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1. WO2019208162 - ACTUATOR DEVICE, METHOD FOR REMOVING TARGET OBJECT USING ACTUATOR DEVICE, AND TARGET OBJECT REMOVAL SYSTEM

Publication Number WO/2019/208162
Publication Date 31.10.2019
International Application No. PCT/JP2019/015093
International Filing Date 05.04.2019
IPC
B25J 13/08 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
08by means of sensing devices, e.g. viewing or touching devices
B25J 15/08 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads
08having finger members
CPC
B25J 13/08
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
08by means of sensing devices, e.g. viewing or touching devices
B25J 13/085
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
08by means of sensing devices, e.g. viewing or touching devices
085Force or torque sensors
B25J 15/0616
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads ; and other end effectors
06with vacuum or magnetic holding means
0616with vacuum
B25J 15/08
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads ; and other end effectors
08having finger members
B25J 9/1612
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1612characterised by the hand, wrist, grip control
B25J 9/1669
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1656characterised by programming, planning systems for manipulators
1669characterised by special application, e.g. multi-arm co-operation, assembly, grasping
Applicants
  • パナソニック株式会社 PANASONIC CORPORATION [JP]/[JP]
Inventors
  • 嘉藤 佑亮 KATO Yusuke
  • 小澤 順 OZAWA Jun
Agents
  • 徳田 佳昭 TOKUDA Yoshiaki
  • 西田 浩希 NISHIDA Hiroki
Priority Data
2018-08541126.04.2018JP
2019-00966123.01.2019JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) ACTUATOR DEVICE, METHOD FOR REMOVING TARGET OBJECT USING ACTUATOR DEVICE, AND TARGET OBJECT REMOVAL SYSTEM
(FR) DISPOSITIF D'ACTIONNEUR, PROCÉDÉ POUR RETIRER UN OBJET CIBLE À L'AIDE D'UN DISPOSITIF D'ACTIONNEUR, ET SYSTÈME DE RETRAIT D'OBJET CIBLE
(JA) アクチュエータ装置、アクチュエータ装置による対象物取出方法、及び、対象物取出システム
Abstract
(EN)
A first acquiring unit (105) acquires a difference ΔM between a first moment M1 acting on a suction-attachment nozzle (205) when one of a plurality of target objects (93) loaded onto a loading plate (89) is held by suction attachment by the suction-attachment nozzle and when the target object is removed by means of an actuator (201) under the control of an operation control unit (100), and a second moment M2 acting on the suction-attachment nozzle when the target object is removed by means of the suction-attachment nozzle from a loading platform by a first removal amount, and the operation control unit performs control on the basis of the acquired moment difference to determine whether or not to continue the removal operation further.
(FR)
Selon l'invention, une première unité d'acquisition (105) acquiert une différence ΔM entre un premier moment M1 agissant sur une buse d'attachement par aspiration (205) quand l'un d'une pluralité d'objets cibles (93) chargés sur une plaque de chargement (89) est maintenu par une fixation par aspiration par la buse d'attachement par aspiration et que l'objet cible est retiré à l'aide d'un actionneur (201) sous la commande d'une unité de commande de fonctionnement (100), et un second moment M2 agissant sur la buse d'attachement par aspiration quand l'objet cible est retiré à l'aide de la buse d'attachement par aspiration à partir d'une plate-forme de chargement d'une première quantité de retrait, et l'unité de commande de fonctionnement effectue une commande sur la base de la différence de moment acquise afin de déterminer s'il faut ou non poursuivre l'opération de retrait.
(JA)
載置板(89)に複数個載置される対象物(93)の1つを吸着ノズル(205)で吸着保持したときと動作制御部(100)の制御の下にアクチュエータ(201)により対象物を取り出すとき、吸着ノズルに付加される第1のモーメントM1と、吸着ノズルにより対象物を第1の取出し量で載置台から取出すときの吸着ノズルに付加される第2のモーメントM2との差ΔMを第1取得部(105)で取得し、取得したモーメントの差に基づき、更に、取出し動作を継続するか否かを動作制御部で制御する。
Also published as
JP2020516178
EP2019793873
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