JPWO2023210677A1 - - Google Patents

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Publication number
JPWO2023210677A1
JPWO2023210677A1 JP2024517367A JP2024517367A JPWO2023210677A1 JP WO2023210677 A1 JPWO2023210677 A1 JP WO2023210677A1 JP 2024517367 A JP2024517367 A JP 2024517367A JP 2024517367 A JP2024517367 A JP 2024517367A JP WO2023210677 A1 JPWO2023210677 A1 JP WO2023210677A1
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
JP2024517367A
Other languages
Japanese (ja)
Other versions
JPWO2023210677A5 (https=
JP7834163B2 (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 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 true JPWO2023210677A1 (https=) 2023-11-02
JPWO2023210677A5 JPWO2023210677A5 (https=) 2025-01-06
JP7834163B2 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 (6)

* 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
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 (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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 (6)

* 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
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
JP7834163B2 (ja) 2026-03-23

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