CN106671085A - Programmed robot and control method - Google Patents
Programmed robot and control method Download PDFInfo
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- CN106671085A CN106671085A CN201710011635.5A CN201710011635A CN106671085A CN 106671085 A CN106671085 A CN 106671085A CN 201710011635 A CN201710011635 A CN 201710011635A CN 106671085 A CN106671085 A CN 106671085A
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- Prior art keywords
- abutment
- workpiece
- pressure
- clamping
- regional
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Classifications
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention provides a programmed robot and a control method. The programmed robot comprises a clamping part and a control part, wherein the clamping part is used for clamping a workpiece, and the control part is used for controlling operation of the clamping part. Abutting parts are arranged on the clamping part. When the workpiece is clamped by the clamping part, the abutting parts make contact with the workpiece to generate deformation consistent with the workpiece shape, and deformation is maintained so that the workpiece can be clamped. The programmed robot is characterized in that the programmed robot further comprises a zoning part, a pressure intensity calculating part and a storage part, wherein each abutting part is divided into a plurality of areas by the zoning part, the pressure intensity of the contacting faces of the abutting parts and the workpiece is calculated by the pressure intensity calculating part, and the storage part is used for storing accumulative pressure intensity data of all the areas of the abutting parts; and the control part is used for determining operation changing of the clamping part to enable the accumulative pressure intensity data of all the areas of the abutting parts to be evenly distributed.
Description
Technical field
The present invention relates to a kind of robot, the programme-control machine people and robot more particularly, to a kind of industrial circle
Control method.
Background technology
Industrial robot is the multi-joint manipulator or multivariant robot towards industrial circle, is to perform work automatically
The installations of work, are a kind of machines for leaning on self power and control ability to realize various functions；It receives the instruction of the mankind
Afterwards, by according to the program performing motion path of setting and operation.
Used as typical electromechanical integration digitizing equipment in advanced manufacturing industry, industrial robot has become measurement one
The important symbol of national manufacturing industry level and scientific and technological level.The typical case of industrial robot applies to be included welding, sprays, assembles, adopting
Collection and place, packaging and piling, Product checking and test etc..In industrially developed country, industrial robot and automated production
Oneself becomes the important component part and future developing trend of high-end equipment to line outfit, improves the one of working (machining) efficiency and product
Cause property.
With the increase year by year of China's labor cost, the arrival of aging society, traditional processing can be carried out manufacturing
Shop floor worker will keep the trend for reducing year by year, while the cost of community service will increase, China is to industrial robot and automatically
Changing the demand of process unit will be stepped up.Industrial robot, as one of the infrastructure device of the high-end equipment manufacturing of China, is me
The important component part of the high-end manufacturing equipment emerging strategic industries of state, is also the important base of other emerging strategic industries development
Plinth is equipped.
Transfer robot is an important directions of industrial robot, with the development of technology, is completed by manpower in the past
The carrying work of parts or finished product progressively by transfer robot replace complete, improve the production efficiency of enterprise.Certainly
In dynamic metaplasia producing line loading and unloading operation, particularly in the adverse circumstances such as poisonous and harmful, inflammable and explosive, transfer robot is obtained
It is widely applied.
In prior art, transfer robot needs to change corresponding folder when being carried for different types of workpiece
Portion is held, to adapt to different types of workpiece.In order to solve this problem, JP2008528408A and JP Laid-Open 9-123082A
The transfer robot with self adaptation clamping part is proposed respectively, and its clamping part, can be certainly when workpiece of different shapes is clamped
Row changes shape so as to adapt to different workpiece types.But, the feelings that clamping part is clamped to workpiece repeatedly in foregoing invention
Under condition, it is always identical with the contact position of workpiece, the specific position may be caused to sustain damage, so as to affect clamping part
Use.
In order to solve the above problems, Toyota Motor Corporation rep. is in the patent of invention of JP2012152860A, it is proposed that
A kind of improved clamping part, it is changed by making clamping part with the contact site in the vertical direction of workpiece, so as to change
Retaining part, improves the service life of clamping part.But, the invention also has the disadvantage that:(1) change of its contact site is only
It is to be changed in left and right directions or above-below direction with such as more than ten millimeters of length-specific, before the contact site after change and change
Contact site there may be significant portion of coincidence, using the change operation subregion may be caused persistently to receive workpiece and be made
With the service life of impact clamping part；（2）Carrying out the change of clip position more likely causes workpiece to subtract with the contact area of clamping part
Few, so that the pressure increase of clamping part stress area, causes it to produce infringement, or contact surface connects reduction and makes to be rubbed suffered by workpiece
Wipe power to reduce, and lead to not clamp workpiece.
In order to solve the above problems, formerly invention proposes a kind of improved program control industrial carrying machine people, by control
Portion makes the contact site of the abutment after change and the contact site of the abutment before change not exist or only exist very
Few coincidence, so as to reduce the contact area of overlap, reduces the loss of abutment, extends its working life.The method can
For the contact area that single workpiece can optimize abutment, but different workpieces vary in weight, and contact face is different, remove
Fortune number of times is different, and after single workpiece handling terminates, the contact area of abutment is not necessarily uniformly distributed, robot long-term work
After accumulative, the subregion that may cause abutment is lost seriously.
The content of the invention
The present invention proposes a kind of improved program control industrial carrying machine people, can solve the problem that the problems referred to above of prior art.
A kind of programmable robot, including：Clamping part, for clamping to workpiece；Control unit, for the clamping part
Operation be controlled；Abutment is set on the clamping part, during the clamping part clamping workpiece, the abutment and workpiece
Contact and the deformation consistent with workpiece shapes occurs, and keep the deformation so as to clamping workpiece；It is characterized in that：Also wrap
Region division portion is included, abutment is divided into multiple regions by it；Pressure calculating part, it calculates abutment and work piece interface
Pressure；Storage part, the accumulative pressure data of its storage abutment regional；The control unit determines the change of clamping part
Operation, the accumulative pressure data for making abutment regional is uniformly distributed.
Preferably, the region division portion, multiple regions are divided equally into by abutment along longitudinal direction.
Preferably, the pressure calculating part according to quality m of workpiece, the surface of workpiece 80 and the material surface of abutment 71 it
Between confficient of static friction, the stress area S of abutment and work piece interface determines abutment 71 with the contact surface of workpiece 80
Pressure Pj=mg/ μ S；Then, for all or part of abutment regional in stress area, its institute is determined
It is Pj by pressure.
Preferably, storage part stores the accumulative pressure Σ pj of abutment regional after each piece-holder.
Preferably, the control unit calculates the abutment that candidate region includes when it is determined that the change of clamping part is operated
The summation of the accumulative pressure of regional, selects the minimum candidate region of accumulative pressure summation as clamping part next operation
Clip position.
As another aspect of the present invention, there is provided a kind of programmable robot's control method, comprise the steps：（1）
Input is clamped three-dimensional shape data, weight and the material data of workpiece；（2）Abutment is divided into into multiple regions；（3）
According to input workpiece three-dimensional shape data, determine the workpiece for be clamped clamping face；（4）Determine the piece-holder
The minimal-contact area in face；（5）Determine the operation of the initial clip position of workpiece；（6）According to piece-holder position and workpiece
3D shape, determine the stress area of the abutment of programmable robot；（7）For each clipping operation, calculate and deposit
The accumulative pressure Σ pj of storage abutment regional；Persistently carry out step（7）Until piece-holder is finished or abutment
The difference for adding up the maximum region of the pressure region minimum with accumulative pressure in regional exceedes threshold value；If piece-holder is complete
Finish, terminate this piece-holder task；If adding up the maximum region of pressure in abutment regional with accumulative pressure most
The difference in little region exceedes threshold value, into step（8）；（8）Accumulative pressure of the control unit according to storage abutment regional
Strong distribution and the minimal-contact area in piece-holder face, determine the clip position of clamping part next operation.
Preferably, the step（5）In, control unit determines the initial clip position of clamping part according to following manner：1）Really
Determine the clamping face of workpiece；2）According to clamping face and workpiece shapes, the stress area shape of clamping face is determined, so that it is determined that stress
All simply connected regions in region；3）The minimum simply connected region of area in all simply connected regions is selected, its longitudinal direction is determined
Longest distance；4）With longitudinal longest distance as step-length, traveled through downwards as initial position using the top of abutment, until
Abutment terminates traversal with the stress area of work piece interface less than minimal-contact area, calculates what different candidate regions included
The summation of the accumulative pressure of abutment regional, selects the minimum candidate region of accumulative pressure summation as the first of clamping part
Beginning clip position.
Preferably, the step（8）In, control unit determines the change operation of clamping part according to following manner：1) determine and receive
All simply connected regions in power region；2）The minimum simply connected region of area in all simply connected regions is selected, determines that it is indulged
To longest distance；3）With longitudinal longest distance as step-length, traveled through downwards as initial position using the top of abutment, directly
Stress area to abutment and work piece interface terminates traversal less than minimal-contact area, calculates different candidate regions and includes
Abutment regional accumulative pressure summation, select the minimum candidate region of accumulative pressure summation as under clamping part
The clip position of once-through operation.
Description of the drawings
Fig. 1 is the schematic diagram of the programmable robot of the embodiment of the present invention.
Fig. 2 is the abutting zoning plan of the embodiment of the present invention.
Fig. 3 is the side view of the workpiece of the embodiment of the present invention；Wherein Fig. 3（a）With 3（b）It is respectively front view and rearview；
Fig. 3（c）With 3（d）It is respectively left view and right view.
Fig. 4 is the rate-determining steps flow chart of the programmable robot of the embodiment of the present invention.
Specific embodiment
In order to be illustrated more clearly that technical scheme, the present invention will be simply situated between using embodiment below
Continue, it should be apparent that, in describing below is only one embodiment of the present of invention, for those of ordinary skill in the art come
Say, without having to pay creative labor, can be fallen within obtaining other technical schemes according to these embodiments
Disclosure of the invention scope.
Programmable robot's system of the embodiment of the present invention, referring to Fig. 1, including workpiece data input unit 10, clamping face determination
Portion
20, stress area determining section 30, minimal-contact area determining section 40, control unit 50, storage part 60, clamping part 70 and
Pressure calculating part 90.
Below by taking I shape workpiece 80 as an example, the composition and function of all parts in the present embodiment is illustrated.Workpiece data
Input unit 10 is used to be input into 3D shape, weight and the material data of clamped workpiece.Conventional man-machine interaction can be used
Part such as keyboard, screen, mouse etc. are input into, and for example these data can also be in the specific format stored in into mobile storage
Equipment, by movable storage device these data are read in, and either transmit data by wired or wireless network.
Clamping part 70 is used for clamping workpiece, and abutment 71 is arranged thereon.Clamping part 70 in clamping workpiece 80, abutting part
Part 71 contacts with workpiece 80 and the deformation consistent with the shape of workpiece 80 occurs, and keeps the deformation so as to clamping workpiece.
Clamping part 70 and abutment 71 can be arranged using technology well known in the prior art, such as such as JP2012152860A technologies
The setting of clamping part and abutment used in scheme.Wherein, the abutment 71 is packed part, its internal filling
Particulate matter, abutment is solidified in clamping by vacuum pump for abutment 71 carries out decompression, so as to outer with workpiece
Shape is consistent.
Region division portion 90, abutment 71 is divided into multiple regions by it, as shown in Fig. 2 can be by abutment 71
Multiple regions are divided equally into along longitudinal direction.
Clamping face determining section 20, the three-dimensional shape data of its workpiece being input into according to workpiece data input unit 10, it is determined that should
Workpiece is used for clamped clamping face.In order that for clamping face when retaining part is changed only possible few overlap clamping face
Product, to workpiece, the simply connected region of each relative clamping side is counted clamping face determining section 20, selects simply connected region
The most relative clamping side of number is used as clamping face.For example, for the I shape workpiece 80 in Fig. 2, it has relative
Leading flank 81 and trailing flank 82, and relative left surface 83 and right flank 84；Clamping face determining section 20 determines relative front side
The simply connected region of face 81 and trailing flank 82 is respectively 1, and the simply connected region of relative left surface 83 and right flank 84 is divided
Wei 2.Clamping face determining section 20 determines relative left surface 83 and right flank 84 as clamped clamping face.
Stress area determining section 30, according to workpiece 80 in the clip position of clamping face and the 3D shape of workpiece 80, really
The stress area of fixed corresponding abutment 71.Specifically, the connecing clamping face and abutment 71 of stress area determining section 30
Tactile region is defined as stress area.For example, for the workpiece 80 in Fig. 1, stress area determining section 30 determines clamping face 83 and 84
Region 801,802,803,804 as stress area.
Minimal-contact area determining section 40, it is according to the weight of workpiece 80, the surface of workpiece 80 and the material list of abutment 71
Maximum pressure and default redundancy coefficient that confficient of static friction, abutment 71 between face can bear, determine workpiece 80
The minimal-contact area of clamping face；Wherein, minimal-contact area s is calculated as follows：S=mg/ ε μ P, wherein m are workpiece
Quality, g is acceleration of gravity, and ε is default redundancy coefficient, for example could be arranged to 0.6 ~ 0.8, μ for surface of the work with abut
Confficient of static friction between component materials surface, P is the maximum pressure that abutment can bear.
Pressure calculating part 90, it is used to calculate the pressure of abutment 71 and work piece interface；Specifically, pressure calculating part
90 quality m, the confficient of static friction between the surface of workpiece 80 and the material surface of abutment 71, abutment and the works according to workpiece
The stress area S of part contact surface, determines the pressure Pj=mg/ μ S of abutment 71 and the contact surface of workpiece 80.Calculating pressure
After pj, for all or part of abutment regional in stress area, determine that its suffered pressure is Pj.As schemed
In 3, pressure calculating part 90 determines the Pj of the suffered pressure in 702,703,706,707 regions of abutment 71.Pressure is calculated
Device 90 calculates the accumulative pressure Σ pj of the regional of abutment 71 after every time clamping terminates.Storage part 60, its storage is abutted
The accumulative pressure Σ pj of part regional.
When workpiece 80 starts clamping, control unit 50 determines the initial clip position of clamping part 70 according to following manner：1）
The clamping face of workpiece 80 is determined by clamping face determining section 20；（2）According to clamping face and workpiece shapes, receiving for clamping face is determined
Power region shape, so that it is determined that all simply connected regions in stress area；2）Select area in all simply connected regions minimum
Simply connected region, determine its longitudinal longest distance；3）With longitudinal longest distance as step-length, using the top of abutment as rise
Beginning, position traveled through downwards, until the stress area of abutment and work piece interface terminates time less than minimal-contact area
Go through, calculate the summation of the accumulative pressure of the abutment regional that different candidate regions include, select accumulative pressure summation most
Initial clip position of the little candidate region as clamping part.
For each clipping operation, the accumulative pressure Σ p of abutment regional are calculated and store, until workpiece clamp
The largest cumulative pressure for finishing or storing abutment regional is held than the minimum difference for adding up pressure more than threshold value；If
Piece-holder is finished, and terminates this piece-holder task；If the largest cumulative pressure of abutment regional is more tired than minimum
The difference of meter pressure exceedes threshold value, and control unit determines the change operation of clamping part according to following manner：1) determine in stress area
All simply connected regions；2）The simply connected region for selecting area in all simply connected regions minimum, determine its longitudinal direction it is most long away from
From；3）With longitudinal longest distance as step-length, traveled through downwards as initial position using the top of abutment, until abutting part
Part terminates traversal with the stress area of work piece interface less than minimal-contact area, calculates the abutting part that different candidate regions include
The summation of the accumulative pressure of part regional, selects the minimum candidate region of accumulative pressure summation as clamping part next operation
Clip position.
By the setting of the above-mentioned technical proposal of the embodiment of the present invention, make the abutment after change regional it is tired
Meter pressure is calculated, and selects the minimum candidate region of accumulative pressure summation as the clamping zone after change, makes abutment
Regional damage situations it is balanced, extend its working life.
The control method of programmable robot's system of the embodiment of the present invention, referring to Fig. 4, comprises the steps：（1）Input quilt
The three-dimensional shape data of clamping workpiece, weight and material data；（2）Abutment is divided into into multiple regions；（3）According to defeated
The three-dimensional shape data of the workpiece for entering, determine the workpiece for be clamped clamping face；（4）Determine the piece-holder face most
Small area of contact；（5）Determine the operation of the initial clip position of workpiece；（6）According to piece-holder position and the three-dimensional of workpiece
Shape, determines the stress area of the abutment of programmable robot；（7）For each clipping operation, abutting is calculated and stored
The accumulative pressure Σ pj of part regional；Persistently carry out step（7）Until piece-holder is finished or each area of abutment
The difference for adding up the maximum region of the pressure region minimum with accumulative pressure in domain exceedes threshold value；If piece-holder is finished, knot
Shu Benci piece-holder tasks；If adding up the maximum region of the pressure area minimum with accumulative pressure in abutment regional
The difference in domain exceedes threshold value, into step（8）；（8）Accumulative pressure distribution of the control unit according to storage abutment regional
And the minimal-contact area in piece-holder face, determine the clip position of clamping part next operation.
Preferably, the step（5）In, control unit determines the initial clip position of clamping part according to following manner：1）Really
Determine the clamping face of workpiece；2）According to clamping face and workpiece shapes, the stress area shape of clamping face is determined, so that it is determined that stress
All simply connected regions in region；3）The minimum simply connected region of area in all simply connected regions is selected, its longitudinal direction is determined
Longest distance；4）With longitudinal longest distance as step-length, traveled through downwards as initial position using the top of abutment, until
Abutment terminates traversal with the stress area of work piece interface less than minimal-contact area, calculates what different candidate regions included
The summation of the accumulative pressure of abutment regional, selects the minimum candidate region of accumulative pressure summation as the first of clamping part
Beginning clip position.
Preferably, the step（8）In, control unit determines the change operation of clamping part according to following manner：1) determine and receive
All simply connected regions in power region；2）The minimum simply connected region of area in all simply connected regions is selected, determines that it is indulged
To longest distance；3）With longitudinal longest distance as step-length, traveled through downwards as initial position using the top of abutment, directly
Stress area to abutment and work piece interface terminates traversal less than minimal-contact area, calculates different candidate regions and includes
Abutment regional accumulative pressure summation, select the minimum candidate region of accumulative pressure summation as under clamping part
The clip position of once-through operation.
Each embodiment of the invention is described by the way of progressive, and identical similar part is mutual between each embodiment
Referring to what each embodiment was stressed is the difference with other embodiment.Especially for system embodiment
Speech, because it is substantially similar to embodiment of the method, so description is fairly simple, part of the related part referring to embodiment of the method
Illustrate.
The all documents referred in the present invention all incorporated by reference in this application, are individually recited just as each document
As with reference to such.In addition, it is to be understood that after the above disclosure for having read the present invention, protection scope of the present invention is not
Above-described embodiment is limited only to, those skilled in the art can make various changes or modifications to the present invention, without departing from the present invention
Under the premise of principle, these equivalent form of values equally fall within the application appended claims limited range.
Claims (6)
1. a kind of programmable robot, including：Clamping part, for clamping to workpiece；Control unit, for the clamping part
Operation is controlled；Abutment is set on the clamping part, and during the clamping part clamping workpiece, the abutment connects with workpiece
Touch and the deformation consistent with workpiece shapes occurs, and keep the deformation so as to clamping workpiece；It is characterized in that：Also include
Region division portion, abutment is divided into multiple regions by it；Pressure calculating part, it calculates abutment with work piece interface
Pressure；Storage part, the accumulative pressure data of its storage abutment regional；The control unit determines the change behaviour of clamping part
Make, the accumulative pressure data for making abutment regional is uniformly distributed.
2. programmable robot according to claim 1, it is characterised in that：The region division portion, by abutment along vertical
To being divided equally into multiple regions.
3. programmable robot according to claim 2, it is characterised in that：The pressure calculating part according to quality m of workpiece,
The stress area S of the confficient of static friction μ between surface of the work and abutment material surface, abutment and work piece interface,
Determine the pressure Pj=mg/ μ S of abutment and work piece interface；Then, in whole or in part in stress area
Abutment regional, determines that its suffered pressure is Pj.
4. programmable robot's system according to claim 3, it is characterised in that：Storage part is deposited after each piece-holder
The accumulative pressure Σ pj of storage abutment regional.
5. programmable robot according to claim 4, it is characterised in that：The control unit is it is determined that the change behaviour of clamping part
When making, the summation of the accumulative pressure of the abutment regional that candidate region includes is calculated, select accumulative pressure summation minimum
Candidate region as clamping part next operation clip position.
6. a kind of programmable robot's control method, comprises the steps：（1）Three-dimensional shape data, the weight of the clamped workpiece of input
Amount and material data；（2）The abutment is divided into into multiple regions；（3）According to the 3D shape number of the workpiece of input
According to, determine the workpiece for be clamped clamping face；（4）Determine the minimal-contact area in the piece-holder face；（5）Determine work
The operation of the initial clip position of part；（6）According to piece-holder position and the 3D shape of workpiece, determine programmable robot's
The stress area of abutment；（7）For each clipping operation, the accumulative pressure of abutment regional is calculated and stored
Σpj；Persistently carry out step（7）Until piece-holder finish or abutment regional in add up the maximum region of pressure
The difference in minimum region exceedes threshold value with accumulative pressure；If piece-holder is finished, terminate this piece-holder task；If
The difference for adding up the maximum region of the pressure region minimum with accumulative pressure in abutment regional exceedes threshold value, into step
Suddenly（8）；（8）Accumulative pressure distribution and the minimal-contact in piece-holder face of the control unit according to storage abutment regional
Area, determines the clip position of clamping part next operation.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710011635.5A CN106671085B (en) | 2017-01-07 | 2017-01-07 | Programmable robot and control method |
| CN201811151928.4A CN109129489B (en) | 2017-01-07 | 2017-01-07 | Program-controlled industrial transfer robot and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710011635.5A CN106671085B (en) | 2017-01-07 | 2017-01-07 | Programmable robot and control method |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811151928.4A Division CN109129489B (en) | 2017-01-07 | 2017-01-07 | Program-controlled industrial transfer robot and control method |
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| Publication Number | Publication Date |
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| CN106671085A true CN106671085A (en) | 2017-05-17 |
| CN106671085B CN106671085B (en) | 2019-07-19 |
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| CN201710011635.5A Expired - Fee Related CN106671085B (en) | 2017-01-07 | 2017-01-07 | Programmable robot and control method |
| CN201811151928.4A Expired - Fee Related CN109129489B (en) | 2017-01-07 | 2017-01-07 | Program-controlled industrial transfer robot and control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111823226A (en) * | 2019-01-14 | 2020-10-27 | 牧今科技 | Robot system with coordination mechanism and operation method thereof |
| US11905116B2 (en) | 2019-01-14 | 2024-02-20 | Mujin, Inc. | Controller and control method for robot system |
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- 2017-01-07 CN CN201710011635.5A patent/CN106671085B/en not_active Expired - Fee Related
- 2017-01-07 CN CN201811151928.4A patent/CN109129489B/en not_active Expired - Fee Related
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|---|---|---|---|---|
| US3675962A (en) * | 1969-06-13 | 1972-07-11 | Nat Res Dev | Gripping |
| US4561686A (en) * | 1983-08-22 | 1985-12-31 | Raymond Atchley | End effector |
| JPH068181A (en) * | 1992-06-30 | 1994-01-18 | Bridgestone Corp | Gripping device for parts or the like |
| JPH09123082A (en) * | 1995-11-01 | 1997-05-13 | Kao Corp | Article gripping device |
| JP2001129782A (en) * | 1999-10-29 | 2001-05-15 | Shibuya Kogyo Co Ltd | Gripper |
| JP2002113682A (en) * | 2000-10-06 | 2002-04-16 | Ricoh Co Ltd | Slide type chuck |
| JP2003080486A (en) * | 2001-09-11 | 2003-03-18 | Ricoh Co Ltd | Robot hand, grasping method thereof and computer- readable recording medium recording control program thereof |
| US20060033350A1 (en) * | 2004-08-16 | 2006-02-16 | Axel Besch | Load-lifting device for handling items |
| CN101142059A (en) * | 2005-02-05 | 2008-03-12 | 安德烈亚斯·普拉斯-林克 | Universal gripping and holding device |
| JP2011230260A (en) * | 2010-04-28 | 2011-11-17 | Toyota Motor Corp | Gripping device |
| CN103338902A (en) * | 2011-01-26 | 2013-10-02 | 丰田自动车株式会社 | Gripping device, transfer device with same, and method for controlling gripping device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111823226A (en) * | 2019-01-14 | 2020-10-27 | 牧今科技 | Robot system with coordination mechanism and operation method thereof |
| CN111823226B (en) * | 2019-01-14 | 2021-10-08 | 牧今科技 | Robot system with coordination mechanism and operation method thereof |
| US11905116B2 (en) | 2019-01-14 | 2024-02-20 | Mujin, Inc. | Controller and control method for robot system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106671085B (en) | 2019-07-19 |
| CN109129489B (en) | 2021-11-26 |
| CN109129489A (en) | 2019-01-04 |
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