ES2128391T3 - Robots de transporte y posicionamiento. - Google Patents

Robots de transporte y posicionamiento.

Info

Publication number
ES2128391T3
ES2128391T3 ES93302364T ES93302364T ES2128391T3 ES 2128391 T3 ES2128391 T3 ES 2128391T3 ES 93302364 T ES93302364 T ES 93302364T ES 93302364 T ES93302364 T ES 93302364T ES 2128391 T3 ES2128391 T3 ES 2128391T3
Authority
ES
Spain
Prior art keywords
suction
control
transport
robot
relation
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.)
Expired - Lifetime
Application number
ES93302364T
Other languages
English (en)
Inventor
Nobuyoshi Suzuki
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.)
Heian Corp
Original Assignee
Heian 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 Heian Corp filed Critical Heian Corp
Application granted granted Critical
Publication of ES2128391T3 publication Critical patent/ES2128391T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • B25J15/06—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
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

UN ROBOT TIENE UN BRAZO DE TRABAJO (1) QUE LLEVA UNA BASE (5) QUE ELLA MISMA LLEVA UNAS BARRAS DE SOPORTE (10) Y UNAS VENTOSAS DE SUCCION (11). PARA MEJORAR EL POSICIONAMIENTO DE UN OBJETO (20) TRANSPORTADO POR EL ROBOT, PUEDE DISPONERSE UN MIEMBRO DE CONEXION GIRATORIO (2) ASI COMO UN PRIMER MIEMBRO (3) Y UN SEGUNDO MIEMBRO (4). EL SEGUNDO MIEMBRO (4) PUEDE MOVERSE EN UNA PRIMERA DIRECCION CON RELACION AL PRIMER MIEMBRO (3) BAJO EL CONTROL DE UN PRIMER MEDIO DE CONTROL TAL COMO UN CILINDRO (6), Y LA BASE (5) SE MUEVE CON RELACION AL SEGUNDO MIEMBRO (4) EN UNA SEGUNDA DIRECCION SUBSTANCIALMENTE PERPENDICULAR A LA PRIMERA DIRECCION BAJO EL CONTROL DE UN SEGUNDO MEDIO DE CONTROL TAL COMO UN CILINDRO (8). PARA PERMITIR QUE SE TRANSPORTEN OBJETOS DE TAMAÑOS DIFERENTES Y OBJETOS DESCOLOCADOS SIN MALGASTAR LA SUCCION, CADA UNA DE LAS VENTOSAS DE SUCCION (11) PUEDE INCLUIR UNA VALVULA DE BOLA (8) QUE PUEDE MOVERSE DENTRO DE UNA CAMARA DE VALVULA (15) PARA CERRAR UN ORIFICIO DE CONEXION PRINCIPAL (16), PERO NO UN ORIFICIO DE CONEXION MENOR (17), CUANDO NO ESTA PRESENTE NINGUN OBJETO (20). LA VENTOSA DE SUCCION PUEDE TENER UNA BOCA DEFINIDA POR UN MIEMBRO BLANDO QUE SEA ELASTICAMENTE RESTAURABLE A SU ESTADO ORIGINAL DESPUES DE SU DEFORMACION PARA PERMITIR QUE SE APLICA LA SUCCION A SUPERFICIES DESIGUALES.
ES93302364T 1993-03-25 1993-03-26 Robots de transporte y posicionamiento. Expired - Lifetime ES2128391T3 (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US08/036,670 US5409347A (en) 1993-03-25 1993-03-25 Carrying and positioning robot
EP93302364A EP0616875B1 (en) 1993-03-25 1993-03-26 Carrying and positioning robots

Publications (1)

Publication Number Publication Date
ES2128391T3 true ES2128391T3 (es) 1999-05-16

Family

ID=26134236

Family Applications (1)

Application Number Title Priority Date Filing Date
ES93302364T Expired - Lifetime ES2128391T3 (es) 1993-03-25 1993-03-26 Robots de transporte y posicionamiento.

Country Status (4)

Country Link
US (1) US5409347A (es)
EP (1) EP0616875B1 (es)
DE (1) DE69323061T2 (es)
ES (1) ES2128391T3 (es)

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SE506603C2 (sv) * 1996-05-24 1998-01-19 Tepro Machine & Pac System Ab Apparat med vakuumkammare för lyftning och förflyttning av föremål
US5970688A (en) * 1998-01-28 1999-10-26 Ethicon, Inc. Apparatus for opening pouches for insertion of objects thereinto
WO2000049382A2 (en) * 1999-02-16 2000-08-24 The Perkin-Elmer Corporation Bead dispensing system
US6538544B1 (en) * 2000-06-26 2003-03-25 Industrial Magnetics, Inc. Pneumatically actuated magnetic workpiece holder
DE20112634U1 (de) 2001-07-31 2001-11-15 FESTO AG & Co., 73734 Esslingen Positioniereinrichtung für Gegenstände, insbesondere für pneumatische Handhabungsvorrichtungen
ES2325925T3 (es) 2004-07-09 2009-09-24 Predell Vacuum Aps Dispositivo de elevacion.
DE102005003780B3 (de) * 2005-01-27 2006-08-03 Firma VÖNE Schranksysteme aus Metall Anton Vögel GmbH & Co. KG Saug- und/oder Magnetgreifer für eine Handhabungsvorrichtung und damit verbundene Anordnung und Handhabungsverfahren
US20070258862A1 (en) * 2006-05-02 2007-11-08 Applera Corporation Variable volume dispenser and method
US8534630B2 (en) 2011-12-07 2013-09-17 Toyota Motor Engineering & Manufacturing North America, Inc. Vehicle hood opening and closing devices and methods for opening vehicle hoods
CN103072822B (zh) * 2012-09-05 2015-06-03 王伟光 一种多适应性海绵吸盘系统及其吸附工件的方法
US9700976B2 (en) 2013-02-15 2017-07-11 GM Global Technology Operations LLC Reconfigurable interface assembly, adaptable assembly line work-piece processor, and method
DE102014202257B4 (de) * 2013-02-15 2025-09-18 Gm Global Technology Operations, Llc Rekonfigurierbare Schnittstellenanordnung, anpassbarer Fliessband-Werkstückbearbeiter und Verfahren
KR20160007005A (ko) * 2014-07-10 2016-01-20 삼성전자주식회사 이송 장치용 패드와 이를 포함하는 대상물 이송 장치, 및 대상물 이송 방법
CN104400782B (zh) * 2014-09-29 2016-05-25 格兰达技术（深圳）有限公司 用于小块规则物料精准抓放的开合式机械手
DE102016002489A1 (de) * 2016-03-03 2017-09-07 GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) Handhabungseinrichtung für eine Robotervorrichtung, Montagestation mit der Handhabungseinrichtung und Verfahren zur Montage einer Fahrzeugscheibe an einem Karosserieabschnitt mit der Handhabungseinrichtung
US9649770B1 (en) 2016-03-28 2017-05-16 Hiwin Technologies Corp. Magnetic holding device with movable magnetic shielding device
CN106393087A (zh) * 2016-06-30 2017-02-15 泰马克精密铸造（苏州）有限公司 机械手的翻转机构
US11214437B1 (en) 2017-09-13 2022-01-04 AI Incorporated Autonomous mobile robotic device for the transportation of items
CN107515483A (zh) * 2017-09-26 2017-12-26 京东方科技集团股份有限公司 吸附装置及其吸附测试方法、吸附测试系统
US11086314B1 (en) 2018-01-09 2021-08-10 AI Incorporated Autonomous signal boosting robotic device
DE102018111810A1 (de) * 2018-05-16 2019-11-21 Homag Plattenaufteiltechnik Gmbh Handhabungseinrichtung zum Handhaben eines plattenförmigen Werkstücks, Plattenbearbeitungsanlage, Verfahren zum Betreiben einer Handhabungseinrichtung, sowie Steuer- und/oder Regeleinrichtung
CN108443538A (zh) * 2018-06-13 2018-08-24 深圳市鼎达信装备有限公司 真空吸附装置及其吸气控制阀
CN110654860A (zh) * 2019-08-29 2020-01-07 芜湖瑞思机器人有限公司 一种机器人末端抓瓶装置
CN113276155A (zh) * 2021-04-22 2021-08-20 上海扩博智能技术有限公司 吸附装置及用于贴板材的机器人
IT202200020901A1 (it) * 2022-10-11 2024-04-11 Scm Group Spa Macchina robotizzata e dispositivo manipolatore.

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US4411574A (en) * 1981-07-13 1983-10-25 Diamond Automations, Inc. Egg transfer head
JPS597032A (ja) * 1982-07-06 1984-01-14 Mitsubishi Heavy Ind Ltd 生タイヤの供給装置
US4595334A (en) * 1984-01-18 1986-06-17 International Business Machines Corporation Robotic apparatus with improved positioning accuracy
GB2168029B (en) * 1984-12-04 1988-02-17 Nat Res Dev Alignment devices
JPS61279490A (ja) * 1985-06-05 1986-12-10 キヤノン株式会社 ロボツトハンドのコンプライアンス装置
US4778329A (en) * 1986-03-21 1988-10-18 General Motors Corporation Robot with floating XY plane arm
US4651659A (en) * 1986-05-30 1987-03-24 The Charles Stark Draper Laboratory, Inc. Apparatus for controlling the shape of a flexible spline
GB2191467B (en) * 1986-06-09 1989-12-20 Teradyne Inc Compliant link
US4749219A (en) * 1986-10-30 1988-06-07 Tek-Matik, Inc. Vacuum lift assembly
US4852926A (en) * 1988-01-11 1989-08-01 Littell Edmund R Vacuum cup construction
US4946335A (en) * 1988-08-17 1990-08-07 Winborne Company, Ltd. Suction lifting device
US4887351A (en) * 1988-09-09 1989-12-19 Universal Instruments Corporation Pick and place nozzle with concentric grooves
JPH02116488A (ja) * 1988-10-21 1990-05-01 Tokin Corp 吸着ヘッド及びワーク吸着装置
DE3923672A1 (de) * 1988-10-28 1990-05-03 Festo Kg Handhabungsvorrichtung zum greifen, halten, bewegen od. dgl. handhaben von gegenstaenden

Also Published As

Publication number Publication date
DE69323061D1 (de) 1999-02-25
EP0616875A1 (en) 1994-09-28
EP0616875B1 (en) 1999-01-13
DE69323061T2 (de) 1999-11-11
US5409347A (en) 1995-04-25

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