JP6687283B2 - オブジェクトをピックアップし、搬送するロボットおよびそのようなロボットを使用する方法 - Google Patents
オブジェクトをピックアップし、搬送するロボットおよびそのようなロボットを使用する方法 Download PDFInfo
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- JP6687283B2 JP6687283B2 JP2018534854A JP2018534854A JP6687283B2 JP 6687283 B2 JP6687283 B2 JP 6687283B2 JP 2018534854 A JP2018534854 A JP 2018534854A JP 2018534854 A JP2018534854 A JP 2018534854A JP 6687283 B2 JP6687283 B2 JP 6687283B2
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- 238000001514 detection method Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
- B66F9/147—Whole unit including fork support moves relative to mast
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40006—Placing, palletize, un palletize, paper roll placing, box stacking
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40298—Manipulator on vehicle, wheels, mobile
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Robotics (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Warehouses Or Storage Devices (AREA)
- Manipulator (AREA)
Description
Claims (14)
- 複数のオブジェクトをピックアップし、搬送するよう適合されたロボットであって、
ベースプレートと、
ドライブユニットと、
ピックアップユニットと
を備え、
前記ピックアップユニットは、前記ベースプレートに直交する位置に少なくとも1つのバーを含み、
前記少なくとも1つのバーは、引っ込められた位置および延出された位置の間に伸縮可能(telescopable)であり、
前記ピックアップユニットは、筐体を含む、
ロボット。 - 前記ロボットがさらに、棚ユニットを備え、
前記ドライブユニットと、前記ピックアップユニットと、前記棚ユニットとが前記ベースプレート上に配置される、請求項1に記載のロボット。 - 前記棚ユニットは、前記ドライブユニットの上部に位置される、請求項2に記載のロボット。
- 前記ドライブユニットおよび前記ピックアップユニットが互い並んで位置される、請求項1から3のいずれか一項に記載のロボット。
- 前記ピックアップユニットが複数のオブジェクトをピックアップし、リリースするよう適合されるピックアップ装置を含み、前記ピックアップ装置が、前記バーに沿って移動可能である、請求項1から4のいずれか一項に記載のロボット。
- 前記ロボットが前記ベースプレートに直交する軸の周りに前記ピックアップ装置を回転させるよう適合する、請求項5に記載のロボット。
- 前記ピックアップユニットが前記ベースプレート上に回転可能に取り付けられるピックアップユニット支持プレートを含み、前記少なくとも1つのバーが前記ピックアップユニット支持プレート上に取り付けられる、請求項1から6のいずれか一項に記載のロボット。
- 前記ベースプレートが、40mm超えていない厚さ、好ましくは、5mm〜40mmの範囲にある厚さを有する、請求項1から7のいずれか一項に記載のロボット。
- 前記ロボットがさらに、複数の車輪を備え、少なくとも1つのモータが前記複数の車輪の少なくとも1つを駆動し、モータによって駆動される少なくとも1つの車輪が前記ベースプレートを通して延出される、請求項1から8のいずれか一項に記載のロボット。
- 前記少なくとも1つのモータ駆動の車輪の鉛直直径の一部が、前記ベースプレートの上に配置され、前記一部が、前記鉛直直径の少なくとも25%、好ましくは、前記鉛直直径の少なくとも50%、さらに好ましくは、前記鉛直直径の少なくとも75%である、請求項9に記載のロボット。
- 前記ベースプレートは、使用中に地面に対向するよう適合する下向きに対向する表面と、前記下向きに対向する表面に対向する上向きに対向する表面とを含み、使用中の前記上向きに対向する表面は、地面から100mmを超えていない距離で、好ましくは、地面から15mm〜70mmの範囲で距離が置かれる、請求項1から10のいずれか一項に記載のロボット。
- 前記ロボットが、150cm〜350cmの範囲で最大の高さを有してもよく、前記ロボットが、重心を含み、使用中に、地面から100cmを超えていない距離で、好ましくは、20cm〜100cmの範囲に距離が置かれる、請求項1から11のいずれか一項に記載のロボット。
- 請求項1から12のいずれか一項に記載のロボットを提供する段階と、
前記ロボットが第1のオブジェクトの保管される場所である第1の保管位置へ行く段階と、
前記ロボットが前記第1のオブジェクトをピックアップする段階と、
前記ロボットが前記第1のオブジェクトを第1の目的の位置へ搬送する段階とを備える、
少なくとも1つのオブジェクトを搬送する方法。 - 前記ロボットが棚ユニット内に前記第1のオブジェクトを配置する段階と、
前記ロボットが第2のオブジェクトの保管される場所である第2の保管位置へ行く段階と、
前記ロボットが前記棚ユニット内に前記第1のオブジェクトを配置した後で、前記ロボットが前記第2のオブジェクトをピックアップする段階と
をさらに備える、請求項13に記載の方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP16151220.7A EP3192616A1 (en) | 2016-01-14 | 2016-01-14 | Robot to pick up and transport objects and method using such a robot |
EP16151220.7 | 2016-01-14 | ||
PCT/EP2017/050457 WO2017121747A1 (en) | 2016-01-14 | 2017-01-11 | Robot to pick up and transport objects and method using such a robot |
Publications (2)
Publication Number | Publication Date |
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JP2019511437A JP2019511437A (ja) | 2019-04-25 |
JP6687283B2 true JP6687283B2 (ja) | 2020-04-22 |
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JP2018534854A Active JP6687283B2 (ja) | 2016-01-14 | 2017-01-11 | オブジェクトをピックアップし、搬送するロボットおよびそのようなロボットを使用する方法 |
Country Status (6)
Country | Link |
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US (1) | US10962963B2 (ja) |
EP (1) | EP3192616A1 (ja) |
JP (1) | JP6687283B2 (ja) |
KR (1) | KR102218141B1 (ja) |
CN (1) | CN108698235A (ja) |
WO (1) | WO2017121747A1 (ja) |
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