CN109955279B - 机器人手、其控制方法、物品的组装方法及存储介质 - Google Patents

机器人手、其控制方法、物品的组装方法及存储介质 Download PDF

Info

Publication number
CN109955279B
CN109955279B CN201811531652.2A CN201811531652A CN109955279B CN 109955279 B CN109955279 B CN 109955279B CN 201811531652 A CN201811531652 A CN 201811531652A CN 109955279 B CN109955279 B CN 109955279B
Authority
CN
China
Prior art keywords
control
fingers
control unit
robot hand
base
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.)
Active
Application number
CN201811531652.2A
Other languages
English (en)
Chinese (zh)
Other versions
CN109955279A (zh
Inventor
上野真路
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Canon Inc
Original Assignee
Canon Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Canon Inc filed Critical Canon Inc
Publication of CN109955279A publication Critical patent/CN109955279A/zh
Application granted granted Critical
Publication of CN109955279B publication Critical patent/CN109955279B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/082—Grasping-force detectors
    • 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
    • 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
    • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
    • 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
    • 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
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • 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
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • 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
    • 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
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
CN201811531652.2A 2017-12-14 2018-12-14 机器人手、其控制方法、物品的组装方法及存储介质 Active CN109955279B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-239915 2017-12-14
JP2017239915A JP6995602B2 (ja) 2017-12-14 2017-12-14 ロボットハンド、ロボットハンドの制御方法、ロボット装置、物品の製造方法、制御プログラムおよび記録媒体

Publications (2)

Publication Number Publication Date
CN109955279A CN109955279A (zh) 2019-07-02
CN109955279B true CN109955279B (zh) 2022-10-28

Family

ID=66814099

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811531652.2A Active CN109955279B (zh) 2017-12-14 2018-12-14 机器人手、其控制方法、物品的组装方法及存储介质

Country Status (3)

Country Link
US (1) US11192263B2 (enExample)
JP (1) JP6995602B2 (enExample)
CN (1) CN109955279B (enExample)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL2020360B1 (en) * 2018-01-31 2019-08-07 Besi Netherlands Bv Handler device for handling substrates
CN110988526B (zh) * 2019-11-21 2021-01-29 珠海格力电器股份有限公司 一种机器人装配检查方法、装置及存储介质
JP7608292B2 (ja) * 2021-08-13 2025-01-06 株式会社東芝 ロボットハンド、ハンドリングシステム、ロボットハンド制御装置、ロボットハンドの制御方法、プログラム、及び記憶媒体
JP7754481B2 (ja) * 2021-09-13 2025-10-15 株式会社人機一体 ロボットのハンド機構
FR3128656B1 (fr) * 2021-11-04 2024-01-19 Commissariat Energie Atomique Préhenseur
CN118876071B (zh) * 2024-09-27 2025-02-21 深圳市兆威机电股份有限公司 灵巧手控制方法、装置、灵巧手及计算机可读存储介质

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102015427A (zh) * 2008-01-30 2011-04-13 本田技研工业株式会社 轮胎安装设备、轮胎安装方法、工作设备、工作方法
CN103722557A (zh) * 2012-10-11 2014-04-16 精工爱普生株式会社 机器人手、机器人装置以及机器人手的制造方法
CN104053526A (zh) * 2012-01-17 2014-09-17 精工爱普生株式会社 机器人手以及机器人装置
CN105710878A (zh) * 2016-04-29 2016-06-29 深圳博美德机器人股份有限公司 机械抓手

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006102920A (ja) * 2004-10-08 2006-04-20 Fanuc Ltd 把握型ハンド
US20060293615A1 (en) * 2005-06-10 2006-12-28 Valero-Cuevas Francisco J Device and method for quantifying and extracting sensorimotor circuitry
JP2009148846A (ja) * 2007-12-19 2009-07-09 Tokyo Institute Of Technology 把持機構
JP2010172970A (ja) * 2009-01-27 2010-08-12 Yaskawa Electric Corp 多指ハンドおよびマニピュレータ装置
KR101674894B1 (ko) * 2009-12-21 2016-11-10 삼성전자 주식회사 산업용 다자유도 그리퍼
CN102821918A (zh) * 2010-03-24 2012-12-12 株式会社安川电机 机器人手和机器人装置
JP2012166297A (ja) * 2011-02-14 2012-09-06 Seiko Epson Corp ロボットハンド及びロボット装置
JP5888884B2 (ja) * 2011-06-20 2016-03-22 キヤノン株式会社 ロボットハンド
JP5787675B2 (ja) * 2011-09-01 2015-09-30 キヤノン株式会社 ロボット
CN103917338B (zh) * 2011-11-09 2016-01-20 株式会社安川电机 机器人手和机器人
US9004559B2 (en) * 2012-11-09 2015-04-14 Irobot Corporation Compliant underactuated grasper
JP2015226968A (ja) * 2014-06-02 2015-12-17 セイコーエプソン株式会社 ロボット、ロボットシステム、制御装置、及び制御方法
JP2017164832A (ja) * 2016-03-14 2017-09-21 キヤノン株式会社 ロボットハンド、ロボットハンドの制御プログラム、およびロボット装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102015427A (zh) * 2008-01-30 2011-04-13 本田技研工业株式会社 轮胎安装设备、轮胎安装方法、工作设备、工作方法
CN104053526A (zh) * 2012-01-17 2014-09-17 精工爱普生株式会社 机器人手以及机器人装置
CN103722557A (zh) * 2012-10-11 2014-04-16 精工爱普生株式会社 机器人手、机器人装置以及机器人手的制造方法
CN105710878A (zh) * 2016-04-29 2016-06-29 深圳博美德机器人股份有限公司 机械抓手

Also Published As

Publication number Publication date
US11192263B2 (en) 2021-12-07
JP6995602B2 (ja) 2022-01-14
JP2019104099A (ja) 2019-06-27
US20190184580A1 (en) 2019-06-20
CN109955279A (zh) 2019-07-02

Similar Documents

Publication Publication Date Title
CN109955279B (zh) 机器人手、其控制方法、物品的组装方法及存储介质
US8948904B2 (en) Work picking system
US10195744B2 (en) Control device, robot, and robot system
JP5910724B2 (ja) ロボットシステム
JP6690213B2 (ja) ロボット、制御装置およびロボットシステム
JP6584102B2 (ja) ロボット装置、ロボット制御方法、プログラム、記録媒体、及び物品の製造方法
CN106863266B (zh) 机器人、控制装置以及机器人系统
US11660746B2 (en) Separate moving and positioning modes for a robot, method providing separate moving and positioning modes for the robot, method of manufacturing a product, and a recording medium
JP2015131385A (ja) ロボット装置、ロボット制御方法、プログラム及び記録媒体
US11358276B2 (en) Robot and robot system
KR102026785B1 (ko) 로봇 팔 및 로봇 손목
JP6252597B2 (ja) ロボットシステム
JP6521736B2 (ja) ロボット装置、ロボット制御方法、プログラム、記録媒体及び組立部品の製造方法
US11498218B2 (en) Robot
US20190001502A1 (en) Robot control device and robot system
JP7374737B2 (ja) 検出装置、駆動装置、駆動装置の制御方法、ロボット装置、ロボット装置の制御方法、検出方法、ロボット装置を用いた物品の製造方法、プログラム及び記録媒体
US11752630B2 (en) Speed control method for robot to which one of a plurality of end effectors is detachably attachable and robot system including robot to which one of a plurality of end effectors is detachably attachable
CN114786885B (zh) 位置检测方法、控制装置以及机器人系统
JP7414426B2 (ja) ロボットシステム
JP2019111597A (ja) ロボットアーム、ロボット装置
JP2023083981A (ja) ロボット、ロボットの制御方法、ロボットを用いた物品の製造方法、装置、駆動装置、制御プログラムおよび記録媒体
JP2023061647A (ja) ロボットシステム、ロボットシステムの制御方法、ロボットシステムを用いた物品の製造方法、低摩擦部材、制御プログラムおよび記録媒体
JP2020001102A (ja) 把持装置
JP2021053739A (ja) ロボットおよびロボットの制御方法
JP2020097079A (ja) ロボットアーム、ロボットシステム、ロボットアームおよびロボットシステムを用いた物品の製造方法

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
GR01 Patent grant
GR01 Patent grant