CN205394571U - Controlling means and mechanical arm system - Google Patents
Controlling means and mechanical arm system Download PDFInfo
- Publication number
- CN205394571U CN205394571U CN201620112191.5U CN201620112191U CN205394571U CN 205394571 U CN205394571 U CN 205394571U CN 201620112191 U CN201620112191 U CN 201620112191U CN 205394571 U CN205394571 U CN 205394571U
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- target object
- portion part
- controller
- control device
- 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
Links
Abstract
The utility model discloses a controlling means for control machinery arm, arm include the arm body and set up in the terminal thing part of getting of the arm body. Controlling means includes first control ware, detection device and the second controllor. Wherein, the first control ware is used for control machinery arm motion so that get the thing parts and move down, and detection device is used for producing the contact signal when getting the thing parts and touch the target object, and the second controllor is used for getting the thing parts according to contact signal control and takes and get target object and moving target object to predetermined purpose position. Adopt detection device to need not to pay close attention to the height of target object, touch the target object as long as get the thing parts, just can take and get and the moving target object, promoted the arm to co -altitude object adaptability physically not, improved arm and controlling means's intelligent degree. The utility model also discloses a mechanical arm system.
Description
Technical field
This utility model relates to mechanical arm technology, controls device and mechanical arm system particularly to one.
Background technology
In the processes such as the inspection of product, fractionation or recovery, being often required to product and each accessory are taken out one by one and are placed on from packing box relevant position, the existing mode that retracts is generally adopted manually, and workload is made mistakes greatly and easily, as the work that repeatability is high, also it is a kind of waste to human resources and cost.
Utility model content
Embodiment of the present utility model is intended at least solve one of technical problem of existence in prior art.For this, embodiment of the present utility model needs to provide one to control device and mechanical arm system.
The control device of this utility model embodiment, is used for controlling mechanical arm, it is characterised in that described mechanical arm includes arm body and is arranged at the extracting portion part of described arm body end；
Described control device includes:
First controller, is used for controlling described manipulator motion so that described extracting portion part moves down；
Detecting device, for producing activation signal when described extracting portion part touches target object；And
Second controller, takes described target object mobile described target object extremely predetermined destination locations for taking according to described activation signal control described extracting portion part.
Adopt detecting device without paying close attention to the height of target object, as long as extracting portion part touches target object, so that it may to take and take and mobile target object, improve the mechanical arm adaptability to differing heights target object, improve mechanical arm and control the intelligence degree of device.Thus solving some problem of prior art.
In some embodiments, described detecting device includes touch sensor.
In some embodiments, described extracting portion part includes sucker.
In some embodiments, described sucker is connected by airway with air pump；
Described second controller for controlling described empty air pump compresses air so that the closing space that formed of described sucker and described target object produces draught head so that described mechanical arm is taken takes and mobile described target object with extraneous.
In some embodiments, described first controller is used for connecting described touch sensor and stopping moving down for controlling described extracting portion part when receiving described activation signal.
In some embodiments, described first controller is used for controlling described extracting portion part and moves down from stepping with booking list step pitch.
In some embodiments, described control device includes the first input module and the 3rd controller；
Described first input module is for receiving the predetermined initial position of user's input；
Described 3rd controller is used for controlling described mechanical arm and moves to described predetermined initial position so that described first controller control described extracting portion part moves down.
In some embodiments, the number of described predetermined initial position includes multiple；
Described 3rd controller moves to different described predetermined initial positions so that described second controller control described extracting portion part is taken respectively and taken different described target objects for controlling described mechanical arm successively.
In some embodiments, described control device includes the second input module, and described second input module receives the described predetermined destination locations of user's input.
The present invention also provides for a kind of mechanical arm system, and it includes the control device described in mechanical arm and above-mentioned embodiment.
In some embodiments, described mechanical arm system also includes the display being connected with described mechanical arm, and described display is for showing position and/or the kinestate of described mechanical arm.
The additional aspect of embodiment of the present utility model and advantage will part provide in the following description, and part will become apparent from the description below, or is recognized by the practice of embodiment of the present utility model.
Accompanying drawing explanation
Above-mentioned and/or the additional aspect of embodiment of the present utility model and advantage are from conjunction with will be apparent from easy to understand the accompanying drawings below description to embodiment, wherein:
Fig. 1 be this utility model embodiment mechanical arm system and control device high-level schematic functional block diagram.
Fig. 2 is the schematic perspective view of the mechanical arm of this utility model embodiment.
Fig. 3 is the partial schematic sectional view of the extracting portion part of the mechanical arm of this utility model embodiment.
Fig. 4 is the high-level schematic functional block diagram controlling device of this utility model embodiment.
Fig. 5 is the operation principle schematic top plan view controlling device and mechanical arm of this utility model embodiment.
Fig. 6 is the high-level schematic functional block diagram controlling device of this utility model embodiment.
Fig. 7 is the high-level schematic functional block diagram of the mechanical arm system of this utility model embodiment.
Detailed description of the invention
Being described below in detail the embodiment of embodiment of the present utility model, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of same or like function from start to finish.The embodiment described below with reference to accompanying drawing is illustrative of, and is only used for explaining embodiment of the present utility model, and it is not intended that restriction to embodiment of the present utility model.
Referring to Fig. 1-2, this utility model provides one to control device 100, is used for controlling mechanical arm 200.Mechanical arm 200 includes arm body 210 and is arranged at the extracting portion part 211 of arm body end 213.
The control device 100 of this utility model embodiment includes detecting device the 110, first controller 120 and second controller 130.Wherein, the first controller 120 is used for controlling mechanical arm 200 and moves so that extracting portion part 211 moves down.Detecting device 110 for producing activation signal when extracting portion part 211 touches target object 2000.Second controller 130 is taken take target object 2000 movement target object 2000 to predetermined destination locations 3000 for being controlled extracting portion part 211 according to activation signal.
The effect of detecting device 110 is whether detection extracting portion part 211 touches target object 2000, produces activation signal when touching target object 2000, so that second controller 130 controls mechanical arm 200 and takes and take target object 2000.When the extracting portion part of mechanical arm 200 pipettes thing 211 times, the height of the target object 2000 owing to taking is uncertain, therefore, it is impossible to the height being previously entered target object 2000 takes thing so that extracting portion part 211 moves down into certain height.Adopt detecting device 110 then without paying close attention to the height of target object 2000, as long as extracting portion part 211 touches target object 2000, just can take and take and mobile target object 2000, improve the mechanical arm 200 adaptability to differing heights target object 2000, improve mechanical arm 200 and control the intelligence degree of device 100.
In some embodiments, detecting device 110 can be touch sensor.When extracting portion part 211 touches target object 2000, extracting portion part 211 often also has the trend continuing to move down, so that forming extruding force between extracting portion part 211 and target object 2000, touch sensor can sense this extruding force, thus producing activation signal.Adopt touch sensor, simple in construction and reliability high.
As an example, the device 100 that controls of this utility model embodiment can be applicable to the mechanical arm system 1000 of this utility model embodiment.
Referring to Fig. 2-3, in some embodiments, the extracting portion part 211 of mechanical arm 200 can include sucker 2111.
It is appreciated that the target object 2000 adopting sucker 2111 can better adapt to various difformity and size, only needs target object 2000 to have the place outer surface more than sucker mouth 2113.Sucker 2111 can be field-replaceable unit, so, can change the sucker 2111 of different size or structure according to the size etc. of application demand, target object 2000.
In the present embodiment, mechanical arm system 1000 may also include air pump 300 and airway 400, and air pump 300 is connected by airway 400 with sucker 2111.Airway 400 can be rubber tube.Second controller 130 is additionally operable to control air pump 300 according to activation signal and extracts air so that the space 2117 that formed of sucker 2111 and target object 2000 produces draught head so that mechanical arm 200 is taken takes and mobile target object 2000 with extraneous.
An end of airway 400 can being connected on sucker afterbody 2115, namely contrary with sucker mouth 2113 one end, the other end of airway 400 is connected on air pump 300.After the outer surface of sucker 2111 with target object 2000 engages, a relatively airtight space 2117 can be formed.It is appreciated that when air pump 300 is started working, extracts air, the air pressure in space 2117 can be made less than ambient pressure, so that target object 2000 is adsorbed on load-engaging device.Control extracting portion part 211 to move, target object 2000 can be moved to appointment position, then control air pump 300 stopping extraction, extracting portion part 211 can be made to put down target object 2000.
Sucker 2111 can adopt the material of certain flexibility, such as rubber type of material, so on the one hand can with target object 2000 outer surface good bond, be conducive to air-tightness, on the other hand, sucker 2111 touches target object 2000 in folding process, if not stopping in time moving down, flexible material makes it have the effect of certain buffering, from without being backed down by target object 2000 or pushing up bad.
Adopt air pump 300 can be greatly promoted the absorption dynamics to target object 2000, simultaneously facilitate control and take the opportunity taking or putting down target object 2000.
In some embodiments, the first controller 120 is used for controlling extracting portion part 211 and moves down from stepping with booking list step pitch.Such as, booking list step pitch is set from for 2cm, namely controls extracting portion part 211 and often move down 2cm and then suspend and move down, suspend a bit of time, such as 0.5 second, then start to move down 2cm.Continue the mode moved down according to non-stepping, it is possible to can move down too fast, having little time to control extracting portion part 211 when touching target object 2000 and stop moving down, even breaking thus being easily caused to rush open target object 2000.
And the mode adopting stepping to move down, the reliability of extracting portion part 211 can be greatly promoted, and target object 2000 is taken the success rate taken by lifting.
Additionally, booking list step pitch is too short from being set to, because extracting portion part 211 to experience a boost phase and a decelerating phase from beginning to move into stopping.If booking list step pitch is from too short, extracting portion part 211 speed at the early-stage is slowed down time very slow again, and translational speed is excessively slow on the whole, and work efficiency is relatively low, it is also possible to the motor driving extracting portion part 211 is damaged.
First controller 120 can directly control extracting portion part 211 and move down, for instance by extracting portion part 211 hanging in a wheel shaft structure, the first controller 120 electric machine rotation controlling to couple with wheel shaft structure is so that extracting portion part 211 hangs down.Or the first controller 120 controls mechanical arm 200 and moves to drive extracting portion part 211 to move down.
Referring to Fig. 4-5, wherein Fig. 5 takes the process schematic taking and moving target object 2000.In some embodiments, control device 100 and can include the first input module 140 and the 3rd controller 150.Wherein, the first input module 140 is for receiving the predetermined initial position 4000 of user's input；3rd controller 150 is used for controlling mechanical arm 200 and moves to predetermined initial position 4000 so that the first controller 120 controls extracting portion part 211 moves down.
That is, user can first input with target object 2000 thus the corresponding predetermined initial position 4000 in position, 3rd controller 150 can input control mechanical arm 200 according to user and move predetermined initial position 4000, so that extracting portion part 211 moves down to take exactly takes target object 2000.
So, mechanical arm 200 can be taken more accurately and take target object 2000, meanwhile, takes when repeatedly taking and during the position difference of target object 2000, can input the predetermined initial position 4000 of change by user.In a word, improve control device 100 and taking of mechanical arm 200 takes precision and intelligence degree.
Wherein, the number of predetermined initial position 4000 can be multiple.3rd controller 150 can control mechanical arm 200 successively and move to different predetermined initial positions 4000 so that second controller 130 controls extracting portion part 211 and takes respectively and take different target objects 2000.
In practical application, as product and each accessory thereof taken out one by one from packing box with mechanical arm 200, and the position of product and each accessory thereof is different, therefore need input that multiple predetermined initial position 4000 is set, to facilitate mechanical arm 200 to be taken out by target object 2000 successively from different positions in taking the process of taking.Therefore, input arrange multiple predetermined initial position 4000 can the intelligence degree of hoisting control device 100 and mechanical arm 200, reduce hand labor.
Referring to Fig. 6, in some embodiments, control device 100 and include the second input module 160, the second input module 160 receives the predetermined destination locations 3000 of user's input.
It is to say, control device 100 can also arrange predetermined destination locations 3000 according to user's input, so that mechanical arm 200 and control device 100 do not need manual intervention can complete the process of whole " move-take and take-place ", convenient.User can also arrange multiple predetermined destination locations 3000 according to different target objects 2000, thus by multiple target objects 2000 according to arrange take successively take and place appropriate.
The first controller 120 in some embodiment of this utility model, second controller the 130, the 3rd controller 150, and the first input module 140 and the second input module 160 etc., can be integrated in a microcontroller.By microcontroller integrated installation in mechanical arm 200, so that the overall structure of mechanical arm system 1000 is compacter, volume can be occupied less simultaneously.First input module 140 or the second input module 160 can include input equipment, for instance button or touch screen, to realize user's input to predetermined initial position 4000 or predetermined destination locations 3000.
The mechanical arm system 1000 of this utility model embodiment can include the control device 100 in mechanical arm 200 and above-mentioned embodiment.
In some embodiments, mechanical arm system 1000 also includes the display 500 being connected with mechanical arm 200, and display 500 is for showing position and/or the kinestate of mechanical arm 200.
Liquid crystal display 500 (LCD, LiquidCrystalDisplay) can be adopted.Adopt display 500 to show the state of mechanical arm 200, the duty of user's monitor in real time mechanical arm 200 can be facilitated, when being also convenient for necessity, mechanical arm 200 is carried out Artificial Control.
The overall workflow of the mechanical arm system 1000 of some embodiment of this utility model is referred to as follows:
First, control mechanical arm 200 simultaneously and move to predetermined initial position 4000, the namely top of target object 2000.Then, control extracting portion part 211 stepping to move down.When extracting portion part 211 encounters target object 2000, detecting device 110 produces activation signal, controls extracting portion part 211 stop moving down so that controlling device 100, and controls extracting portion part 211 and take and take target object 2000.Then, control extracting portion part 211 to take target object 2000 and move to predetermined destination locations 3000.Finally, control extracting portion part 211 and unclamp target object 2000 so that target object 2000 falls and be placed in predetermined destination locations 3000.
Control mechanical arm 200 move to the top of next target object 2000 further according to arranging predetermined initial position 4000, repeat above flow process until all target objects 2000 are all removed and place.
The other parts that the mechanical arm system 1000 of this utility model embodiment is not deployed, can join the corresponding part controlling device 100 of embodiment of above, no longer be developed in details at this.
In the description of embodiment of the present utility model, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end ", " interior ", " outward ", " clockwise ", orientation or the position relationship of the instruction such as " counterclockwise " are based on orientation shown in the drawings or position relationship, it is for only for ease of description embodiment of the present utility model and simplifies description, rather than the device of instruction or hint indication or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that restriction to embodiment of the present utility model.Additionally, term " first ", " second " are only for descriptive purposes, and it is not intended that indicate or imply relative importance or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or implicitly include one or more described features.In the description of embodiment of the present utility model, " multiple " are meant that two or more, unless otherwise expressly limited specifically.
In the description of embodiment of the present utility model, it is necessary to explanation, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, for instance, it is possible to it is fixing connection, can also be removably connect, or connect integratedly；Can be mechanically connected, it is also possible to be electrical connection or can communication mutually；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, it is possible to be connection or the interaction relationship of two elements of two element internals.For the ordinary skill in the art, it is possible to understand above-mentioned term concrete meaning in embodiment of the present utility model as the case may be.
In embodiment of the present utility model, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or D score can include the first and second features and directly contact, it is also possible to include the first and second features and be not directly contact but by the other characterisation contact between them.And, fisrt feature second feature " on ", " top " and " above " include fisrt feature directly over second feature and oblique upper, or be merely representative of fisrt feature level height higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " include fisrt feature directly over second feature and oblique upper, or be merely representative of fisrt feature level height less than second feature.
Following disclosure provides many different embodiments or example for realizing the different structure of embodiment of the present utility model.In order to simplify disclosing of embodiment of the present utility model, hereinafter parts and setting to specific examples are described.Certainly, they are only merely illustrative, and are not intended to restriction this utility model.Additionally, embodiment of the present utility model can in different examples repeat reference numerals and/or reference letter, this repetition is for purposes of simplicity and clarity, the relation between itself not indicating discussed various embodiment and/or arranging.Additionally, the example of the various specific technique that provides of embodiment of the present utility model and material, but those of ordinary skill in the art are it can be appreciated that the use of the application of other techniques and/or other materials.
In the description of this specification, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " exemplary embodiment ", " example ", " concrete example " or " some examples " etc. means in conjunction with described embodiment or example describe are contained at least one embodiment of the present utility model or example.In this manual, the schematic representation of above-mentioned term is not necessarily referring to identical embodiment or example.And, the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiments or example.
Describe in flow chart or in this any process described otherwise above or method and be construed as, represent and include one or more module for the code of the executable instruction of the step that realizes specific logical function or process, fragment or part, and the scope of preferred implementation of the present utility model includes other realization, wherein can not press order that is shown or that discuss, including according to involved function by basic mode simultaneously or in the opposite order, perform function, this should be understood by embodiment person of ordinary skill in the field of the present utility model.
Represent in flow charts or in this logic described otherwise above and/or step, such as, it is considered the sequencing list of executable instruction for realizing logic function, may be embodied in any computer-readable medium, use for instruction execution system, device or equipment (such as computer based system, including the system of processing module or other can from instruction execution system, device or equipment instruction fetch the system performing instruction), or use in conjunction with these instruction execution systems, device or equipment.For the purpose of this specification, " computer-readable medium " can be any can comprise, store, communicate, propagate or transmission procedure is for instruction execution system, device or equipment or the device that uses in conjunction with these instruction execution systems, device or equipment.The example more specifically (non-exhaustive list) of computer-readable medium includes following: have the electrical connection section (electronic installation) of one or more wiring, portable computer diskette box (magnetic device), random access memory (RAM), read only memory (ROM), erasable edit read only memory (EPROM or flash memory), fiber device, and portable optic disk read only memory (CDROM).Additionally, computer-readable medium can even is that the paper that can print described program thereon or other suitable media, because can such as by paper or other media be carried out optical scanning, then carry out editing, interpreting or be processed to electronically obtain described program with other suitable methods if desired, be then stored in computer storage.
Should be appreciated that each several part of embodiment of the present utility model can realize with hardware, software, firmware or their combination.In the above-described embodiment, multiple steps or method can realize with the storage software or firmware in memory and by suitable instruction execution system execution.Such as, if realized with hardware, the same in another embodiment, can realize by any one in following technology well known in the art or their combination: there is the discrete logic of logic gates for data signal realizes logic function, there is the special IC of suitable combination logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA) etc..
Those skilled in the art are appreciated that realizing all or part of step that above-described embodiment method carries can be by the hardware that program carrys out instruction relevant and complete, described program can be stored in a kind of computer-readable recording medium, this program upon execution, including the step one or a combination set of of embodiment of the method.
Additionally, each functional unit in each embodiment of the present utility model can be integrated in a processing module, it is also possible to be that unit is individually physically present, it is also possible to two or more unit are integrated in a module.Above-mentioned integrated module both can adopt the form of hardware to realize, it would however also be possible to employ the form of software function module realizes.If described integrated module is using the form realization of software function module and as independent production marketing or use, it is also possible to be stored in a computer read/write memory medium.
Storage medium mentioned above can be read only memory, disk or CD etc..
Although above it has been shown and described that embodiment of the present utility model, it is understandable that, above-described embodiment is illustrative of, it is not intended that to restriction of the present utility model, above-described embodiment can be changed in scope of the present utility model, revises, replace and modification by those of ordinary skill in the art.
Claims (11)
1. control a device, be used for controlling mechanical arm, it is characterised in that described mechanical arm includes arm body and is arranged at the extracting portion part of described arm body end；
Described control device includes:
First controller, is used for controlling described manipulator motion so that described extracting portion part moves down；
Detecting device, for producing activation signal when described extracting portion part touches target object；And
Second controller, takes described target object mobile described target object extremely predetermined destination locations for taking according to described activation signal control described extracting portion part.
2. control device as claimed in claim 1, it is characterised in that described detecting device includes touch sensor.
3. control device as claimed in claim 1, it is characterised in that described extracting portion part includes sucker.
4. control device as claimed in claim 3, it is characterised in that
Described sucker is connected by airway with air pump；
Described second controller for controlling described empty air pump compresses air so that the closing space that formed of described sucker and described target object produces draught head so that described mechanical arm is taken takes and mobile described target object with extraneous.
5. control device as claimed in claim 1, it is characterised in that
Described first controller is used for connecting described touch sensor and stopping moving down for controlling described extracting portion part when receiving described activation signal.
6. control device as claimed in claim 5, it is characterised in that
Described first controller is used for controlling described extracting portion part and moves down from stepping with booking list step pitch.
7. control device as claimed in claim 1, it is characterised in that
Described control device includes the first input module and the 3rd controller；
Described first input module is for receiving the predetermined initial position of user's input；
Described 3rd controller is used for controlling described mechanical arm and moves to described predetermined initial position so that described first controller control described extracting portion part moves down.
8. control device as claimed in claim 7, it is characterised in that
The number of described predetermined initial position includes multiple；
Described 3rd controller moves to different described predetermined initial positions so that described second controller control described extracting portion part is taken respectively and taken different described target objects for controlling described mechanical arm successively.
9. control device as claimed in claim 1, it is characterised in that
Described control device includes the second input module, and described second input module receives the described predetermined destination locations of user's input.
10. a mechanical arm system, it is characterised in that include mechanical arm and the control device as described in claim 1-9 any one.
11. mechanical arm system as claimed in claim 10, it is characterised in that described mechanical arm system also includes the display being connected with described mechanical arm, described display is for showing position and/or the kinestate of described mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620112191.5U CN205394571U (en) | 2016-02-03 | 2016-02-03 | Controlling means and mechanical arm system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620112191.5U CN205394571U (en) | 2016-02-03 | 2016-02-03 | Controlling means and mechanical arm system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205394571U true CN205394571U (en) | 2016-07-27 |
Family
ID=56450268
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620112191.5U Active CN205394571U (en) | 2016-02-03 | 2016-02-03 | Controlling means and mechanical arm system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205394571U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106346504A (en) * | 2016-08-30 | 2017-01-25 | 成都市翻鑫家科技有限公司 | Sucker height automatic control method for sucker type clamps of manipulator |
| CN108423427A (en) * | 2018-03-05 | 2018-08-21 | 菲尼克斯(南京)智能制造技术工程有限公司 | Vacuum sucking device and method |
| CN108820905A (en) * | 2018-08-20 | 2018-11-16 | 珠海格力智能装备有限公司 | Feeding control method and device |
| CN109079790A (en) * | 2018-08-27 | 2018-12-25 | 珠海格力智能装备有限公司 | Material grasping means and device |
-
2016
- 2016-02-03 CN CN201620112191.5U patent/CN205394571U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106346504A (en) * | 2016-08-30 | 2017-01-25 | 成都市翻鑫家科技有限公司 | Sucker height automatic control method for sucker type clamps of manipulator |
| CN108423427A (en) * | 2018-03-05 | 2018-08-21 | 菲尼克斯(南京)智能制造技术工程有限公司 | Vacuum sucking device and method |
| CN108820905A (en) * | 2018-08-20 | 2018-11-16 | 珠海格力智能装备有限公司 | Feeding control method and device |
| CN109079790A (en) * | 2018-08-27 | 2018-12-25 | 珠海格力智能装备有限公司 | Material grasping means and device |
| CN109079790B (en) * | 2018-08-27 | 2021-12-10 | 珠海格力智能装备有限公司 | Material grabbing method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205394571U (en) | Controlling means and mechanical arm system | |
| US20180292425A1 (en) | Robotic System for Sorting Sample Tubes | |
| US9925662B1 (en) | Generating a trained robot path based on physical manipulation of the robot and based on training user interface input(s) associated with the physical manipulation | |
| CN103492134A (en) | Robot control apparatus | |
| KR20080056559A (en) | Touch screen apparatus and commend-input method thereof | |
| CN103477314A (en) | Information display apparatus having at least two touch screens and information display method thereof | |
| CN105511678A (en) | Application interface single-hand operation method and device as well as terminal device | |
| CN1811638A (en) | Injection molding system data management method | |
| CN104297508A (en) | Sample loading system for automatically transferring samples to analysis device | |
| CN107643699A (en) | Take hydraulic control method, apparatus and take liquid system | |
| CN109153250A (en) | Determine the automatic bonding sequence of optical bonding | |
| CN111331575A (en) | Medicine taking and delivering dispatching robot and control system | |
| MXPA02003814A (en) | Feeder programming buffer operating system. | |
| CN104102400A (en) | Coordinate position detecting device and display input device | |
| CN105573622A (en) | Single-hand control method and device of user interface and terminal device | |
| CN108039330B (en) | Control method and system for automatic assembly of LED (light-emitting diode) charging tray | |
| CN208452719U (en) | Vacuum traction device and unmanned floor truck | |
| CN205396765U (en) | Test tube automatic labeling machine's controlling means | |
| CN107885300A (en) | A kind of laptop electric power fin assemble mechanism | |
| CN209589119U (en) | A kind of speed and position sensor detection system | |
| CN208744843U (en) | Smart profile management system | |
| CN207731647U (en) | A kind of CD synchronous RW of automation, classification mechanical device | |
| CN205521448U (en) | Controlling means and mechanical arm system | |
| CN104575535A (en) | Compact disc gripper with positioning function and method for positioning center of compact disc tray | |
| TWI712475B (en) | Teaching method for robotic arm and gesture teaching device using the same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |