CN113276128A - Flexible automatic workstation for discriminating product processing raw materials and discriminating system thereof - Google Patents
Flexible automatic workstation for discriminating product processing raw materials and discriminating system thereof Download PDFInfo
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- CN113276128A CN113276128A CN202110557897.8A CN202110557897A CN113276128A CN 113276128 A CN113276128 A CN 113276128A CN 202110557897 A CN202110557897 A CN 202110557897A CN 113276128 A CN113276128 A CN 113276128A
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- 238000012545 processing Methods 0.000 title claims abstract description 140
- 239000002994 raw material Substances 0.000 title claims abstract description 84
- 238000000034 method Methods 0.000 claims abstract description 10
- 238000012216 screening Methods 0.000 claims description 16
- 230000003993 interaction Effects 0.000 claims description 9
- 230000007547 defect Effects 0.000 claims description 6
- 238000005192 partition Methods 0.000 claims description 6
- 238000003860 storage Methods 0.000 claims description 6
- 239000002184 metal Substances 0.000 claims description 3
- 239000000523 sample Substances 0.000 claims description 3
- 238000003754 machining Methods 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 description 10
- 239000000463 material Substances 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Classifications
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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
- B25J11/005—Manipulators for mechanical processing tasks
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- 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
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/027—Electromagnetic sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- 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
- B25J9/16—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
-
- 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
-
- 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
- B25J9/1697—Vision controlled systems
Abstract
The invention discloses a flexible automatic workstation for discriminating product processing raw materials and a discrimination system thereof, belonging to the field of machining. The utility model provides a can remove cooperation processing equipment and carry out part identification to the workstation that the matching corresponds the procedure of processing to and part identification system, including walking portion, feed bin portion is put on the walking portion, and feed portion arranges in on the walking portion, and is located feed bin portion one side, feed portion is provided with the recognizer, switches the robot of cooperation and non-cooperation mode, combines with laser radar, can realize the compromise of robot efficiency and security, convenience.
Description
Technical Field
The invention discloses a flexible automatic workstation for discriminating product processing raw materials and a discrimination system thereof, belonging to the field of machining.
Background
Industrial robots in the market at present mainly have two types, one type is industrial robot, mainly has efficient characteristics, and the other type is cooperative robot, has safe easy-to-use's a bit, can with the people in overlapping space collaborative work. No matter be industrial robot or cooperation robot, when being applied to the production scene, the mode of present mainstream all is according to the part characteristic of production, and the service object equipment of robot, set up the material storehouse on the workshop ground, set up the robot mount base, just can let the robot get into the production state after installation electric cabinet and the debugging robot, need consume higher human cost, and when the production demand changes, probably need demolish or remove the equipment of fixing on the floor, the production change can't correspond fast in a flexible way, above-mentioned industrial robot has the defect as follows: an industrial robot does not have the relevant characteristics of man-machine cooperation, so that a safety fence needs to be arranged to isolate the robot from a person to realize safe production; in order to realize sensitive collision detection, the running speed of the cooperative robot is often only 1/3 to 1/2 of the industrial robot, and the efficiency is low; the robot application needs to consume high labor cost, and when the production requirement changes, equipment fixed on the floor may need to be dismantled or moved, so that the production change cannot be flexibly and quickly corresponded.
Publication No. CN110775608A discloses a press workpiece conveying manipulator system and a rotary conveying method, which comprises a primary conveying system and a secondary conveying system, wherein the conveying directions of the primary conveying system and the secondary conveying system are mutually vertical, and a workpiece is conveyed to the secondary conveying system by the primary conveying system to finish the transfer of the workpiece on different stations on a press; the first-stage conveying system comprises a lead screw transmission mechanism, a rotary clamping jaw is arranged on the lead screw transmission mechanism, and a workpiece is clamped by the rotary clamping jaw; the second-stage conveying system comprises a mechanical arm and a conveying mechanism, two mechanical claw heads are fixedly arranged on one side of the mechanical arm, the mechanical arm is connected with the conveying mechanism, the conveying mechanism controls the axial horizontal movement and the lifting movement of the mechanical arm, the mechanical structure is fixed and cannot move, only the gripping clamp can be carried out, the function of screening raw materials is lacked, and the gripping clamp is also carried out on non-qualified pieces.
Disclosure of Invention
The invention aims to overcome the technical defects and provides a workstation capable of movably matching with machining equipment to identify parts and matching with corresponding machining programs and a part identification system thereof.
The invention relates to a flexible automatic workstation for discriminating product processing raw materials, which comprises a walking part, a feeding part and a stock bin part, wherein the stock bin part is arranged on the walking part;
the walking part is of a box body structure, and moving wheels and ground feet are arranged at the bottom of the walking part;
the walking part is provided with a positioning component connected with processing equipment, and the positioning component is any one of a bolt, a buckle and a magnetic sucker;
the walking part is provided with a laser radar;
the walking part is driven by a motor to move, a pre-loading program is arranged in the walking part, and the walking part moves along a set route;
a control cabinet is arranged in the walking part, a microcomputer with a preloaded program is arranged in the control cabinet, and the microcomputer and the processing equipment form data interaction;
the microcomputer comprises a real-time controller and a non-real-time controller;
the real-time controller consists of a CPU, an internal memory, a hard disk and a real-time operating system;
the non-real-time controller adopts an arm or x86 CPU, a Windows, Linux or android operating system;
the feeding part is a multi-joint mechanical arm;
the mechanical arm base is fixedly arranged on the walking part;
the mechanical arm clamping jaw is provided with a recognizer;
the recognizer is one or more of a metal sensor, an X-ray probe, a laser sensor, a bar code reading head, a two-dimensional code reading head and an RFID reading head;
the mechanical arm clamping jaw is replaced by one of a vacuum chuck, an electromagnetic paste, a cylinder and an electric cylinder;
the bin part is a goods shelf for accommodating processing raw materials;
the storage bin part is provided with a display screen, the display screen and a microcomputer in the walking part form data interaction, and the display screen is used for calling a loading program;
the storage bin part is arranged in multiple layers, a plurality of processing raw material fixing grooves are equidistantly arranged on each layer of partition plate, and photoelectric sensors and/or contact switches are arranged in the fixing grooves;
the partition plate of the stock bin part can be detached and replaced.
The flexible automatic workstation for discriminating the product processing raw materials further comprises an alarm lamp and an emergency stop switch;
the invention relates to a product processing and discriminating system, which comprises the following steps:
1) establishing a database, wherein the content of the database comprises processing raw material integrity data and processing content data; the integrity data of the processing raw materials comprise weight, outline shape, internal quality, hole position and wall thickness;
the contour form is data of a picture and/or a contour point;
the processing content data comprises a processing area, a processing size of a key hole position, a processed surface defect standard and a processed weight;
2) the feeding part selects processing raw materials, identifies the processing raw materials, is correspondingly placed in the stock bin part, identifies the processing raw materials by the stock bin part, and records the placing position;
the feeding part selects processing raw materials, identifies the processing raw materials through an identifier, and selects the processing raw materials which do not meet the data requirement through comparison with the integrity data of the processing raw materials preloaded in the hard disk;
the processing raw materials are unprocessed blanks, products processed in the previous working procedure and raw materials;
3) the walking part moves to the side of subsequent processing equipment and is fixedly connected with the processing equipment, a microcomputer in the walking part and the processing equipment form data interaction, the data of processing raw materials are fed back to the processing equipment, and the processing equipment calls a corresponding processing program;
4) the feeding part grabs processing raw materials from the stock bin part, the stock bin part senses the grabbed processing raw materials, the recognizer on the feeding part synchronously recognizes the processing raw materials, the processing raw materials are grabbed and placed in the processing equipment, and the processing equipment processes the processing raw materials;
5) after the processing is finished, the feeding part grabs the processed raw materials, the raw materials are identified through the identifier and compared with the processing content data, and the effectiveness of the processing procedure is determined;
6) and (5) repeating the steps 4) and 5), after all the processing raw materials in the stock bin part are processed, disconnecting the walking part from the processing equipment, moving the walking part to the subsequent processing equipment, repeating the steps 3) and 5), and after all the processing contents are finished, warehousing the processed finished products.
According to the product processing and discriminating system, when manual external intervention is used for operation, the laser radar works to identify the installation operation range.
Has the advantages that:
the robot for switching the cooperative mode and the non-cooperative mode is combined with a laser radar, so that the efficiency, the safety and the convenience of the robot can be realized.
And secondly, due to the integrated design, the production site construction is greatly reduced, the effect of using the product when the product falls to the ground is realized, and the product can be rapidly moved and reset at any time according to production needs.
Thirdly, the operation is convenient, the mobile operation is realized, the resource utilization rate is high, and the device can be adapted to different devices.
Drawings
Fig. 1 is a three-dimensional structure diagram of a flexible automatic workstation for screening product processing raw materials according to the present invention.
Fig. 2 is a side view of a product processing feedstock screening flexible automated workstation of the present invention.
Fig. 3 is a schematic structural view of a clamping jaw of a flexible automatic workstation for screening product processing raw materials.
Fig. 4 is a schematic structural diagram of a product processing screening apparatus control system of the present invention.
Fig. 5 is a flow chart of a product processing screening system of the present invention.
In the drawings:
the robot comprises a multi-joint mechanical arm (1), a walking part (2), a stock bin part (3), a laser radar (4), a clamping jaw (5) and a recognizer (6).
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings. In which like parts are designated by like reference numerals.
It should be noted that the terms "front", "back", "left", "right", "upper" and "lower" used in the following description refer to the direction in which the judgment is made in fig. 1, and the terms "inner" and "outer" refer to the directions toward and away from the geometric center of a specific part, respectively.
With reference to the attached figures 1 to 2, the device comprises a walking part 2, a feeding part and a material bin part 3, wherein the material bin part 3 is arranged on the walking part 2, the feeding part is arranged on the walking part 2 and is positioned at one side of the material bin part 3, the feeding part is provided with an identifier 6,
the walking part 2 is of a box body structure, and moving wheels and ground feet are arranged at the bottom of the walking part;
a positioning component connected with processing equipment is arranged on the walking part 2, and the positioning component is any one of a bolt, a buckle and a magnetic sucker;
the walking part 2 is provided with a laser radar 4;
the 2-position motor of the walking part drives to move, a pre-loading program is arranged in the walking part 2, and the walking part moves according to a set route;
a control cabinet is arranged in the walking part 2, a microcomputer with a preloaded program is arranged in the control cabinet, and the microcomputer and the processing equipment form data interaction;
the microcomputer comprises a real-time controller and a non-real-time controller;
the real-time controller consists of a CPU, an internal memory, a hard disk and a real-time operating system;
the non-real-time controller adopts an arm or x86 CPU, a Windows, Linux or android operating system;
the feeding part is a multi-joint mechanical arm 1;
the mechanical arm base is fixedly arranged on the walking part 2;
the mechanical arm clamping jaw 5 is provided with a recognizer 6;
the recognizer 6 is one or more of a metal sensor, an X-ray probe, a laser sensor, a bar code reading head, a two-dimensional code reading head and an RFID reading head, and can respectively perform data recognition on materials, internal quality, position defects and materials;
the mechanical arm clamping jaw 5 is replaced by one of a vacuum chuck, an electromagnetic paste, a cylinder and an electric cylinder, and can grab processing raw materials with different structures;
the bin part 3 is a goods shelf for accommodating processing raw materials;
the storage bin part 3 is provided with a display screen, the display screen and a microcomputer in the walking part 2 form data interaction, and the display screen is used for calling a loading program;
the storage bin part 3 is arranged in a plurality of layers, a plurality of processing raw material fixing grooves are equidistantly arranged on each layer of partition plate, and photoelectric sensors and/or contact switches are arranged in the fixing grooves;
the partition plate of the stock bin part 3 can be detached and replaced.
With reference to fig. 3 to 4, the product processing screening system of the present invention comprises the following steps:
1) establishing a database, wherein the content of the database comprises processing raw material integrity data and processing content data;
the integrity data of the processing raw materials comprise weight, outline shape, internal quality, hole position and wall thickness;
the contour form is data of a picture and/or a contour point;
the processing content data comprises a processing area, a processing size of a key hole position, a processed surface defect standard and a processed weight;
2) the feeding part selects processing raw materials, identifies the processing raw materials, is correspondingly placed in the stock bin part 3, and the stock bin part 3 identifies the processing raw materials and records the placing positions;
the feeding part selects processing raw materials, the processing raw materials are identified through the identifier 6, and the processing raw materials which do not meet the data requirements are sorted through comparison with the integrity data of the processing raw materials preloaded in the hard disk;
the processing raw materials are unprocessed blanks, products processed in the previous working procedure and raw materials;
3) the walking part 2 moves to the side of subsequent processing equipment and is fixedly connected with the processing equipment, a microcomputer in the walking part 2 and the processing equipment form data interaction, the data of processing raw materials are fed back to the processing equipment, and the processing equipment calls a corresponding processing program;
4) the feeding part grabs processing raw materials from the stock bin part 3, the stock bin part 3 senses the grabbed processing raw materials, the recognizer 6 on the feeding part synchronously recognizes the processing raw materials, and the processing raw materials are grabbed and placed in the processing equipment for processing;
5) after the processing is finished, the feeding part grabs the processed raw materials, the raw materials are identified through the identifier 6 and are compared with the processing content data to determine the effectiveness of the processing procedure;
6) repeating the steps 4) to 5), after all the processing raw materials in the stock bin part 3 are processed, disconnecting the walking part 2 from the processing equipment, moving the walking part to the subsequent processing equipment, repeating the steps 3) to 5), and after all the processing contents are finished, warehousing the processed finished products
The purpose of screening and processing the processing raw materials is achieved.
The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings are only one embodiment of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. The utility model provides a flexible automatic workstation is discriminated to product processing raw materials which characterized in that: the method comprises the following operation steps:
1) establishing a database, wherein the content of the database comprises processing raw material integrity data and processing content data;
the integrity data of the processing raw materials comprise weight, outline shape, internal quality, hole position and wall thickness;
the contour form is data of a picture and/or a contour point;
the processing content data comprises a processing area, a processing size of a key hole position, a processed surface defect standard and a processed weight;
2) the feeding part selects processing raw materials, identifies the processing raw materials, is correspondingly placed in the stock bin part (3), and the stock bin part (3) identifies the processing raw materials and records the placing position;
the feeding part selects processing raw materials, the processing raw materials are identified through an identifier (6), and the processing raw materials which do not meet the data requirements are selected through comparison with the integrity data of the processing raw materials preloaded in the hard disk;
the processing raw materials are unprocessed blanks, products processed in the previous working procedure and raw materials;
3) the walking part (2) moves to the side of subsequent processing equipment and is fixedly connected with the processing equipment, a microcomputer in the walking part (2) and the processing equipment form data interaction, data of processing raw materials are fed back to the processing equipment, and the processing equipment calls a corresponding processing program;
4) the feeding part grabs processing raw materials from the stock bin part (3), the stock bin part (3) senses the grabbed processing raw materials, the recognizer (6) on the feeding part synchronously recognizes the processing raw materials, and the processing raw materials are grabbed and placed in the processing equipment for processing;
5) after the processing is finished, the feeding part grabs the processed raw materials, the raw materials are identified through the identifier (6) and are compared with the processing content data to determine the effectiveness of the processing procedure;
6) and (5) repeating the steps 4) and 5), after all the processing raw materials in the bin part (3) are processed, disconnecting the walking part (2) from the processing equipment, moving the walking part to the subsequent processing equipment, repeating the steps 3) and 5), and after all the processing contents are finished, warehousing the processed finished products.
2. The flexible automated workstation for screening product processing raw materials according to claim 1, characterized in that: including walking portion (2), feed portion, feed bin portion (3), on walking portion (2) were arranged in feed bin portion (3), on walking portion (2) was arranged in to feed portion, and was located feed bin portion (3) one side, feed portion is provided with recognizer (6).
3. The flexible automated workstation for screening product processing raw materials according to claim 1, characterized in that: walking portion (2) are the box structure, and the bottom is provided with removal wheel and lower margin, be provided with the locating component who connects in processing equipment on walking portion (2), locating component is any one of bolt, buckle, magnetic chuck, be provided with laser radar (4) on walking portion (2).
4. The flexible automated workstation for screening product processing raw materials according to claim 1, characterized in that: the walking part (2) is driven by a motor to move forward, a pre-loading program is arranged in the walking part (2) and moves forward according to a set route, a control cabinet is arranged in the walking part (2), a microcomputer of the pre-loading program is arranged in the control cabinet, and the microcomputer and the processing equipment form data interaction.
5. The flexible automated workstation for screening product processing raw materials according to claim 1, characterized in that: the microcomputer comprises a real-time controller and a non-real-time controller;
the real-time controller consists of a CPU, an internal memory, a hard disk and a real-time operating system;
the non-real-time controller adopts an arm or x86 CPU, a Windows, Linux or android operating system.
6. The flexible automated workstation for screening product processing raw materials according to claim 1, characterized in that: the feeding part is a multi-joint mechanical arm (1);
the mechanical arm base is fixedly arranged on the walking part (2);
the mechanical arm clamping jaw (5) is provided with a recognizer (6);
the recognizer (6) is one or more of a metal sensor, an X-ray probe, a laser sensor, a bar code reading head, a two-dimensional code reading head and an RFID reading head;
the mechanical arm clamping jaw (5) is replaced by one of a vacuum chuck, an electromagnetic paste, a cylinder and an electric cylinder.
7. The flexible automated workstation for screening product processing raw materials according to claim 1, characterized in that: the bin part (3) is a goods shelf for accommodating processing raw materials;
the storage bin part (3) is provided with a display screen, the display screen and a microcomputer in the walking part (2) form data interaction, and the display screen is used for calling a loading program;
the storage bin part (3) is arranged in a multi-layer mode, a plurality of processing raw material fixing grooves are formed in each layer of partition board in an equidistant mode, and photoelectric sensors and/or contact switches are arranged in the fixing grooves.
8. The flexible automated workstation for screening product processing raw materials according to claim 1, characterized in that: the partition plate of the stock bin part (3) can be detached and replaced.
9. The flexible automated workstation for screening product processing raw materials according to claim 1, characterized in that: the bin part comprises an alarm lamp and an emergency stop switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110557897.8A CN113276128A (en) | 2021-05-21 | 2021-05-21 | Flexible automatic workstation for discriminating product processing raw materials and discriminating system thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110557897.8A CN113276128A (en) | 2021-05-21 | 2021-05-21 | Flexible automatic workstation for discriminating product processing raw materials and discriminating system thereof |
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| CN113276128A true CN113276128A (en) | 2021-08-20 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116061148A (en) * | 2023-03-17 | 2023-05-05 | 上海仙工智能科技有限公司 | Method and system for teaching interaction of mechanical arm and pack basket and storage medium |
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2021
- 2021-05-21 CN CN202110557897.8A patent/CN113276128A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116061148A (en) * | 2023-03-17 | 2023-05-05 | 上海仙工智能科技有限公司 | Method and system for teaching interaction of mechanical arm and pack basket and storage medium |
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