) * 2022-10-21 2024-04-21 Tod System S R L S Robot mobile con dispositivo di presa
US20240227205A9 (en) * 2022-10-25 2024-07-11 Intelligrated Headquarters, Llc Logistics robotic system with adjustable multi-zone end effector
AU2023370526A1 (en) * 2022-10-26 2025-05-08 Fastbrick Ip Pty Ltd Control system for a robotic block laying machine
CN115783769A (zh) * 2022-11-30 2023-03-14 深圳市大族数控科技股份有限公司 搬运装置、加工设备及搬运装置的控制方法
CN119612165A (zh) * 2023-09-12 2025-03-14 星猿哲科技(上海)有限公司 用于装卸机器人的侧吸托底夹具及装卸机器人
CN116835193B (zh) * 2023-07-12 2024-03-19 南京威顶自动化科技有限公司 一种立库存取用智能机械手
DE102023120132A1 (de) * 2023-07-28 2025-01-30 J.Schmalz Gmbh Vorrichtung zum Handhaben von Gegenständen, Handhabungssystem, Verfahren zum Handhaben von Gegenständen
JP7649369B1 (ja) 2023-12-25 2025-03-19 株式会社クボタ 処理剤投入装置および処理剤投入方法
US20250282064A1 (en) * 2024-03-08 2025-09-11 Contoro Inc. Articulated Multi-Zone Robot End Effector Systems and Methods for High Moment Loads
JP2025152611A (ja) 2024-03-28 2025-10-10 川崎重工業株式会社 ハンド
CN118343504B (zh) * 2024-04-11 2025-05-16 麒麟电子（深圳）有限公司 一种玻璃基板下片导向机构
CN119036426A (zh) * 2024-09-09 2024-11-29 江苏乾艺蓝图智能科技有限公司 一种物流散件智能拣选机器人
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JPH07251937A (ja) * 1994-03-11 1995-10-03 Kawasaki Heavy Ind Ltd 荷の積み降ろし装置
JPH1087074A (ja) * 1996-09-17 1998-04-07 Okura Yusoki Co Ltd 移載荷物保持装置
JPH11123687A (ja) * 1997-10-22 1999-05-11 Tsubakimoto Chain Co 把持装置
JP2016055995A (ja) * 2014-09-10 2016-04-21 株式会社東芝 荷役装置及び把持装置

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Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0388624A (ja) * 1989-05-03 1991-04-15 Focke & Co Gmbh & Co 物体を基板から取り出すための運搬装置
JPH07251937A (ja) * 1994-03-11 1995-10-03 Kawasaki Heavy Ind Ltd 荷の積み降ろし装置
JPH1087074A (ja) * 1996-09-17 1998-04-07 Okura Yusoki Co Ltd 移載荷物保持装置
JPH11123687A (ja) * 1997-10-22 1999-05-11 Tsubakimoto Chain Co 把持装置
JP2016055995A (ja) * 2014-09-10 2016-04-21 株式会社東芝 荷役装置及び把持装置

Also Published As

Publication number Publication date
CN114245767B (zh) 2024-07-19
KR20220035976A (ko) 2022-03-22
JP2024109673A (ja) 2024-08-14
JP7507284B2 (ja) 2024-06-27
JP7727046B2 (ja) 2025-08-20
US20220288793A1 (en) 2022-09-15
WO2021025019A1 (ja) 2021-02-11
CN114245767A (zh) 2022-03-25
EP4011570A4 (en) 2023-08-23
EP4011570A1 (en) 2022-06-15
US12589508B2 (en) 2026-03-31
JP7289916B2 (ja) 2023-06-12
JP2023090980A (ja) 2023-06-29
JP2025166091A (ja) 2025-11-05
KR102631871B1 (ko) 2024-02-01

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