CN114096384A - 基于粘合剂的物体抓握 - Google Patents
基于粘合剂的物体抓握 Download PDFInfo
- Publication number
- CN114096384A CN114096384A CN202080050153.0A CN202080050153A CN114096384A CN 114096384 A CN114096384 A CN 114096384A CN 202080050153 A CN202080050153 A CN 202080050153A CN 114096384 A CN114096384 A CN 114096384A
- Authority
- CN
- China
- Prior art keywords
- pawl
- sticker
- gripper
- distal
- proximal
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
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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
- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
-
- 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
- B25J15/008—Gripping heads and other end effectors with sticking, gluing or adhesive means
-
- 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
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
-
- 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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
- B25J15/0441—Connections means having vacuum or magnetic means
-
- 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
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (47)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201962853011P | 2019-05-26 | 2019-05-26 | |
US62/853,011 | 2019-05-26 | ||
PCT/IL2020/050569 WO2020240542A1 (en) | 2019-05-26 | 2020-05-24 | Adhesive based gripping of objects |
Publications (1)
Publication Number | Publication Date |
---|---|
CN114096384A true CN114096384A (zh) | 2022-02-25 |
Family
ID=73551981
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202080050153.0A Pending CN114096384A (zh) | 2019-05-26 | 2020-05-24 | 基于粘合剂的物体抓握 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20220339794A1 (zh) |
EP (1) | EP3976324A4 (zh) |
CN (1) | CN114096384A (zh) |
IL (1) | IL288141A (zh) |
WO (1) | WO2020240542A1 (zh) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7223930B2 (ja) * | 2019-10-11 | 2023-02-17 | パナソニックIpマネジメント株式会社 | エンドエフェクタおよびエンドエフェクタの制御装置 |
WO2024052893A1 (en) * | 2022-09-05 | 2024-03-14 | B.G. Negev Technologies And Applications Ltd., At Ben-Gurion University | Adhesive-based robot gripper |
US20240190007A1 (en) * | 2022-12-12 | 2024-06-13 | Amazon Technologies, Inc. | Tether usage for robotic package delivery or item handling |
Citations (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN2459276Y (zh) * | 2000-12-15 | 2001-11-14 | 许荣敏 | 自动贴标机 |
CN202439329U (zh) * | 2012-02-03 | 2012-09-19 | 映相科技股份有限公司 | 自动撕离离型纸的机台 |
DE102012001095A1 (de) * | 2012-01-20 | 2013-07-25 | Festo Ag & Co. Kg | Greifeinrichtung und Verfahren zum Greifen eines Greifobjekts |
CN203460184U (zh) * | 2013-08-16 | 2014-03-05 | 林国华 | 粘贴气嘴 |
CN104070528A (zh) * | 2014-06-05 | 2014-10-01 | 河海大学 | 一种用于抓取和释放物体的装置和方法 |
US20150015008A1 (en) * | 2013-07-12 | 2015-01-15 | LifEase Products LLC | Household Retrieval Device |
CN204181081U (zh) * | 2013-10-09 | 2015-03-04 | 耐克创新有限合伙公司 | 用于物品的拾取和放置工具 |
US20150086791A1 (en) * | 2013-09-25 | 2015-03-26 | GM Global Technology Operations LLC | Applications of a reversible dry adhesive system |
CN106926264A (zh) * | 2017-04-13 | 2017-07-07 | 浙江工业大学 | 一种增加柔性胶粘附力的抓取装置 |
CN106927251A (zh) * | 2017-04-13 | 2017-07-07 | 浙江工业大学 | 一种电磁铁驱动的柔性胶粘附抓取装置 |
CN207618141U (zh) * | 2017-09-29 | 2018-07-17 | 深圳市钧创自动化科技有限公司 | 一种高速贴装机 |
CN108748244A (zh) * | 2018-05-23 | 2018-11-06 | 青岛万龙智控科技有限公司 | 推压式抓取机构及其方法 |
CN108781044A (zh) * | 2016-01-12 | 2018-11-09 | 格拉比特公司 | 制造中基于电粘附操作和机械释放的方法和*** |
US20190061169A1 (en) * | 2017-08-25 | 2019-02-28 | Flexiv Robotics Ltd. | Opposed, controllable gecko adhesive gripper system with scalable manufacturability |
KR20190052589A (ko) * | 2017-11-08 | 2019-05-16 | 주식회사 다우에프에이 | 형상적응형 전기접착 그리퍼 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3954542A (en) * | 1967-12-20 | 1976-05-04 | Oliver Machinery Company | Labeling machine |
DE2838158C3 (de) * | 1978-09-01 | 1982-12-16 | Jagenberg-Werke AG, 4000 Düsseldorf | Beleimungsvorrichtung für eine Etikettiermaschine |
US7229517B2 (en) * | 2000-06-06 | 2007-06-12 | Applied Extrusion Technologies, Inc. | Labeling apparatus and method employing radiation curable adhesive |
CN202912025U (zh) * | 2012-10-22 | 2013-05-01 | 许世璋 | 一种可调精度的贴标机构 |
US9440359B2 (en) * | 2014-08-19 | 2016-09-13 | GM Global Technology Operations LLC | Conformable dry adhesive holding device |
US10464218B2 (en) | 2016-05-15 | 2019-11-05 | B.G. Negev Technologies And Applications Ltd., At Ben-Gurion University | Convertible frictionless to frictional fingertips for a gripper to improve robotic grasp robustness |
US9704126B1 (en) * | 2016-08-22 | 2017-07-11 | Amazon Technologies, Inc. | Inventory handling by anisotropically adhesive gripping |
-
2020
- 2020-05-24 EP EP20814835.3A patent/EP3976324A4/en active Pending
- 2020-05-24 US US17/595,824 patent/US20220339794A1/en active Pending
- 2020-05-24 CN CN202080050153.0A patent/CN114096384A/zh active Pending
- 2020-05-24 WO PCT/IL2020/050569 patent/WO2020240542A1/en unknown
-
2021
- 2021-11-15 IL IL288141A patent/IL288141A/en unknown
Patent Citations (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN2459276Y (zh) * | 2000-12-15 | 2001-11-14 | 许荣敏 | 自动贴标机 |
DE102012001095A1 (de) * | 2012-01-20 | 2013-07-25 | Festo Ag & Co. Kg | Greifeinrichtung und Verfahren zum Greifen eines Greifobjekts |
CN202439329U (zh) * | 2012-02-03 | 2012-09-19 | 映相科技股份有限公司 | 自动撕离离型纸的机台 |
US20150015008A1 (en) * | 2013-07-12 | 2015-01-15 | LifEase Products LLC | Household Retrieval Device |
CN203460184U (zh) * | 2013-08-16 | 2014-03-05 | 林国华 | 粘贴气嘴 |
US20150086791A1 (en) * | 2013-09-25 | 2015-03-26 | GM Global Technology Operations LLC | Applications of a reversible dry adhesive system |
CN204181081U (zh) * | 2013-10-09 | 2015-03-04 | 耐克创新有限合伙公司 | 用于物品的拾取和放置工具 |
CN104070528A (zh) * | 2014-06-05 | 2014-10-01 | 河海大学 | 一种用于抓取和释放物体的装置和方法 |
CN108781044A (zh) * | 2016-01-12 | 2018-11-09 | 格拉比特公司 | 制造中基于电粘附操作和机械释放的方法和*** |
CN106926264A (zh) * | 2017-04-13 | 2017-07-07 | 浙江工业大学 | 一种增加柔性胶粘附力的抓取装置 |
CN106927251A (zh) * | 2017-04-13 | 2017-07-07 | 浙江工业大学 | 一种电磁铁驱动的柔性胶粘附抓取装置 |
US20190061169A1 (en) * | 2017-08-25 | 2019-02-28 | Flexiv Robotics Ltd. | Opposed, controllable gecko adhesive gripper system with scalable manufacturability |
CN207618141U (zh) * | 2017-09-29 | 2018-07-17 | 深圳市钧创自动化科技有限公司 | 一种高速贴装机 |
KR20190052589A (ko) * | 2017-11-08 | 2019-05-16 | 주식회사 다우에프에이 | 형상적응형 전기접착 그리퍼 |
CN108748244A (zh) * | 2018-05-23 | 2018-11-06 | 青岛万龙智控科技有限公司 | 推压式抓取机构及其方法 |
Also Published As
Publication number | Publication date |
---|---|
EP3976324A4 (en) | 2023-07-05 |
EP3976324A1 (en) | 2022-04-06 |
US20220339794A1 (en) | 2022-10-27 |
WO2020240542A1 (en) | 2020-12-03 |
IL288141A (en) | 2022-01-01 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20240618 Address after: Israel Applicant after: Amir Shapiro Country or region after: Israel Applicant after: Norm Hassen Applicant after: Joaf Golan Applicant after: Elon Rimon Address before: Beersheba, Israel Applicant before: B. G. Negev Technology & Application Co., Ltd. - Ben Gurion University Country or region before: Israel Applicant before: TECHNION RESEARCH & DEVELOPMENT FOUNDATION Ltd. |
|
TA01 | Transfer of patent application right |
Effective date of registration: 20240628 Address after: Mettal, Israel Applicant after: Pickmos Artificial Intelligence Robotics Co.,Ltd. Country or region after: Israel Address before: Israel Applicant before: Amir Shapiro Country or region before: Israel Applicant before: Norm Hassen Applicant before: Joaf Golan Applicant before: Elon Rimon |