PT3134234T - Processo e instalação de preensão automática de um objecto - Google Patents

Processo e instalação de preensão automática de um objecto

Info

Publication number
PT3134234T
PT3134234T PT157257924T PT15725792T PT3134234T PT 3134234 T PT3134234 T PT 3134234T PT 157257924 T PT157257924 T PT 157257924T PT 15725792 T PT15725792 T PT 15725792T PT 3134234 T PT3134234 T PT 3134234T
Authority
PT
Portugal
Prior art keywords
facility
automatically gripping
gripping
automatically
Prior art date
Application number
PT157257924T
Other languages
English (en)
Inventor
Henry Hervé
Sella Florian
Bregier Romain
Original Assignee
Sileane
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 Sileane filed Critical Sileane
Publication of PT3134234T publication Critical patent/PT3134234T/pt

Links

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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • 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
    • B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme 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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme 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
    • 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
    • G05B2219/39473—Autonomous grasping, find, approach, grasp object, sensory motor coordination
    • 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
    • G05B2219/39536—Planning of hand motion, grasping
    • 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
    • G05B2219/39553—Dual gripper, two heads to pick up different 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40053—Pick 3-D object from pile of objects
PT157257924T 2014-04-25 2015-04-23 Processo e instalação de preensão automática de um objecto PT3134234T (pt)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1453725A FR3020303B1 (fr) 2014-04-25 2014-04-25 Procede et installation de prehension automatique d'un objet.

Publications (1)

Publication Number Publication Date
PT3134234T true PT3134234T (pt) 2018-05-25

Family

ID=51688139

Family Applications (1)

Application Number Title Priority Date Filing Date
PT157257924T PT3134234T (pt) 2014-04-25 2015-04-23 Processo e instalação de preensão automática de um objecto

Country Status (9)

Country Link
US (1) US20170050315A1 (pt)
EP (1) EP3134234B1 (pt)
JP (1) JP2017513727A (pt)
DK (1) DK3134234T3 (pt)
ES (1) ES2666793T3 (pt)
FR (1) FR3020303B1 (pt)
PL (1) PL3134234T3 (pt)
PT (1) PT3134234T (pt)
WO (1) WO2015162390A1 (pt)

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US10625432B2 (en) 2015-11-13 2020-04-21 Berkshire Grey, Inc. Processing systems and methods for providing processing of a variety of objects
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US9937532B2 (en) 2015-12-18 2018-04-10 Berkshire Grey Inc. Perception systems and methods for identifying and processing a variety of objects
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CA3117170C (en) 2016-02-08 2023-08-29 Berkshire Grey, Inc. Systems and methods for providing processing of a variety of objects employing motion planning
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EP3485369A4 (en) * 2016-07-18 2020-03-25 Lael Odhner ROBOTIC DRIVE MANIPULATORS
CN106421946A (zh) * 2016-10-11 2017-02-22 广西大学 多自由度自动化拔罐装置
ES2941985T3 (es) 2016-11-08 2023-05-29 Berkshire Grey Operating Company Inc Sistemas y métodos para procesar objetos
EP4299490A3 (en) 2016-11-28 2024-03-20 Berkshire Grey Operating Company, Inc. System for providing singulation of objects for processing
CA3155737C (en) 2016-12-06 2023-11-14 Berkshire Grey Operating Company, Inc. Systems and methods for providing for the processing of objects in vehicles
CA3139261A1 (en) 2016-12-09 2018-06-14 Berkshire Grey, Inc. Systems and methods for processing objects provided in vehicles
EP3592510B1 (en) 2017-03-06 2023-09-06 Berkshire Grey Operating Company, Inc. Systems and methods for efficiently moving a variety of objects
CA3061181C (en) 2017-04-24 2023-10-03 Berkshire Grey, Inc. Systems and methods for providing singulation of objects for processing using object movement redistribution
US11213952B2 (en) * 2017-04-26 2022-01-04 Nidec Corporation Articulated robot and articulated robot system
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WO2019094382A2 (en) 2017-11-07 2019-05-16 Berkshire Grey, Inc. Systems and methods for providing dynamic vacuum pressure at an end effector using a single vacuum source
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JP7073742B2 (ja) * 2018-01-25 2022-05-24 株式会社リコー 情報処理システム、ピッキング箇所特定方法及びプログラム
AT521112A1 (de) 2018-03-09 2019-10-15 Tgw Logistics Group Gmbh Robotersystem zum Greifen einer Ware in einem Lager- und Kommissioniersystem und Betriebsverfahren hierfür
US11865700B2 (en) 2018-07-27 2024-01-09 Berkshire Grey Operating Company, Inc. Systems and methods for efficiently exchanging end effector tools
JP7173148B2 (ja) * 2018-08-06 2022-11-16 株式会社島津製作所 クロマトグラフ用の試料容器搬送装置
CN109483534B (zh) * 2018-11-08 2022-08-02 腾讯科技（深圳）有限公司 一种物体抓取方法、装置和系统
US11691279B2 (en) 2019-04-25 2023-07-04 Berkshire Grey Operating Company, Inc. Systems and methods for maintaining vacuum hose life in hose routing systems in programmable motion systems
CA3150291A1 (en) 2019-08-08 2021-02-11 Berkshire Grey, Inc. Systems and methods for providing, in programmable motion devices, compliant end effectors with noise mitigation
JP2021146452A (ja) * 2020-03-19 2021-09-27 株式会社東芝 ハンドリング装置、制御装置、および制御プログラム
KR102218246B1 (ko) * 2020-06-30 2021-02-22 파워오토메이션 주식회사 하이브리드 이형부품 삽입로봇용 그리핑 시스템
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CN112775967A (zh) * 2020-12-30 2021-05-11 中南民族大学 基于机器视觉的机械臂抓取方法、装置及设备
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Also Published As

Publication number Publication date
EP3134234A1 (fr) 2017-03-01
FR3020303A1 (fr) 2015-10-30
JP2017513727A (ja) 2017-06-01
EP3134234B1 (fr) 2018-03-21
DK3134234T3 (en) 2018-04-30
FR3020303B1 (fr) 2016-07-15
PL3134234T3 (pl) 2018-08-31
ES2666793T3 (es) 2018-05-07
WO2015162390A1 (fr) 2015-10-29
US20170050315A1 (en) 2017-02-23

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