• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    LOCKING DEVICE, TRANSFER DEVICE WITH THE SAME, AND METHOD FOR CONTROLLING THE LOCKING DEVICE. The present invention relates to a locking device comprising: a locking unit for locking a work; a controller for controlling the locking operation of the locking unit; and contact sections attached to the locking unit coming into contact with the work, the contact sections being adapted to deform following the shape of the work, and to maintain the deformation. The locking operation of the locking unit presses the contact sections against the work so as to make the contact sections follow the outside of the work, and grip the work with the shape of the contact sections maintained. After a predetermined number of times of the locking operation, the controller changes the positions of the contact points of the work contact sections when the work is locked. As a result, different jobs having different shapes can be locked in with stability and the lifetime of the contact sections can be extended to be longer than that of conventional products. The controller change the positions of the points in the work, with (...).
    公开号:BR112013018876B1
    申请号:R112013018876-6
    申请日:2011-12-29
    公开日:2021-05-25
    发明作者:Hirofumi Matsuoka
    申请人:Toyota Jidosha Kabushiki Kaisha；
    IPC主号:
    专利说明:

    Technical Field
    [001] The present invention relates to a locking device, a transfer device with the locking device and a method for controlling a locking device. Background of the technique
    [002] Conventionally, if a locking device for locking jobs is used to lock multiple jobs having different shapes from each other, the contact sections of the locking device that come into direct contact with the jobs must be changed corresponding to the shape of the work to be done. Thus, it is desirable for the locking device to be able to flexibly handle various jobs having different shapes from each other.
    [003] For example, JP 2008-528408 A or JP H09-123082 A describe such a locking device that can lock various jobs having different shapes from each other.
    [004] The locking device of JP 2008-528408 A or JP H09-123082 A is provided with the contact sections including flexible bags containing a large number of particulate substances. Vacuum pump or similar is used to evacuate the inside of the bags or to release the vacuum, whereby the shape of the contact sections can be changed corresponding to the working shape.
    [005] The locking operation of the locking device causes the contact sections to come into contact with the work in order to change the shape of the contact sections following the shape of the work, after which the flexible bags are evacuated. In this way, a large amount of particulate substance is anchored with each other, and the shapes of the contact sections are kept corresponding to that of the work. By releasing the vacuum from the flexible bags, the shapes of the contact sections return to the flexible state.
    [006] The document JP1997123082A proposes an invention that tries to stably lock an article with various external diametric shapes. In an article locking device where the locking parts are oppositely disposed on support members and an article is "sandwiched" and locked by these locking parts, the locking parts contain a large number of granular materials in a film flexible casing, and are constituted so that the interior can be maintained in a reduced pressure or reduced pressure release condition by the action of a vacuum pump and a directional control valve.
    [007] The document US20100054903A1 also discloses a locking device according to the preamble of claim 1 and a method for controlling a locking device according to the preamble of claim 6. List of quotes patent literature
    [008] PTL 1: JP 2008-528408 A
    [009] PTL 2: JP H09-123082 A Invention Summary Technical problem
    [0010] In the conventional locking device, if the contact sections repeatedly grip work at a point of contact, the pockets filled with the particulate substances suffer damage at the particular point, so that point will likely rupture. As a result of this, the conventional locking device can have a short lifespan.
    [0011] The purpose of the present invention is to provide a technique to lock several jobs having different shapes from each other and provide longer operating life than the conventional technique. Technical solutions
    [0012] The first mode according to the invention relates to a locking device for locking a work which includes: a locking unit for locking the work; a controller for controlling the locking operation of the locking unit; and multiple contact sections attached to the locking unit at the work contact points, each of the contact sections being deformable following the external shape of the work and being able to hold the deformed shape. The locking operation of the locking unit causes the contact sections to be pressed against the work and deformed following the external shape of the work, and the locking unit grips the work in which the deformed shape of the contact section is maintained. The controller changes the contact points of the work contact sections after locking at predetermined times.
    [0013] In a preferred embodiment of the invention, the controller changes the contact points of the contact sections in a plane perpendicular to the locking direction of the locking unit.
    [0014] The contact section preferably includes a pocket into which a group of particulate substances are filled.
    [0015] Furthermore, the shape of the contact section is maintained by evacuating the interior of the pouch and increasing a volume ratio of the particulate substances to the internal volume of the pouch in order to anchor the particulate substances with each other.
    [0016] The second mode according to the invention relates to a transfer device, which is provided with the locking device of the first mode. The transfer device is used to transfer the work when locking the work with the locking device, and the transfer device comprises a robotic arm adjusting the relative position between the locking device and the work, the action of the robotic arm being controlled by the controller.
    [0017] The third mode according to the invention relates to a method for controlling a locking device. The locking device includes: a locking unit to lock the work; and multiple contact sections attached to the locking unit at points of contact with the work, each of the contact sections being deformable following the external shape of the work and being able to maintain the deformed shape, in which the locking operation of the unit Locking causes the contact sections to be pressed against the work and deformed following the external shape of the work, and the locking unit grips the work in which the deformed shape of the contact section is maintained. The control method includes changing the contact points of the work contact sections after locking at pre-determined times.
    [0018] In the advantageous mode, the contact points of the contact sections are displaced in a plane perpendicular to the locking direction of the locking unit. Advantageous Effects of the Invention
    [0019] The modality according to the present invention provides the technique of locking several jobs having different shapes from each other and provides longer operational life than the conventional technique.
    [0020] Furthermore, without changing the structure of the conventional locking device, the contact sections can avoid local damage due to wear or breakage. Brief description of the drawings
    [0021] FIG. 1 depicts a transfer device, (a) shows a block diagram and (b) shows a front view (Plan X-Z).
    [0022] FIG. 2 depicts a locking device, (a) is a front view (Plan X-Z), (b) shows a sectional view A-A, and (c) shows a sectional view B-B. FIG. 3 illustrates the locking operation of the locking device, (a) is a front view (Plan X-Z) and (b) shows a top view (Plan X-Y).
    [0023] FIG. 4 is a flowchart of locking device control.
    [0024] FIG. 5 is a perspective view showing a change in the contact point of the locking device. Description of the modalities
    [0025] With reference to FIGS. 1 to 3, the structure of a transfer device 15 with a locking device 1 is described.
    [0026] Note that in this mode, the XYZ coordinates as shown in FIGS. 1 and 2 are defined in the locking device.
    [0027] As shown in FIG. 1, the transfer device 15 is used to transfer a job 50, including the locking device 1 and a robotic arm 16. The transfer device 15 holds the job 50 by the locking device 1 and transfers the job 50 from the starting place to the desired place.
    [0028] As shown in FIG. 1, the locking device 1 includes a locking unit 2, a controller 7 and vacuum equipment 8. The locking device 1 is arranged in the hand 16a of the robotic arm 16.
    [0029] The locking unit 2 directly grips the work 50, and includes a drive unit 3, multiple grippers 4 and 5, and multiple contact sections 6.
    [0030] As described in FIG. 2, drive unit 3 has two sliders 3a and 3b. Drive unit 3 telescopically moves sliders 3a and 3b separately in the X direction. Drive unit 3 can be an electric drive with alternating equipment having a ball screw, a nut and a motor.
    [0031] The drive unit 3 is electrically connected to the controller 7, which controls the movements of the cursors 3a and 3b of the drive unit 3.
    [0032] The pair of jaws 4 and 5 are configured to hold the work. Clamps 4 and 5 clamp and hold the work 50 located between them.
    [0033] The structure of claws 4 and 5 can be changed according to a shape or size of work, or with step amounts of sliders 3a and 3b.
    [0034] As described in FIG. 2, the first claw 4 has a support 4a attached to the slider 3a and two clamp portions 4b supported by the support 4a. The clamp portions 4b are arranged apart from each other by a predetermined distance.
    [0035] The second claw 5 has a support 5a attached to the slide 3b and a clamp portion 5b supported by the support 5a.
    [0036] The controller 7 actuates the cursors 3a and 3b, whereby the clamp portions 4b, 5b telescopically move in the X direction. In such a way, the claws 4 and 5 move in the X direction, and the portions of clamp 4b and 5b hold the work 50 at three points from the lateral direction (X direction).
    [0037] The contact sections 6 of the locking device 1 come into direct contact with the work 50. Each contact section can provide a flexible structure and a solid structure, and can change the structure from a flexible structure to a solid structure. (hardening) or from a solid structure to a flexible structure (softening). In the initial state of the locking device 1, the contact sections 6 are in the flexible (softened) state.
    [0038] As illustrated in FIG. 2, the contact section 6 includes an elastic bag 6a, and a group of particulate substances 6b filled in the bag 6a.
    [0039] Contact sections 6 are attached to clamp portions 4b, 5b of jaws 4, 5 facing each other.
    [0040] As described in FIG. 1(a), each of the contact sections 6 is connected to the vacuum equipment 8. The vacuum equipment 8 is configured to soften or harden the contact sections 6, and includes a vacuum pump 8a, a vacuum tube 8b and an electric valve 8c. Bag 6a of contact section 6 communicates with vacuum tube 8b.
    [0041] In the embodiment, the vacuum equipment 8 includes the vacuum pump 8a, but other means of evacuation such as an ejector can be employed.
    [0042] Furthermore, the locking device can employ various structures for softening and hardening the contact sections, that is, the means for softening and hardening the contact section are not limited to vacuum equipment.
    [0043] For example, the vacuum pump 8a can be replaced by a check valve connected to the vacuum tube 8b to evacuate the air from the bag 6a. In such a structure, the locking operation leads to the evacuation of air from the bag 6a, thereby hardening the contact section 6.
    [0044] By evacuating the interior of the bag 6a by means of the vacuum pump 8a, the particulate substances 6b filled in the bag 6a are anchored with each other and the contact section 6 is hardened, whereby the shape of the section of contact is solidly maintained.
    In the softened state as shown in FIG. 3 ((a) and (b)), the contact sections 6 can address the uneven surface including holes and projections on the work surface 50 by the clamping force actuated by the clamp portions 4 and 5. The shapes of the sections of contact 6 are deformed following the outer work surface 50.
    [0046] After the contact sections 6 change their shapes corresponding to the outside of the work, the vacuum equipment 8 works, thereby hardening the contact sections 6 while the shapes are maintained. Thus, the solid contact sections 6 are formed in the shape corresponding to the outer shape of the work.
    [0047] In this modality, the contact sections 6 are hardened by evacuating the interior of the pockets 6a, but the locking device according to the invention can employ various structures. For example, particulate substances are replaced by magnetic powder, and the magnetic force due to magnetic powder hardens the contact sections.
    [0048] As described in FIG. 3, in the locking unit 2, the clamp portion 5b is located in the center of the clamp portions 4b in the Y direction. Thus, three contact sections 6 arranged on the clamp portions 4b, 5b stably lock the work 50. Such a simple structure produces a stable grip, which can withstand the oscillation of the work 50.
    [0049] In the modality, the locking unit 2 has a three-point structure, but the work 50 can be secured by means of another structure, such as a two-point assembly with wide clamp portions or a four-point support .
    [0050] As described in FIG. 1, when transferring operation using transfer device 15, work 50 is positioned by positioning pins 16b and located in the predetermined position of a mounting place 16c.
    [0051] The controller 7 is electrically connected to the robotic arm 16 in which information regarding the position or angle of the hand 16a of the robotic arm 16 is transmitted to the controller 7 as a feedback.
    [0052] Referring to FIGS. 1 and 3, the control structure for the locking device 1 and robotic arm 16, during the locking of work 50 with the locking device 1, is described below.
    [0053] By controlling the robotic arm 16, the position and angle of the hand 16a are adjusted so that the locking unit 2 is located in the predetermined place being suitable for holding the work 50. In other words, the robotic arm 16 adjusts the relative position between the locking device 1 and the work 50. In the modality, the position of the locking unit 2 is adjusted so that the contact sections 6 face the predetermined points of the work 50.
    [0054] After that, the controller 7 receives the signal from the robotic arm 16 that the locking unit 2 is located in the proper position to hold the work 50.
    [0055] After which the controller 7 adjusts the paths of the cursors 3a, 3b so that the distance between the claws 4 and 5 is less than the width of the work 50. The pair of claws 4, 5 grips the work 50 in the predetermined locking pressure.
    [0056] At this moment, the contact sections 6 are pressed in the direction of work 50 and therefore deformed according to the external configuration of work 50.
    [0057] Holding the work 50 with the predetermined pressure by the grips 4 and 5, the controller 7 transmits the signal to the vacuum pump 8a in order to evacuate the interior of the bag 6a from the contact sections 6. Thus, the group of the particulate substances 6b of the contact sections 6 is hardened to the shape corresponding to the outer shape of the work 50.
    [0058] The contact sections 6 are hardened by being penetrated at the predetermined points of the work 50, so that the locking unit 2 can lock the various works 50 each of which have different shapes from each other without changing the unit of crash.
    [0059] In the modality, the controller 7 adjusts the paths of the cursors 3a, 3b so as to deform the contact sections 6 in response to the outer surface of the work 50, namely, the contact sections 6 are controlled by their positions. However, the braking structure is not limited to the modality. For example, by detecting the electric servo current or amount of torque while moving sliders 3a and 3b, stable locking is determined by noticing that the amount of torque becomes the predetermined value, that is, sliders 3a and 3b can be controlled by their amount of torque. Additionally, the locking device can have both a control structure based on position control and torque control in order to deform the contact sections according to the shape of the work.
    [0060] Hereinafter, referring to FIGS. 4 and 5, the method of controlling the locking device 1 is described.
    [0061] The locking device 1 includes the contact sections 6 capable of being hardened to shapes according to the external form of the work 50. Therefore, the locking device can maintain the locking even if the contact sections 6 do not come into contact with the same points of work 50.
    [0062] The locking device 1 uses the characteristics and grasps the work 50 by positively changing the contact points of the contact sections 6 with the work 50. The controller 7 memorizes the following program to change the locking position.
    [0063] As shown in FIG. 4, at the start of the locking operation by the locking device 1, the controller 7 sets the starting position coordinates (X, Y, Z) of the locking unit 2) of the locking device 1 in which the work 50 is properly locked (STEP 1).
    [0064] The controller 7 subsequently sets the starting number ([a] = 0) of the transfer count [a] of the transfer device 15 (STEP-2). The controller also sets the starting number ([b] = 0) of the lock count [b] with the lock device 1 (STEP-3).
    [0065] Based on the control signal from the controller 7, the robotic arm 16 moves the locking unit 2 so that each of the contact sections 6 faces the locking points corresponding to the work points 50 (STEP-4 ).
    [0066] Based on the control signal from controller 7, drive unit 3 is driven so that locking unit 2 grabs work 50 (STEP-5).
    [0067] Controller 7 adds "1" to the lockout count [b], thereby counting the job number 50 that is locked through the 6 contact sections installed in the lockout unit 2 (STEP-6).
    [0068] The controller 7 transmits the control signal to the robotic arm 16 to transfer the work 50 to the predetermined place (STEP-7).
    [0069] Here, controller 7 adds "1" to the transfer count [a], thereby counting the job number 50 that is transferred by locking device 1 (STEP-8).
    [0070] In the modality, the purpose of counting the transfer count [a] is to avoid damage of the contact sections 6 while operating the manufacturing line, thereby avoiding unexpected interruption of the line. Contact section 6 (or bag 6a) has a certain lifetime based on the transfer count [a], and counting the number [a] allows contact section 6 to be systematically changed before contact section 6 have the damage. In an alternative method of adjusting the lifetime of the contact section 6 by detecting the degree of vacuum of the bag 6a after evacuation, the contact section 6 will be replaced if the degree of vacuum is less than the predetermined value.
    [0071] Controller 7 determines the lifetime based on the transfer count [a] (STEP-9).
    [0072] If the transfer count [a] is less than a set value, the transfer operation continues and is followed by the next STEP-10.
    [0073] On the other hand, if the transfer count [a] is not less than the set value, the transfer operation is stopped.
    [0074] In the modality, the control algorithm in the control process for the locking device 1 includes the determination process based on the transfer count [a], however, the control algorithm may not include such a determination process.
    [0075] If the transfer count [a] is less than the set value, controller 7 subsequently determines the lifetime based on the lockout count [b] (STEP-10).
    [0076] If the lockout count [b] is less than a set value, the previous lockout points are retained, and return to STEP-4.
    [0077] If the lockout count [b] is not less than the established value, the controller 7 changes the lockout points (STEP-11), and returns to STEP-3.
    [0078] In the modality, the STEP-11 to change the locking points is performed by changing the positioning (coordinates (Y, Z)) of the locking unit 2 by means of the robotic arm 16 based on the control signal of the controller 7. For example, a placement of locking unit 2 is offset by 10 [mm] or more in Y direction (lateral direction) and Z direction (vertical direction). Thus, the contact points of the contact sections 6 with respect to work 50 change due to the lock count, or change after locking a predetermined number of times.
    [0079] The amount of change or direction of the locking points can be selected within the range capable of stably locking work 50 with locking unit 2.
    [0080] For example, since (every time) the locking device 1 grabs the work 50, the locking points can be changed, or after locking three times, the locking points can be changed. The frequency of change can be chosen according to the operating condition of the locking device 1.
    [0081] As a result, the contact sections 6 are prevented from suffering damage such as wear and tear at the particular point, thereby providing a long lifetime of the contact sections 6.
    [0082] In the locking device 1, the contact points of the contact sections 6 with respect to work 50 move in the plane (Y-Z plane) perpendicular to the locking direction (X direction).
    [0083] Therefore, without changing the conventional structure, it can be easily avoided that the contact sections 6 suffer local damage such as wear or tear. Consequently, the lifetime of the contact sections 6 can be improved.
    [0084] In the modality, the robotic arm 16 moves the locking unit 2, thereby adjusting the position of the locking points. However, the locking device is not limited to a structure, but can employ the structure in which the contact sections are able to move with respect to the grips and the locking points of the sections change at predetermined intervals.
    [0085] Furthermore, by changing the arrangement of the locking unit 2, the locking points for work 50 are shifted, and the contact positions of the contact sections 6 are changed. However, the arrangement of grips 4 and 5 can be changed to change the contact points of the contact sections 6 without modifying the structure of the locking unit 2.
    [0086] In STEP-11 to change the locking points, the controller 7 preferably changes the displacement of sliders 3a and 3b in the X direction (amount of travel) in response to the displacement of the locking unit 2 in the Y direction and Z direction .
    [0087] Thus, the contact sections 6 can be deformed following the external shape of the work 50, thereby ensuring the locking force of the locking unit 2. industrial applicability
    [0088] The present invention can be applicable to a locking device to lock various works with various shapes. Description of numerals
    [0089] 1: locking device, 2: locking unit, 3: drive unit, 4: gripper, 5: gripper, 6: contact section, 7: controller, 15: transfer device, 16: robotic arm, 50: work
    权利要求:
    Claims (7)
    [0001]
    1. Locking device (1) for locking a job (50) comprising: a locking unit (2) for locking the job (50); a controller (7) for controlling the locking operation of the locking unit (2); and multiple contact sections (6) attached to the locking unit (2) at the work contact points (50), each of the contact sections (6) being deformable following the external shape of the work (50) and being able to maintain the deformed shape, in which the locking operation of the locking unit (2) causes the contact sections (6) to be pressed against the work (50) and deformed along the external shape of the work (50), and the locking unit (2) grips the work (50) where the deformed shape of the contact section (6) is maintained, and characterized by the fact that the controller (7) changes the contact points of the sections contact (6) with the work (50) after locking at predetermined times.
    [0002]
    2. Locking device (1) according to claim 1, characterized in that the controller (7) changes the contact points of the contact sections (6) in a plane perpendicular to the locking direction of the locking unit ( two).
    [0003]
    3. Locking device (1) according to claim 1 or 2, characterized in that the contact section comprises a pocket (6a) in which a group of particulate substances (6b) are filled.
    [0004]
    4. Locking device (1) according to claim 3, characterized in that the shape of the contact section is maintained by evacuating the inside of the bag (6a) and increasing a volume ratio of the particulate substances (6b) with respect to the internal volume of the bag (6a) in order to anchor the particulate substances (6b) with each other.
    [0005]
    5. Transfer device (15) with the locking device (1) as defined in any one of claims 1 to 4, characterized in that the transfer device (15) is used to transfer the work (50) by locking the work (50) with the locking device (1), and wherein the transfer device (15) comprises a robotic arm (16) adjusting the relative position between the locking device (1) and the work (50 ), the action of the robotic arm (16) being controlled by the controller (7).
    [0006]
    6. Method for controlling a locking device (1), the locking device (1) comprising: a locking unit (2) for locking work (50); and multiple contact sections (6) attached to the locking unit (2) at the work contact points (50), each of the contact sections (6) being deformable following the external shape of the work (50) and being able to maintain the deformed shape, in which the locking operation of the locking unit (2) causes the contact sections (6) to be pressed against the work (50) and deformed along the external shape of the work (50), and the locking unit (2) grips the work (50) where the deformed shape of the contact section (6) is maintained, the method characterized by the fact that it comprises: changing the contact points of the contact sections (6) with work (50) after braking at predetermined times.
    [0007]
    7. Control method according to claim 6, characterized in that the contact points of the contact sections (6) are displaced in a plane perpendicular to the locking direction of the locking unit (2).
    类似技术:
    公开号 | 公开日 | 专利标题
    BR112013018876B1|2021-05-25|locking device, transfer device therewith, and method for controlling the locking device
    EP2919949B1|2018-06-06|Adaptive robotic gripper
    US4610475A|1986-09-09|Piezoelectric polymer micromanipulator
    KR20090086853A|2009-08-14|Gripper and driving method thereof
    US20190296217A1|2019-09-26|Actuator and soft robot
    JP6298666B2|2018-03-20|Positioning device
    CN205195593U|2016-04-27|An organic whole declines and receives two holders
    JP2009542174A5|2010-08-12|
    Ford et al.2014|Single active finger IPMC microgripper
    JP2018192576A|2018-12-06|Workpiece holding device
    JP2004034300A|2004-02-05|Micro-extruder
    CN111745681A|2020-10-09|Multi-degree-of-freedom pneumatic soft manipulator with accurate positioning function
    Jain et al.2012|Microassembly by an IPMC-based flexible 4-bar mechanism
    US20130310975A1|2013-11-21|Microrobot, and Associated Control Method, Simulation Method, and Computer Programs
    JP2011025377A|2011-02-10|Workpiece holding device and workpiece transferring device
    JP2019098461A|2019-06-24|Grasping mechanism and grasping device
    JP2020001707A|2020-01-09|Filling/packaging machine
    JP2015217439A|2015-12-07|Robot hand
    Jain et al.2013|Development of piezoelectric actuator based compliant micro gripper for robotic peg-in-hole assembly
    JP2015085481A|2015-05-07|Robot, robot system, robot control device and gripping method
    JP2018135193A|2018-08-30|Carrier device
    CN210361346U|2020-04-21|Industrial robot arm convenient to maintain
    JPH05131389A|1993-05-28|Object handling device
    JP2018187717A|2018-11-29|Control device, robot, and robot system
    BR102019007721B1|2021-06-29|COMPLIANT ROBOTIC CLAW BASED ON COMPRESSION CHAMBER
    同族专利:
    公开号 | 公开日
    JP2012152860A|2012-08-16|
    US20130310980A1|2013-11-21|
    BR112013018876A2|2017-07-04|
    US9067324B2|2015-06-30|
    CN103338902A|2013-10-02|
    EP2669065A1|2013-12-04|
    CN103338902B|2016-08-10|
    EP2669065A4|2017-09-13|
    EP2669065B1|2018-09-19|
    PL2669065T3|2018-12-31|
    WO2012101953A1|2012-08-02|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US3318629A|1965-04-09|1967-05-09|Jr Richard W Brandt|Tree-clamping jaws with deformable pads containing granular material|
    GB1323673A|1969-06-13|1973-07-18|Nat Res Dev|Gripping|
    JPS56114688A|1980-02-07|1981-09-09|Sintokogio Ltd|Method of holding body|
    US4561686A|1983-08-22|1985-12-31|Raymond Atchley|End effector|
    US4893458A|1988-01-27|1990-01-16|Ira Compton|Liquid cooled shaker pad retaining sling|
    JPH068181A|1992-06-30|1994-01-18|Bridgestone Corp|Gripping device for parts or the like|
    US5668453A|1993-11-05|1997-09-16|Nippon Telegraph And Telephone Corporation|Method of calculating points and normal lines of contact and apparatus therefor|
    JPH09123082A|1995-11-01|1997-05-13|Kao Corp|Article gripping device|
    US5860273A|1996-01-17|1999-01-19|Eitan Zehavi|Compliant engagement member with flexible coupling for use with tree-shaking apparatus|
    GB9619066D0|1996-09-12|1996-10-23|Univ Brunel|Gripper mechanism|
    JP4123458B2|1999-10-29|2008-07-23|澁谷工業株式会社|Gripper|
    GB2357274A|1999-12-18|2001-06-20|Omar Jeet Johl|Gripper finger tips|
    JP2002113682A|2000-10-06|2002-04-16|Ricoh Co Ltd|Slide type chuck|
    US20030127872A1|2002-01-09|2003-07-10|Esec Trading Sa, A Swiss Corporation|Clamping element for flat work pieces|
    JP3805310B2|2003-01-30|2006-08-02|ファナック株式会社|Work take-out device|
    DE102004039661A1|2004-08-16|2006-02-23|Siemens Ag|Load-handling equipment for handling general cargo|
    WO2006082100A1|2005-02-05|2006-08-10|Andreas Plaas-Link|Universal gripping and holding device|
    CN101142059A|2005-02-05|2008-03-12|安德烈亚斯·普拉斯-林克|Universal gripping and holding device|
    JP4648158B2|2005-11-10|2011-03-09|本田技研工業株式会社|Work positioning method and apparatus|
    JP4648159B2|2005-11-10|2011-03-09|本田技研工業株式会社|Gripping device|
    JP2008238303A|2007-03-26|2008-10-09|Ntn Corp|Chuck|
    CN201026611Y|2007-04-10|2008-02-27|亚龙科技集团有限公司|Mechanical clamping device having four-degree of freedom|
    FR2917660B1|2007-06-25|2009-09-25|Commissariat Energie Atomique|CLAMP FOR MANIPULATOR ROBOT WITH IMPROVED CLAMPING PRECISION AND MANIPULATOR ROBOT COMPRISING AT LEAST ONE SUCH CLAMP.|
    FR2921539B1|2007-09-28|2011-08-19|Pellenc Sa|ALLEGED VIBRATION PLIERS FOR DRY FRUIT RECOVERY MACHINES.|
    US20100054903A1|2008-09-03|2010-03-04|Christopher Vernon Jones|Method and Device for Manipulating an Object|
    DE112009004261B4|2009-01-31|2017-07-06|Abb Ag|Gripper fingers, gripper tool and method for adjusting a gripper tool|
    JP5130320B2|2010-04-28|2013-01-30|トヨタ自動車株式会社|Gripping device|
    US8534729B2|2011-08-04|2013-09-17|Harris Corporation|High-force robotic gripper|
    US8534728B1|2012-11-19|2013-09-17|Harris Corporation|Adaptive robotic gripper|JP6032054B2|2013-02-20|2016-11-24|トヨタ自動車株式会社|Contact member of gripping device|
    US20150098787A1|2013-10-09|2015-04-09|Nike, Inc.|Pick Up And Placement Tools For Items|
    KR20160096075A|2013-12-10|2016-08-12|엔오케이 가부시키가이샤|Covering material and covering structure for robot grasping unit|
    DE202014003133U1|2014-04-11|2015-07-15|Kuka Systems Gmbh|Robotic workstation|
    US20150336227A1|2014-05-20|2015-11-26|GM Global Technology Operations LLC|Reconfigurable fixture for sheet metal parts and method|
    CN105382839A|2014-08-25|2016-03-09|精工爱普生株式会社|Robot and robot system|
    US9597801B2|2014-10-21|2017-03-21|Centurylink Intellectual Property Llc|Automated data center|
    JP6581391B2|2015-05-22|2019-09-25|川崎重工業株式会社|Work transfer system|
    US10011025B2|2015-06-10|2018-07-03|Phd, Inc.|Articulating gripper tooling|
    US9914214B1|2016-02-22|2018-03-13|X Development Llc|Preshaping for underactuated fingers|
    US10647004B2|2016-07-07|2020-05-12|The Board Of Trustees Of The Leland Stanford Junior University|Air-bladder enhanced with gecko-adhesive for grasping applications|
    US11136229B2|2016-12-01|2021-10-05|Cascade Corporation|Clamp force control system for lift truck attachment with secondary hydraulic force control circuit|
    US10363635B2|2016-12-21|2019-07-30|Amazon Technologies, Inc.|Systems for removing items from a container|
    CN108724237B|2016-12-24|2021-10-29|宁波亿诺维信息技术有限公司|Industrial robot|
    CN106426187B|2016-12-24|2019-04-19|聊城鑫泰机床有限公司|Industrial robot control method|
    CN106671085B|2017-01-07|2019-07-19|上海好夫满信息技术有限公司|Programmable robot and control method|
    DE102017201057B4|2017-01-24|2020-07-23|Festo Se & Co. Kg|Gripping device with an elastic, flexible gripping surface on one of three gripping fingers|
    JP6551805B2|2017-03-06|2019-07-31|パナソニックＩｐマネジメント株式会社|Component mounting apparatus and component mounting method|
    US10343290B2|2017-03-08|2019-07-09|Amazon Technologies, Inc.|Conformable variable friction manipulator|
    US20180282086A1|2017-04-03|2018-10-04|Xerox Corporation|Universal part gripper with conformable tube grippers|
    WO2018223148A2|2017-06-02|2018-12-06|The Research Foundation For The State University Of New York|Robotic gripper with variable stiffness actuators and methods for same|
    USD845372S1|2017-07-27|2019-04-09|JLS Automation|Gripping tool|
    CN107813333B|2017-09-05|2021-04-27|芜湖瑞思机器人有限公司|Food grabbing mechanism for high-speed parallel robot|
    WO2019073778A1|2017-10-12|2019-04-18|Thk株式会社|Gripping system|
    JP6881268B2|2017-12-05|2021-06-02|トヨタ自動車株式会社|Gripping device, grip determination method and grip determination program|
    CN110271032A|2018-03-15|2019-09-24|丰田自动车株式会社|Supporting arrangement, bearing method and the mechanical arm of workpiece|
    US10661446B2|2018-04-06|2020-05-26|Aurora Flight Sciences Corporation|Jamming grippers with stencil moldings|
    CN111906808B|2020-08-28|2021-11-09|上海海事大学|Multi-degree-of-freedom turbine shroud blade mechanical gripper device|
    CN112222925A|2020-10-30|2021-01-15|广州云也科技有限公司|Workpiece feeding device for machining of numerical control machine tool|
    法律状态:
    2018-12-18| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-11-05| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2020-11-10| B06A| Notification to applicant to reply to the report for non-patentability or inadequacy of the application [chapter 6.1 patent gazette]|
    2021-03-09| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-05-25| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 29/12/2011, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    JP2011014598A|JP2012152860A|2011-01-26|2011-01-26|Gripping device and method for controlling the same|
    JP2011-014598|2011-01-26|
    PCT/JP2011/080531|WO2012101953A1|2011-01-26|2011-12-29|Gripping device, transfer device with same, and method for controlling gripping device|
    [返回顶部]