PL2669065T3 - Urządzenie chwytne, urządzenie przenoszące zawierające urządzenie chwytne, oraz sposób sterowania urządzeniem chwytnym - Google Patents

Urządzenie chwytne, urządzenie przenoszące zawierające urządzenie chwytne, oraz sposób sterowania urządzeniem chwytnym

Info

Publication number
PL2669065T3
PL2669065T3 PL11857070T PL11857070T PL2669065T3 PL 2669065 T3 PL2669065 T3 PL 2669065T3 PL 11857070 T PL11857070 T PL 11857070T PL 11857070 T PL11857070 T PL 11857070T PL 2669065 T3 PL2669065 T3 PL 2669065T3
Authority
PL
Poland
Prior art keywords
gripping device
same
controlling
transfer
gripping
Prior art date
Application number
PL11857070T
Other languages
English (en)
Inventor
Hirofumi Matsuoka
Original Assignee
Toyota Jidosha Kabushiki Kaisha
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 Toyota Jidosha Kabushiki Kaisha filed Critical Toyota Jidosha Kabushiki Kaisha
Publication of PL2669065T3 publication Critical patent/PL2669065T3/pl

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
    • B25J15/0023—Gripper surfaces directly activated by a fluid
    • 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
    • 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
    • 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
    • B25J15/0014—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
    • B25J15/0028—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
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
    • 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
    • B25J15/0071—Gripping heads and other end effectors with needles engaging into objects to be gripped
    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/27—Arm part
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/31—Gripping jaw

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
PL11857070T 2011-01-26 2011-12-29 Urządzenie chwytne, urządzenie przenoszące zawierające urządzenie chwytne, oraz sposób sterowania urządzeniem chwytnym PL2669065T3 (pl)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2011014598A JP2012152860A (ja) 2011-01-26 2011-01-26 把持装置およびその制御方法
PCT/JP2011/080531 WO2012101953A1 (ja) 2011-01-26 2011-12-29 把持装置およびそれを備える移載装置、並びに、把持装置の制御方法
EP11857070.4A EP2669065B1 (en) 2011-01-26 2011-12-29 Gripping device, transfer device with same, and method for controlling gripping device

Publications (1)

Publication Number Publication Date
PL2669065T3 true PL2669065T3 (pl) 2018-12-31

Family

ID=46580534

Family Applications (1)

Application Number Title Priority Date Filing Date
PL11857070T PL2669065T3 (pl) 2011-01-26 2011-12-29 Urządzenie chwytne, urządzenie przenoszące zawierające urządzenie chwytne, oraz sposób sterowania urządzeniem chwytnym

Country Status (7)

Country Link
US (1) US9067324B2 (pl)
EP (1) EP2669065B1 (pl)
JP (1) JP2012152860A (pl)
CN (1) CN103338902B (pl)
BR (1) BR112013018876B1 (pl)
PL (1) PL2669065T3 (pl)
WO (1) WO2012101953A1 (pl)

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JP6032054B2 (ja) * 2013-02-20 2016-11-24 トヨタ自動車株式会社 把持装置の当接部材
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CN108724237B (zh) * 2016-12-24 2021-10-29 宁波亿诺维信息技术有限公司 一种工业机器人
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CN109129489B (zh) * 2017-01-07 2021-11-26 汇韩科技(常州)有限公司 程控工业搬运机器人以及控制方法
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JP7122690B2 (ja) * 2017-07-28 2022-08-22 パナソニックＩｐマネジメント株式会社 ロボットハンド装置、ロボットハンドシステム及び保持方法
CN107813333B (zh) * 2017-09-05 2021-04-27 芜湖瑞思机器人有限公司 一种用于高速并联机器人的食品抓取机构
JP7014497B2 (ja) * 2017-10-12 2022-02-01 Thk株式会社 把持システム
JP6881268B2 (ja) * 2017-12-05 2021-06-02 トヨタ自動車株式会社 把持装置、把持判定方法および把持判定プログラム
JP7006404B2 (ja) * 2018-03-15 2022-01-24 トヨタ自動車株式会社 ワークの支持装置、支持方法及びロボットアーム
US10661446B2 (en) * 2018-04-06 2020-05-26 Aurora Flight Sciences Corporation Jamming grippers with stencil moldings
JP7035761B2 (ja) * 2018-04-24 2022-03-15 セイコーエプソン株式会社 移動体装置、ハンド、ロボットおよび移動体装置の制御方法
JP6853226B2 (ja) * 2018-09-11 2021-03-31 ファナック株式会社 ロボット用把持装置
CN111059107B (zh) * 2018-10-17 2024-10-22 杨斌堂 自适应夹持摆动体
JP7218538B2 (ja) * 2018-10-17 2023-02-07 京セラドキュメントソリューションズ株式会社 組立装置及び構造物製造方法
KR102317265B1 (ko) * 2018-11-02 2021-10-22 주식회사 엘지에너지솔루션 로봇 아암을 포함하는 로봇
JP7159951B2 (ja) * 2019-04-04 2022-10-25 株式会社ダイフク 物品把持装置
CN110757463B (zh) * 2019-11-20 2023-06-27 贵州大学 一种机械手抓取力度控制方法及装置
JP2021094656A (ja) * 2019-12-17 2021-06-24 ミネベアミツミ株式会社 把持装置
DE102019008939A1 (de) * 2019-12-22 2021-06-24 Franka Emika Gmbh Greifvorrichtung und Roboter sowie Steuerungsverfahren
CN111906808B (zh) * 2020-08-28 2021-11-09 上海海事大学 一种多自由度汽轮机自带冠叶片机械抓手装置
CN112091996B (zh) * 2020-08-31 2023-04-18 上海大学 一种基于颗粒塑形的仿生机器人夹持器
US11345050B2 (en) 2020-10-20 2022-05-31 Phd, Inc. Articulating gripper tooling
JP7532209B2 (ja) * 2020-10-29 2024-08-13 株式会社日立ビルシステム アンカー打設ツール及びそれを用いたアンカー打設工法並びにアンカー打設ユニット
CN112222925A (zh) * 2020-10-30 2021-01-15 广州云也科技有限公司 一种数控机床加工用工件进给装置
CN217288979U (zh) * 2021-01-28 2022-08-26 三赢科技（深圳）有限公司 清洗装置
CN113523802B (zh) * 2021-08-27 2024-08-23 重庆凯宝机器人股份有限公司 一种发动机箱盖装配总成以及控制方法
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TWI856899B (zh) * 2023-04-28 2024-09-21 台達電子工業股份有限公司 夾爪結構

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Also Published As

Publication number Publication date
US20130310980A1 (en) 2013-11-21
JP2012152860A (ja) 2012-08-16
CN103338902A (zh) 2013-10-02
EP2669065B1 (en) 2018-09-19
EP2669065A1 (en) 2013-12-04
EP2669065A4 (en) 2017-09-13
BR112013018876A2 (pt) 2017-07-04
BR112013018876B1 (pt) 2021-05-25
WO2012101953A1 (ja) 2012-08-02
US9067324B2 (en) 2015-06-30
CN103338902B (zh) 2016-08-10

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