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

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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
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China
Prior art keywords
control
fingers
control unit
robot hand
base
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CN201811531652.2A
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English (en)
Chinese (zh)
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CN109955279A (zh
Inventor
上野真路
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Canon Inc
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Canon Inc
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Publication of CN109955279A publication Critical patent/CN109955279A/zh
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Publication of CN109955279B publication Critical patent/CN109955279B/zh
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    • 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—Program-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—Program-controlled manipulators
    • B25J9/08—Program-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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program 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

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Country Link
US (1) US11192263B2 (https=)
JP (1) JP6995602B2 (https=)
CN (1) CN109955279B (https=)

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* Cited by examiner, † Cited by third party
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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
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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

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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
EP2777895A4 (en) * 2011-11-09 2016-07-13 Yaskawa Denki Seisakusho Kk ROBOTIC HAND AND ROBOT
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)

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

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