TWI736216B - 機器人手、機器人及機器人系統 - Google Patents

機器人手、機器人及機器人系統 Download PDF

Info

Publication number
TWI736216B
TWI736216B TW109112049A TW109112049A TWI736216B TW I736216 B TWI736216 B TW I736216B TW 109112049 A TW109112049 A TW 109112049A TW 109112049 A TW109112049 A TW 109112049A TW I736216 B TWI736216 B TW I736216B
Authority
TW
Taiwan
Prior art keywords
robot
claw
robot hand
article
arm
Prior art date
Application number
TW109112049A
Other languages
English (en)
Chinese (zh)
Other versions
TW202042990A (zh
Inventor
東健太郎
石崎敬之
吉田将崇
岡光信
鎌田智志
Original Assignee
日商川崎重工業股份有限公司
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 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 TW202042990A publication Critical patent/TW202042990A/zh
Application granted granted Critical
Publication of TWI736216B publication Critical patent/TWI736216B/zh

Links

Images

Classifications

    • 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
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • 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
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • 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
    • 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
    • B65G47/904—Devices for picking-up and depositing articles or materials provided 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
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/03—Stacking of articles by adding to the top of the stack from above
    • 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
    • B65G59/00—De-stacking of articles
    • B65G59/02—De-stacking from the top of the stack
    • 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
    • B65G59/00—De-stacking of articles
    • B65G59/02—De-stacking from the top of the stack
    • B65G59/023—De-stacking from the top of the stack by means insertable between the stacked articles or layers
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • 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
    • B65G2814/00—Indexing codes relating to loading or unloading articles or bulk materials
    • B65G2814/03—Loading or unloading means
    • B65G2814/0301—General arrangements
    • B65G2814/0304—Stacking devices
    • B65G2814/0305—Adding to the top
    • 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
    • B65G2814/00—Indexing codes relating to loading or unloading articles or bulk materials
    • B65G2814/03—Loading or unloading means
    • B65G2814/0301—General arrangements
    • B65G2814/0308—Destacking devices
    • B65G2814/031—Removing from the top

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • De-Stacking Of Articles (AREA)
  • Specific Conveyance Elements (AREA)
TW109112049A 2019-04-09 2020-04-09 機器人手、機器人及機器人系統 TWI736216B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JPJP2019-074447 2019-04-09
JP2019074447A JP7261069B2 (ja) 2019-04-09 2019-04-09 ロボットハンド、ロボット及びロボットシステム

Publications (2)

Publication Number Publication Date
TW202042990A TW202042990A (zh) 2020-12-01
TWI736216B true TWI736216B (zh) 2021-08-11

Family

ID=72751263

Family Applications (1)

Application Number Title Priority Date Filing Date
TW109112049A TWI736216B (zh) 2019-04-09 2020-04-09 機器人手、機器人及機器人系統

Country Status (5)

Country Link
JP (1) JP7261069B2 (ja)
KR (1) KR102662077B1 (ja)
CN (1) CN113661138B (ja)
TW (1) TWI736216B (ja)
WO (1) WO2020209333A1 (ja)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI802224B (zh) * 2022-01-14 2023-05-11 國立臺北科技大學 使用音圈馬達的法蘭裝置及其接觸控制方法

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7513500B2 (ja) * 2020-11-10 2024-07-09 オークラ輸送機株式会社 ハンド装置、物品移送装置および物品取出方法
JP7466435B2 (ja) * 2020-11-24 2024-04-12 川崎重工業株式会社 ロボット及び物品寸法取得方法
EP4026662A1 (en) * 2021-01-11 2022-07-13 Robotautomation Svenska AB Object transfer device and a robot system including the object transfer device
JP2022142300A (ja) * 2021-03-16 2022-09-30 株式会社東芝 荷役装置用の把持装置、及び、荷役装置
JP6944227B1 (ja) * 2021-03-26 2021-10-06 株式会社ＲｏｂｏＳａｐｉｅｎｓ 突出型リニアアクチュエータ、ロボットアーム及び輸送ロボット
CN116040197B (zh) * 2022-12-29 2025-12-09 华南农业大学 一种用于多包裹装卸的传送带型末端执行器
CN117163649B (zh) * 2023-09-28 2025-12-12 北京配天技术有限公司 一种压叶装置
GB202314987D0 (en) * 2023-09-29 2023-11-15 Ocado Innovation Ltd De-palletiser and palletiser
CN118544380B (zh) * 2024-07-24 2024-10-25 广东若贝特智能机器人科技有限公司 一种协作机器人用末端夹持装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070280812A1 (en) * 2006-05-17 2007-12-06 Axium Inc. Tool and method for mixed palletizing/depalletizing
WO2015132720A1 (en) * 2014-03-04 2015-09-11 Sir S.P.A. Gripper with movable jaw and suction device
WO2017060597A1 (fr) * 2015-10-06 2017-04-13 Sapelem Procede et dispositif de manipulation de charge, appele colis
JP2018047544A (ja) * 2015-11-13 2018-03-29 株式会社東芝 搬送装置および搬送方法

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2605824Y2 (ja) * 1993-09-14 2000-08-21 エヌオーケー株式会社 トルク伝達装置
JPH07251942A (ja) * 1994-03-15 1995-10-03 Mitsubishi Electric Corp 荷扱い装置
JPH1025029A (ja) 1996-07-05 1998-01-27 Ishikawajima Harima Heavy Ind Co Ltd 移載ロボット用ロボットハンド
CN201432811Y (zh) * 2009-03-10 2010-03-31 广东一鼎科技有限公司 墙地砖自动装箱生产线的上砖机构
DE102015116720B4 (de) * 2015-10-01 2019-03-07 Deutsche Post Ag Verfahren und Vorrichtung zum Fördern von Stückgütern von einem Stapel oder Haufen
CN106976717A (zh) * 2016-01-18 2017-07-25 刘文化 一种机器人抓取整体物料的系统
CN206691998U (zh) * 2017-03-24 2017-12-01 石狮市巨灵机械科技有限公司 一种自动码垛机
JP7068113B2 (ja) * 2018-09-11 2022-05-16 株式会社東芝 搬送装置、搬送システム及び搬送方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070280812A1 (en) * 2006-05-17 2007-12-06 Axium Inc. Tool and method for mixed palletizing/depalletizing
WO2015132720A1 (en) * 2014-03-04 2015-09-11 Sir S.P.A. Gripper with movable jaw and suction device
WO2017060597A1 (fr) * 2015-10-06 2017-04-13 Sapelem Procede et dispositif de manipulation de charge, appele colis
JP2018047544A (ja) * 2015-11-13 2018-03-29 株式会社東芝 搬送装置および搬送方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI802224B (zh) * 2022-01-14 2023-05-11 國立臺北科技大學 使用音圈馬達的法蘭裝置及其接觸控制方法

Also Published As

Publication number Publication date
WO2020209333A1 (ja) 2020-10-15
JP2020172358A (ja) 2020-10-22
KR20210149798A (ko) 2021-12-09
TW202042990A (zh) 2020-12-01
CN113661138B (zh) 2023-10-13
JP7261069B2 (ja) 2023-04-19
KR102662077B1 (ko) 2024-05-07
CN113661138A (zh) 2021-11-16

Similar Documents

Publication Publication Date Title
TW202042990A (zh) 機器人手、機器人及機器人系統
CN113544069B (zh) 机器人手、机器人以及机器人系统
CN110497401B (zh) 取出散装的工件的机器人系统以及机器人系统的控制方法
CN110465960B (zh) 具有物件丢失管理机制的机器人系统
TWI794989B (zh) 基於速度控制的機器人系統、控制一機器人系統之方法、及體現於一非暫時性電腦可讀媒體之電腦程式產品
CN107921620B (zh) 远程操作机器人系统
US20140277694A1 (en) Robot system and method for producing to-be-processed material
JP2020040132A (ja) ハンド制御装置
CN111085993B (zh) 与人进行协同作业的机器人系统以及机器人控制方法
CN106927079A (zh) 一种基于机器视觉的工业雷管抓取和装箱系统及方法
JP2011167815A (ja) 物体認識ロボットシステム
US11400583B2 (en) Robot
CN107791245A (zh) 机器人控制装置、机器人以及机器人系统
JP5618067B2 (ja) バラ積みピッキング装置および方法
CN113573996B (zh) 机器人手、机器人以及机器人系统
CN204868885U (zh) 用于操控工件的机器人系统
JP6314431B2 (ja) ロボットシステム、制御装置、ロボット、及び駆動方法