TWI738572B - 機器人系統及其運轉方法 - Google Patents

機器人系統及其運轉方法 Download PDF

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Publication number
TWI738572B
TWI738572B TW109140710A TW109140710A TWI738572B TW I738572 B TWI738572 B TW I738572B TW 109140710 A TW109140710 A TW 109140710A TW 109140710 A TW109140710 A TW 109140710A TW I738572 B TWI738572 B TW I738572B
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TW
Taiwan
Prior art keywords
hand
arm
robot system
robot
engaged
Prior art date
Application number
TW109140710A
Other languages
English (en)
Chinese (zh)
Other versions
TW202126447A (zh
Inventor
橋本猛
平田和範
辻森俊行
Original Assignee
日商川崎重工業股份有限公司
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Publication date
Application filed by 日商川崎重工業股份有限公司 filed Critical 日商川崎重工業股份有限公司
Publication of TW202126447A publication Critical patent/TW202126447A/zh
Application granted granted Critical
Publication of TWI738572B publication Critical patent/TWI738572B/zh

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    • 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
    • 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
    • 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
    • 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
    • B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
TW109140710A 2019-11-20 2020-11-20 機器人系統及其運轉方法 TWI738572B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019209743A JP7278198B2 (ja) 2019-11-20 2019-11-20 ロボットシステム及びその運転方法
JPJP2019-209743 2019-11-20

Publications (2)

Publication Number Publication Date
TW202126447A TW202126447A (zh) 2021-07-16
TWI738572B true TWI738572B (zh) 2021-09-01

Family

ID=75963260

Family Applications (1)

Application Number Title Priority Date Filing Date
TW109140710A TWI738572B (zh) 2019-11-20 2020-11-20 機器人系統及其運轉方法

Country Status (6)

Country Link
US (1) US12195287B2 (https=)
JP (1) JP7278198B2 (https=)
CN (1) CN114761186B (https=)
DE (1) DE112020005682B4 (https=)
TW (1) TWI738572B (https=)
WO (1) WO2021100845A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20230051377A (ko) * 2021-10-08 2023-04-18 삼성전자주식회사 기판 이송 장치 및 이를 이용한 기판 이송 방법

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015039768A (ja) * 2013-08-20 2015-03-02 大森機械工業株式会社 集積装置
US9821456B2 (en) * 2013-10-15 2017-11-21 Kuka Roboter Gmbh Method for the manipulation of objects by means of at least two industrial robots, and associated industrial robot
CN207930664U (zh) * 2018-03-12 2018-10-02 重庆交通大学 一种双臂式搬运机械手
CN110193846A (zh) * 2018-02-26 2019-09-03 发那科株式会社 机器人手、机器人以及机器人手的手宽度调整方法

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3610673A (en) 1969-10-20 1971-10-05 Svenska Cellulosa Ab Arrangement for handling objects
JPH07102844B2 (ja) 1993-05-12 1995-11-08 東洋水産株式会社 自動箱詰め装置
JP3577028B2 (ja) 2001-11-07 2004-10-13 川崎重工業株式会社 ロボットの協調制御システム
US20050005513A1 (en) 2003-06-30 2005-01-13 Smithers-Oasis Floral display system
DE102004012592B4 (de) 2004-03-12 2006-03-09 Daimlerchrysler Ag Verfahren zum lagegenauen Positionieren von Bauteilen und hierzu geeignete Positioniervorrichtung
CZ309347B6 (cs) 2012-07-11 2022-09-14 České vysoké učení technické v Praze Způsob určení polohy středu obráběcího nástroje uchyceného v kooperující úchopné hlavici a tato hlavice
CN103707311B (zh) * 2013-12-23 2015-08-05 苏州博众精工科技有限公司 一种可变节距伸缩夹爪
CN105459087B (zh) * 2015-12-30 2017-10-31 苏州澳昆智能机器人技术有限公司 变距柔性机器人工夹具
JP6838895B2 (ja) * 2016-07-05 2021-03-03 川崎重工業株式会社 ワーク搬送装置およびその運転方法
JP6789728B2 (ja) * 2016-08-31 2020-11-25 川崎重工業株式会社 ロボット及びその運転方法
JP2019000927A (ja) 2017-06-13 2019-01-10 株式会社豊田自動織機 部品位置決め装置及びロボット装置
CN108890668A (zh) * 2018-06-13 2018-11-27 天津大学 一种可伸缩和旋转的末端执行器

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015039768A (ja) * 2013-08-20 2015-03-02 大森機械工業株式会社 集積装置
US9821456B2 (en) * 2013-10-15 2017-11-21 Kuka Roboter Gmbh Method for the manipulation of objects by means of at least two industrial robots, and associated industrial robot
CN110193846A (zh) * 2018-02-26 2019-09-03 发那科株式会社 机器人手、机器人以及机器人手的手宽度调整方法
CN207930664U (zh) * 2018-03-12 2018-10-02 重庆交通大学 一种双臂式搬运机械手

Also Published As

Publication number Publication date
JP2021079496A (ja) 2021-05-27
CN114761186A (zh) 2022-07-15
JP7278198B2 (ja) 2023-05-19
DE112020005682T5 (de) 2022-09-15
CN114761186B (zh) 2023-08-15
US20220396437A1 (en) 2022-12-15
US12195287B2 (en) 2025-01-14
WO2021100845A1 (ja) 2021-05-27
DE112020005682B4 (de) 2024-04-25
TW202126447A (zh) 2021-07-16

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