TWI592109B - Slider component gripping device and method for controlling gripping of component thereof - Google Patents

Slider component gripping device and method for controlling gripping of component thereof Download PDF

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Publication number
TWI592109B
TWI592109B TW105113678A TW105113678A TWI592109B TW I592109 B TWI592109 B TW I592109B TW 105113678 A TW105113678 A TW 105113678A TW 105113678 A TW105113678 A TW 105113678A TW I592109 B TWI592109 B TW I592109B
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TW
Taiwan
Prior art keywords
slider
holding
opening amount
gripping
control unit
Prior art date
Application number
TW105113678A
Other languages
Chinese (zh)
Other versions
TW201739377A (en
Inventor
佐佐木和章
伊東一良
山野寺大助
鬼塚幸太朗
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Ykk股份有限公司
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Priority to TW105113678A priority Critical patent/TWI592109B/en
Application granted granted Critical
Publication of TWI592109B publication Critical patent/TWI592109B/en
Publication of TW201739377A publication Critical patent/TW201739377A/en

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Description

Hand holding device for slider and control method for holding parts thereof
The present invention relates to a component holding device and a control method thereof during assembly of a product, and more particularly to a component holding device for a slider of a slide fastener and a method of controlling the holding of the same.
Slide fasteners have been widely and versatilely used in a variety of products, such as tops, pants, shoes, handbags, backpacks, mobile closets, luggage, and the like. Depending on the product being applied, the manufacturer of the product, or the overall design, the size and shape of the slider, which is the main part of the zipper, are different, so there are various types. The size of the slider. Therefore, it is desirable to be able to assemble the pull tab to the body of the slider for a wide variety of sliders.
In general, as shown in FIG. 1, the slider is composed of a main body P1 slidable along the element and a pull tab P2 for attaching the main body P1 to the main body P1. The step of assembling the slider is roughly to temporarily mount the pull tab P2 on the main body P1, and then pressurize the mounting post P1i of the main body P1 so that the pull tab P2 is surely mounted on the mounting post P1i of the main body P1 without falling. Therefore, the assembly process of the slider has the steps of transporting the main body, pulling the sheet, temporarily fixing, positioning, and fixing the two.
The transfer project of the slider is an assembly project for transporting parts such as the main body and the pull tab to the slider, and the assembly work of the slider is to temporarily fix the main body and the pull tab together. For example, the main body and the pull-tab supplied from the main body supply device and the pull-tab supply device are held by the holding device, and then conveyed to the assembly work of the slider assembly device. The part holding device of the slider disposed in the slider assembly machine like this is a part that is close to the slider by a certain amount of opening (referred to as a pre-holding amount) and holds the main body and the pull tab (at this time, the opening) The amount becomes the amount of opening when holding). If the flexibility of the assembly of the slider assembly device is taken into consideration, it is desirable that the component holding device of the slider can hold the body and the pull tab of different sizes, and the handles of different sizes and the pull tabs need to be set differently. Therefore, it is desirable to provide a part holding device for the slider. For the assembly parts of the slider, the amount of holding before the grip can be adjusted, and different grip opening amounts can be efficiently switched for different slider specifications.
The invention provides a part holding device for a slider, which holds a part of a slider. The part holding device of the slider comprises: a robot arm and a control unit. The robot arm has a gripping claw for a part that holds the slider. The control unit stores a predetermined grip opening amount corresponding to at least one slider size, and controls the opening amount of the gripping claw of the robot arm according to the slider size input to the control unit, and holds the front opening amount according to the regulation Close the part of the slider and hold the parts of the slider.
The present invention also provides a method for controlling the gripping of a part of a slider, the part holding the slider, the method comprising: providing a control unit, wherein the control unit stores a predetermined holding amount corresponding to the at least one slider size; The arm and the robot arm have gripping claws; the control unit selects a corresponding prescribed grip opening amount from the stored at least one type of slider according to the input slider size, and controls the gripping claw of the robot arm to hold the grip according to the regulation The front opening is close to the part of the slider and the parts of the slider are clamped.
In addition to the pre-holding amount, the control unit may further input and store the prescribed grip opening amount corresponding to at least one of the slider specifications. The control unit controls the gripping claws of the robot arm to thereby stipulate the parts holding the slider when the grip is held.
The parts of the above slider include a main body or a pull tab of the slider, or a main body and a pull tab. The main body has a mounting post for mounting a pull tab, and the gripping claw grips the mounting post of the main body.
The above pre-opening amount is determined according to the outer dimensions of the main body and the size of the mounting post. Moreover, the predetermined opening amount before holding can also be determined according to the width of the pull tab.
The control unit includes a controller and a human-machine interface, and the human-machine interface is configured to input a slider specification, and the controller controls the gripping claw of the robot arm according to the specification corresponding to the slider specification, and controls the front grip of the robot arm. Measure the part close to the slider and hold the part of the slider. Communication between the controller and the human machine interface is performed in a wired or wireless manner. The human-machine interface of the above control unit includes a touch screen, a mobile phone, a computer or a remote controller, and the like.
The main part constituting the slide fastener has a slider, and the main parts constituting the slider are as shown in Fig. 1, that is, the part P for assembling the sliders of the slider has the body of the slider. P1 and pull tab P2...etc.
2 shows the part holding device 100 of the slider of the present invention. When the parts of the slider are transported to the assembly of the slider, it is used to hold the part P that has been placed on the table T. For example, the main body P1, the pull tab P2, and the like.
The part holding device 100 of the slider includes a robot arm 102 and a control unit 104. The robot arm 102 has a grip claw 102a for gripping the part P of the slider, and the part P of the slider in this example is exemplified by the main body P1 of the slider.
The control unit 104 includes a controller 104a and a human machine interface 104b. The controller 104a is, for example, a PLC (Programmable Logic Controller) that controls the motion of the robot arm 102. The human machine interface 104b is coupled to the controller 104a and is provided with means for communication between the operator and the machine, such as for operator input and for communicating the status of the machine to the operator. Of course, the communication between the human machine interface 104b and the controller 104a can also be performed wirelessly. If the communication is wireless, the control unit 104 is input via wireless transmission. For example, the human-machine interface can be a touch screen, a computer (or other handheld device such as pda, ipad), a mobile phone (or even a smart phone such as an iPhone), or a remote controller. And so on, as long as the machine can communicate with the controller 104a and transmit control commands.
The control unit 104 receives and stores a predetermined grip opening amount O1 corresponding to at least one slider specification SPEC and a prescribed grip opening amount O2, where the slider specification SPEC is, for example, a pull corresponding to the size and shape of the slider. For the head model, for example, as shown in FIG. 2, each slider type (SPEC) and the corresponding pre-holding amount O1 and the prescribed grip opening amount O2 are stored in advance, and the data can be stored in the control. In the device 104a, it may also be stored in the human machine interface 104b.
Next, as shown in FIG. 3, the operator inputs the slider specification SPEC to be assembled, for example, the slider model to the control unit 104 (the human machine interface 104b of the control unit 104), or by the control unit 104 (the control unit 104) The human machine interface 104b) displays a plurality of slider models for the operator to select. Figure 3 illustrates that the operator selected the slider model number 2. Then, the control unit 104 searches for the specified grip opening amount O1 corresponding to the stored slider type (the slider size SPEC), and controls the grip claw 102a of the robot arm 102 by the controller 104a of the control unit 104. The opening amount, and holding the front opening amount O1 by this regulation, prepares the grip of the slider assembly part P (in this example, the mounting post P1i of the slider). As illustrated in FIG. 3, the predetermined grip opening amount O1 corresponding to the slider type 2 is the opening amount 2, and therefore, the controller 104a of the control unit 104 controls the opening amount of the grip claw 102a to be the opening amount 2. That is, before actually gripping the slider assembly part P, the grip claw 102a initially approaches the slider assembly part P with a predetermined grip opening amount O1 (in this example, the opening amount 2).
The predetermined grip opening amount O1 for holding the prepared grip claw 102a is as shown in FIG. 3, and there is a gap between the main body P1 of the slider, the mounting post P1i, and the grip claw 102a without contact. The opening amount of the grip claw 102a is set, and the predetermined grip opening amount O1 is determined according to the SPEC (for example, model number) of each slider.
The main body P1 of the slider and the mounting post P1i have various sizes and outer shapes, and the predetermined pre-holding amount O1 is set in accordance with the SPEC (for example, model) of each slider. If the predetermined grip opening amount is set to a value, the mounting post P1i and the grip claw 102a interfere with each other when the pre-grip opening amount O1 is smaller than the mounting post P1i because of the size of the mounting post P1i. Moreover, although FIG. 3 only shows that there is only one main body P1 on the platform T, even if a plurality of identical main bodies P1 are arranged side by side on the platform T, if the predetermined holding amount O1 can be set according to each slider type, in a plurality of In the main body P1 arranged side by side, the grip claws 102a are less likely to interfere with the other main body P1 and the mounting post P1i.
Next, referring to FIG. 4, the case where the grip claw 102a of the robot arm 102 grips the main body P1 of the slider from the left and right is shown. In detail, the figure shows that the model 2 of the slider model of FIG. 3 is selected, and the grip claw 102a is moved by the predetermined holding opening amount O1 (in this example, the opening amount 2) and is opened by the prescribed holding amount O2. (Opening amount 2') is used to clamp the main body P1, and the gripping claws 102a are sandwiched on the right and left sides of the mounting post P1i of the main body P1. The mounting post P1i is a portion of the main body P1 for mounting the pull tab P2 (see Fig. 1). When the holding amount O2 is determined according to the position to be gripped, for example, the portion to be gripped is the mounting post P1i, the opening amount O2 when holding is naturally smaller than the width W2 of the mounting post P1i, so that To be able to hold. Different slider sizes have different shape or size of the mounting post, so the opening amount O2 is different when holding. The prescribed grip opening amount corresponding to these different slider specifications may be input to the controller 104a of the control unit 104 as described above, or may be stored in the human machine interface 104b.
Returning again to Figure 1, an exploded view of the body P1 and pull tab P2 of the slider is shown. If the grip claw 102a is the main body P1 of the gripper, the predetermined grip opening amount O1 is related to the outer shape W1 of the main body and the width W2 of the mounting post P1i. Of course, the grip claw 102a can also be used to hold the pull tab P2 of the slider, but the predetermined grip opening amount O1 at this time is related to the width W3 of the pull tab P2. As for the specific slider type (SPEC) corresponding to the specified grip opening amount O1, how to determine the type of the slider to be held by the part holding device 100 of the slider The contour, the width of the mounting post, and the width of the tab. It is also possible to actually clamp the main body of the slider, the pull tab, and the like to find the predetermined pre-holding amount O1 suitable for each model with a limited number of grips, and store it in the control unit 104.
In the above-described FIGS. 2 to 4, the connection between the controller 104a of the control unit 104 and the human-machine interface 104b is exemplified by a wired connection. In addition, the communication between the controller 104a of the control unit 104 and the human machine interface 104b can also be performed by wireless means, for example, by infrared, Bluetooth, network wireless, etc., as long as the controller 104a of the control unit 104 can be Communication with the human-machine interface 104b and transmission of control commands are sufficient.
The present invention stores a predetermined grip opening amount O1 corresponding to a plurality of slider models (head gauge SPEC) in the control unit 104, and defines a grip opening amount O2, and is controlled by the control unit 104 and the robot arm 102. The combination can be flexibly switched between the main body or the pull tab of the slider to be clamped on one production line or in the part holding device of the slider assembly machine which attaches the pull tab P2 to the assembly slider of the main body P1. As long as the operation of the control unit 104 is performed, such as selection or input, it is possible to flexibly switch the required grip opening amount O1 required for each slider type (the slider size SPEC), and the prescribed grip opening amount. O2 not only makes the production line, or the slider assembly machine and the parts holding device more flexible, but also makes the switching of the opening amount of the part holding device corresponding to each slider type and the opening amount of the specified holding more efficient. .
In the above example, it is shown that the predetermined grip opening amount O1 and the predetermined grip opening amount O2 can be input and stored in the control unit 104, but the predetermined grip opening amount O2 may not be input or stored. It is a grip control method that uses contact or stop. That is, the control unit 104 stops when the grip claw 102a of the robot arm 102 comes into contact with the main body P1 (the mounting post P1i), the pull tab P2, and the like as the slider of the gripped object, by such a control method, In the control unit 104, it is not necessary to input and store the prescribed opening amount O2 corresponding to the specification of the slider.
The present invention also provides a method of controlling the grip of a component that assembles a slider. Please refer to FIG. 5, and with reference to FIG. 2 to FIG. 4, the parts already illustrated in the drawings will be omitted or briefly explained. The method includes the following steps: Step S1: providing a control unit 104, and the control unit 104 stores as shown in FIG. The predetermined holding opening amount O1 corresponding to at least one slider type SPEC including the slider type is defined as the opening amount O2 when the holding is performed. Step S2: A robot arm 102 is provided, and the robot arm 102 has a grip claw 102a. Step S3: The control unit 104 selects a corresponding prescribed pre-opening amount O1 from the stored at least one slider specification SPEC according to the input slider specification, as shown in FIG. 3, and controls the gripping claw 102a of the robot arm 102. The pre-opening amount O1 is held by this regulation to approach the assembly part P (P1) of the slider. The predetermined holding amount O1 is the opening amount of the grip claw 102a in a state where the gripping claw 102a is not in contact with the assembling component P (P1) of the slider to be gripped, and there is a gap. The pre-opening amount O1 of this regulation is determined by the SPEC (for example, model number) of each slider. Step S4: The control unit 104 controls the grip claw 102a to move with the predetermined grip opening amount O1 (exemplified as the opening amount 2) of FIG. 3, and the grip opening amount O2 (illustrated as the opening amount 2') of FIG. Hold the part P (P1) of the slider. As shown in FIG. 4, the grip claws 102a are held on the right and left sides of the mounting post P1i of the main body P1. The mounting post P1i is a portion of the main body P1 for mounting the pull tab P2 (see Fig. 1).
If the grip claw 102a is the main body P1 of the chuck, the predetermined grip opening amount O1 is related to the outer dimension W1 of the main body P1 and the width W2 of the mounting post P1i, because when a plurality of main bodies P1 are placed at a certain position, When being grasped, if the gripping claw 102a of the robot arm 102 is too sitting and hits the other adjacent main body P1, the opening is too large. Of course, the grip claw 102a can also be used to hold the pull tab P2 of the slider, but the predetermined grip opening amount O1 at this time is related to the width W3 of the pull tab P2. As for the specific specifications of each slider type (SPEC), how to determine the opening amount O1 of the slider, depending on the model of the slider to be held, the contour of each model, the width of the mounting post, and the pull Depending on the width of the sheet, it is also possible to actually hold the main body of the slider, the pull tab, etc., and to find the predetermined pre-opening amount suitable for each model with a limited number of grips, and store it in the control unit 104.
When the holding amount O2 is as described above, it is determined according to the position to be held, and of course, it is smaller than the width of the portion to be gripped, so that it can be held. Different slider specifications have different opening amounts O2 when they are held. The holding amount O2 corresponding to the different slider specifications can be input to the controller 104a stored in the control unit 104 as described above, or can be stored in In the human machine interface 104b.
When the operator selects or inputs the type of the slider to be clamped (the slider specification SPEC) by the control unit 104, the control unit 104 will hold the pre-opening amount according to the stored slider type (the slider size SPEC) and the prescribed grip. O1 and a correspondence table for specifying the opening amount O2 at the time of holding to control the robot arm 102 to switch to an appropriate opening amount (predetermined opening amount O1 before holding) to approach the parts of the slider, and to have another appropriate opening amount (prescribed holding) The opening amount O2) holds the part P of the slider. The present invention can appropriately switch the slider to be clamped on one production line, or in a slider assembly machine for assembling the pull tab P2 to the assembly head of the main body P1, and a part holding device of the slider assembly machine. The type of the main body or the pull tab also makes the switching of the gripping amount of the gripping claws more efficient.
Considering that the main body of the slider has a large difference from the shape of the pull tab, as shown in FIG. 6, two mechanical arms 102, 102', one mechanical, are used in the part holding device of the slider of the present invention. The arm 102 specifically holds the main body P1 of the slider, and the other mechanical arm 102' specifically holds the pull tab P2 of the slider. The mechanical arms 102, 102' each have respective gripping claws 102a, 102a', which can be more suitable for pulling. The assembly of the head is held by the shape of the part. The robotic arms 102, 102' are controlled by a control unit (not shown).
Similarly, in the above example, although it is shown that the predetermined grip opening amount O1 and the predetermined grip opening amount O2 can be input and stored in the control unit 104, the opening amount O2 may not be input or stored. Instead, the grip control method of contact or stop is adopted. That is, the control unit 104 controls the gripping claws 102a, 102a' of the robot arm 102 to come into contact with the main body P1 (the mounting post P1i) of the slider as the gripped object, the pull tab P2, etc., and is stopped by such control. In the mode, the control unit 104 may not input or store the prescribed opening amount O2 corresponding to the slider specification.
Although the present invention has been disclosed in the above embodiments, it is not intended to limit the invention, and any one of ordinary skill in the art can make some modifications and refinements without departing from the spirit and scope of the invention. The scope of the invention is defined by the scope of the appended claims. For example, the gripping claw of the robot arm holding the tab can also be actuated by pneumatic driving. Moreover, the predetermined grip opening amount of the grip claw of the grip body may be changed with the main body, and the predetermined grip opening amount of the grip claw holding the tab of the robot arm does not change with the pull tab, but Set to the fixed pre-opening amount.
100‧‧‧Sliding parts holding device
102, 102'‧‧‧ mechanical arm
102a, 102a'‧‧‧ holding claws
104‧‧‧Control unit
104a‧‧‧ Controller
104b‧‧‧Human Machine Interface
O1‧‧‧ prescribed pre-opening
O2‧‧‧ specifies the amount of opening
Assembly parts for P‧‧‧ pull heads
P1‧‧‧ The main body of the slider
P1i‧‧‧Installation column
P2‧‧‧ pull tab
W1‧‧‧ body size
W2‧‧‧ Width of the mounting post
W3‧‧‧ pull tab width
S1~S4‧‧‧ steps
SPEC‧‧‧ pull head specifications
T‧‧‧ platform
Figure 1 is an exploded view of the slider. 2 is a schematic view of a part holding device of a slider according to an embodiment of the present invention. 3 is a schematic view showing a state in which the robot arm of the component holding device is positioned to approach the main body of the slider with a pre-holding amount. 4 is a schematic view showing a state in which the robot arm of the component gripping device holds the main body of the slider when the grip is held. FIG. 5 is a step diagram of a method of controlling gripping of a part of a slider according to an embodiment of the present invention. 6 is a mechanical arm of a part holding device of a slider according to an embodiment of the present invention. The above described features and advantages of the present invention will be more apparent from the following description.
100‧‧‧ Pulling parts holding device
102‧‧‧ Robotic arm
102a‧‧‧ Holding claws
104‧‧‧Control unit
104a‧‧‧ Controller
104b‧‧‧Human Machine Interface
O1‧‧‧ prescribed pre-opening
O2‧‧‧ specifies the amount of opening
Assembly parts for P‧‧‧ pull heads
P1‧‧‧ The main body of the slider
SPEC‧‧‧ pull head specifications
T‧‧‧ platform

Claims (18)

  1. A part holding device (100) for a slider, a part (P) for holding a slider, comprising: a robot arm (102) having a gripping claw of a part (P) holding the slider (102a); a control unit (104) storing a prescribed grip opening amount (O1) corresponding to at least one slider specification (SPEC), and according to being input to the control unit (104) a slider specification (SPEC) that controls the opening amount of the grip claw (102a) of the robot arm (102), and holds the front opening amount (O1) to approach the part (P) of the slider and clamps The part (P) of the slider.
  2. The part holding device (100) of the slider according to claim 1, wherein the control unit (104) further stores a prescribed holding time amount corresponding to the at least one slider specification (SPEC) ( O2), the control unit (104) controls the gripping claw (102a) of the robot arm (102) to grip the part (P) of the slider when the predetermined gripping amount (O2) is held.
  3. A part holding device (100) for a slider according to claim 1 or 2, wherein the part (P) of the slider comprises a body (P1) of the slider.
  4. A part holding device (100) for a slider according to claim 1 or 2, wherein the part (P) of the slider comprises a pull tab (P2) of the slider.
  5. The part holding device (100) of the slider according to claim 3, wherein the main body (P1) has a mounting post (P1i) for mounting a pull tab, the gripping claw (102a) clamping the same The mounting post (P1i) of the body (P1).
  6. The part holding device (100) of the slider according to claim 5, wherein the predetermined grip opening amount (O1) is based on an outer dimension of the main body (P1) and a size of the mounting post (P1i). And decided.
  7. The part holding device (100) of the slider according to claim 4, wherein the predetermined grip opening amount (O1) is determined according to the width of the pull tab (P2).
  8. The part holding device (100) of the slider according to claim 1 or 2, wherein the control unit (104) comprises a controller (104a) and a human machine interface (104b), the human machine interface (104b) for inputting a slider specification (SPEC), the controller (104a) controlling the grip of the robot arm (102) according to the predetermined grip opening amount (O1) corresponding to the slider specification (SPEC) Holding the claw (102a), holding the front opening amount (O1) to approach the part (P) of the slider and clamping the part (P) of the slider, the controller (104a) and the human-machine interface ( The communication between 104b) is wired or wireless.
  9. The part holding device (100) of the slider according to claim 8, wherein the human machine interface (104b) of the control unit (104) comprises a touch screen, a mobile phone, a computer or a remote controller.
  10. A method for controlling the gripping of a part of a slider, the part (P) holding the slider, comprising: providing a control unit (104), the control unit (104) storing a corresponding one of at least one slider size (SPEC) Prescribing the pre-opening amount (O1); providing a robot arm (102) having a gripping claw (102a); the control unit (104) is stored from the stored slider specification (SPEC) Selecting a corresponding prescribed grip opening amount (O1) in at least one of the slider specifications (SPEC), and controlling the gripping claw (102a) of the robot arm (102) to approach the prescribed grip opening amount (O1) The part (P) of the slider and the part (P) of the slider.
  11. The method for controlling the gripping of a part of a slider according to claim 10, wherein the control unit (104) further stores a prescribed grip opening amount corresponding to the at least one slider specification (SPEC) (O2) And the control unit (104) controls the gripping claw (102a) of the robot arm (102) to grip the part (P) of the slider when the predetermined gripping amount (O2) is held.
  12. A method of controlling the gripping of a part of a slider according to the invention of claim 10, wherein the part (P) of the slider comprises a body (P1) of the slider.
  13. The method for controlling the gripping of a part of the slider according to claim 10 or 11, wherein the part (P) of the slider comprises a pull tab (P2) of the slider.
  14. The method of controlling the gripping of the part of the slider according to claim 12, wherein the main body (P1) has a mounting post (P1i) for mounting the tab (P2), and the gripping claw (102a) is gripped. The mounting post (P1i) of the body (P1).
  15. The method for controlling the gripping of a part of a slider according to claim 14, wherein the predetermined grip opening amount (O1) is based on an outer dimension of the main body (P1) and a size of the mounting post (P1i). Decide.
  16. The method of controlling the grip of a part of the slider according to claim 13, wherein the predetermined front grip opening amount (O1) is determined according to the width of the pull tab (P2).
  17. The method for controlling the gripping of a part of a slider according to claim 10 or 11, wherein the slider specification is input to the control unit (104) by wire or wirelessly.
  18. The method for controlling the gripping of a part of the slider according to claim 10 or 11, wherein the control unit (104) comprises a touch screen, a mobile phone, a computer or a remote controller.
TW105113678A 2016-05-03 2016-05-03 Slider component gripping device and method for controlling gripping of component thereof TWI592109B (en)

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TW105113678A TWI592109B (en) 2016-05-03 2016-05-03 Slider component gripping device and method for controlling gripping of component thereof

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TWI592109B true TWI592109B (en) 2017-07-21
TW201739377A TW201739377A (en) 2017-11-16

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