TWI765247B - 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

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Publication number
TWI765247B
TWI765247B TW109112052A TW109112052A TWI765247B TW I765247 B TWI765247 B TW I765247B TW 109112052 A TW109112052 A TW 109112052A TW 109112052 A TW109112052 A TW 109112052A TW I765247 B TWI765247 B TW I765247B
Authority
TW
Taiwan
Prior art keywords
robot
conveyor
arm
insertion portion
article
Prior art date
Application number
TW109112052A
Other languages
English (en)
Chinese (zh)
Other versions
TW202043129A (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 TW202043129A publication Critical patent/TW202043129A/zh
Application granted granted Critical
Publication of TWI765247B publication Critical patent/TWI765247B/zh

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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
    • B25J15/0014—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
    • 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
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/06—Program-controlled manipulators characterised by multi-articulated arms
    • 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
    • B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
    • B65G23/22—Arrangements or mountings of driving motors
    • 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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • 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
    • B65G57/11—Stacking of articles by adding to the top of the stack the articles being stacked by direct action of the feeding conveyor
    • B65G57/112—Stacking of articles by adding to the top of the stack the articles being stacked by direct action of the feeding conveyor the conveyor being adjustable in height
    • 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
    • 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)
  • Stacking Of Articles And Auxiliary Devices (AREA)
  • De-Stacking Of Articles (AREA)
TW109112052A 2019-04-09 2020-04-09 機器人手、機器人及機器人系統 TWI765247B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JPJP2019-074449 2019-04-09
JP2019074449A JP7220116B2 (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
TW202043129A TW202043129A (zh) 2020-12-01
TWI765247B true TWI765247B (zh) 2022-05-21

Family

ID=72750733

Family Applications (1)

Application Number Title Priority Date Filing Date
TW109112052A TWI765247B (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) JP7220116B2 (fr)
KR (1) KR20210149156A (fr)
CN (1) CN113573996B (fr)
TW (1) TWI765247B (fr)
WO (1) WO2020209335A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7501313B2 (ja) * 2020-11-05 2024-06-18 株式会社豊田自動織機 荷物積付装置
CN113816137A (zh) * 2021-11-19 2021-12-21 佛山隆深机器人有限公司 一种基于机械臂的箱体分拣运输装置及控制方法

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012024886A (ja) * 2010-07-23 2012-02-09 Sharp Corp 位置および姿勢の補正機構
JP2014124741A (ja) * 2012-12-27 2014-07-07 Seiko Epson Corp エンドエフェクター
CN107140584A (zh) * 2017-05-23 2017-09-08 安徽宇锋仓储设备有限公司 叉车货叉架
US20180117775A1 (en) * 2016-11-01 2018-05-03 The Boeing Company Robot end effectors that carry objects
TWI706839B (zh) * 2018-08-23 2020-10-11 日商川崎重工業股份有限公司 機器人手、機器人及機器人系統
TWI706846B (zh) * 2018-08-23 2020-10-11 日商川崎重工業股份有限公司 機器人及具備其之機器人系統

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JPS611391U (ja) * 1984-06-06 1986-01-07 富士通株式会社 ロボツトフインガ−
DE3914596C2 (de) * 1989-05-03 1996-12-05 Focke & Co Verfahren und Fördervorrichtung zum Abnehmen von Gegenständen von einer Unterlage
EP0462518B1 (fr) * 1990-06-20 1995-09-27 Digitron AG Procédé et dispositif pour enlever et/ou déposer des articles sous la forme de paquets
WO1993010028A1 (fr) * 1991-11-21 1993-05-27 United Parcel Service Of America, Inc. Procede et appareil pour chargement et dechargement mecanises
JPH0815939B2 (ja) * 1992-09-09 1996-02-21 村田機械株式会社 ピッキングロボット
JPH10120187A (ja) * 1996-10-23 1998-05-12 Murata Mach Ltd 物品取上げ装置
JP3443398B2 (ja) * 2000-11-08 2003-09-02 川崎重工業株式会社 反転積み重ね装置
JP3550541B2 (ja) 2000-12-05 2004-08-04 信越エンジニアリング株式会社 粘着物の移載装置
JP2006026869A (ja) * 2004-07-21 2006-02-02 Ricoh Co Ltd 把持装置
JP4771358B2 (ja) * 2005-02-15 2011-09-14 ヤマハ発動機株式会社 ワーク取出装置
JP2007252469A (ja) * 2006-03-22 2007-10-04 Matsushita Electric Ind Co Ltd 支持装置およびそれを用いた介護ロボット装置
ZA200901621B (en) * 2007-01-04 2010-07-28 Bm Battery Machines Gmbh Device for separating plate-like objects
JP5566658B2 (ja) * 2009-10-23 2014-08-06 日本パレットレンタル株式会社 パレット搬送装置
JP5820260B2 (ja) * 2011-12-15 2015-11-24 アサヒビール株式会社 バッチシート給紙装置
JP5717797B2 (ja) * 2013-06-26 2015-05-13 ファナック株式会社 物品を搬送するためのロボットハンド、ロボットハンドを備えたロボットおよびロボットシステム、ならびにロボットハンドの制御方法
WO2015132033A1 (fr) * 2014-03-04 2015-09-11 Toppy S.R.L. Dispositif d'introduction de bande
JP6386972B2 (ja) * 2015-05-26 2018-09-05 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移送方法
JP6848269B2 (ja) * 2016-09-01 2021-03-24 アイシン精機株式会社 パレタイジング装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012024886A (ja) * 2010-07-23 2012-02-09 Sharp Corp 位置および姿勢の補正機構
JP2014124741A (ja) * 2012-12-27 2014-07-07 Seiko Epson Corp エンドエフェクター
US20180117775A1 (en) * 2016-11-01 2018-05-03 The Boeing Company Robot end effectors that carry objects
CN107140584A (zh) * 2017-05-23 2017-09-08 安徽宇锋仓储设备有限公司 叉车货叉架
TWI706839B (zh) * 2018-08-23 2020-10-11 日商川崎重工業股份有限公司 機器人手、機器人及機器人系統
TWI706846B (zh) * 2018-08-23 2020-10-11 日商川崎重工業股份有限公司 機器人及具備其之機器人系統

Also Published As

Publication number Publication date
CN113573996A (zh) 2021-10-29
JP7220116B2 (ja) 2023-02-09
JP2020171983A (ja) 2020-10-22
TW202043129A (zh) 2020-12-01
CN113573996B (zh) 2024-02-23
WO2020209335A1 (fr) 2020-10-15
KR20210149156A (ko) 2021-12-08

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