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WO2018195866A1 - Procédé de préhension de composant basé sur un système de robot, et système de robot et pince - Google Patents

Procédé de préhension de composant basé sur un système de robot, et système de robot et pince Download PDF

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Publication number
WO2018195866A1
WO2018195866A1 PCT/CN2017/082225 CN2017082225W WO2018195866A1 WO 2018195866 A1 WO2018195866 A1 WO 2018195866A1 CN 2017082225 W CN2017082225 W CN 2017082225W WO 2018195866 A1 WO2018195866 A1 WO 2018195866A1
Authority
WO
WIPO (PCT)
Prior art keywords
suction cup
robot
grasped
clamp
assemblies
Prior art date
Application number
PCT/CN2017/082225
Other languages
English (en)
Chinese (zh)
Inventor
马明明
赫少华
Original Assignee
深圳配天智能技术研究院有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳配天智能技术研究院有限公司 filed Critical 深圳配天智能技术研究院有限公司
Priority to CN201780001553.0A priority Critical patent/CN107690377B/zh
Priority to PCT/CN2017/082225 priority patent/WO2018195866A1/fr
Publication of WO2018195866A1 publication Critical patent/WO2018195866A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the invention relates to the field of automation technology, in particular to a component grasping method based on a robot system, a robot system and a clamp.
  • Thin-walled parts are usually placed in the production line at the production line.
  • the trays usually need a certain supporting angle to keep the parts in a specific posture.
  • the manual palletizing or even the machine palletizing is difficult to achieve the same posture of the multiple parts due to the individual differences of the pallets and the parts, which will bring a great deal to the automatic processing of the continuous processing and feeding. problem.
  • the robot can not accurately grasp (the forced suction will cause the parts to be damaged).
  • the invention provides a component grasping method based on a robot system, a robot system and a clamp, which can solve the technical problem that the robot can not accurately grasp the posture difference of the parts on the tray in the prior art.
  • one technical solution adopted by the present invention is to provide a robot system-based part grasping method, the robot system including a robot and a clamp driven by the robot, wherein the clamp includes an interval setting At least two suction cup assemblies, the method comprising:
  • the robot is controlled to grasp the part to be grasped by the at least two suction cup assemblies.
  • a robot system for grasping a part including a robot, a fixture, and a master control system, wherein the fixture includes at least intervals Two suction cup assemblies, each of the suction cup assemblies further comprising a first sensor, the main control system controlling the robot to drive the clamp to approach a surface to be gripped of the part to be gripped in a preset initial posture, a first sensor is configured to detect whether the suction cup assembly contacts the surface to be grasped, and after detecting that the first suction cup assembly contacts the surface to be grasped, the main control system controls the robot to adjust the clamp a posture such that while the first suction cup assembly is in contact with the surface to be grasped, the remaining suction cup assembly further contacts the surface to be grasped, thereby being grasped by the at least two suction cup assemblies Take the part to be grabbed.
  • a jig including a bracket and at least two suction cup assemblies, and the bracket is provided with a plurality of receiving holes corresponding to the suction cup assembly
  • Each of the suction cup assemblies includes an insertion rod, a suction head, an elastic member, and a first sensor, wherein the insertion rod is inserted into the receiving hole and is movable along an axial direction of the receiving hole.
  • the suction head is disposed at one end of the insertion rod, the elastic member is elastically supported between the bracket and the suction head, and when the suction head contacts the surface to be grasped, The elastic member is compressed to move the insertion rod along the axial direction of the accommodating hole, and the first sensor is configured to detect a moving distance of the insertion rod along the axial direction of the accommodating hole, and Determining whether the at least two suction cup assemblies are in contact with the surface to be grasped according to the moving distance.
  • the present invention adjusts the posture of the clamp by controlling the robot so that the remaining suction cup assembly is further contacted while the first suction cup assembly is in contact with the surface to be grasped.
  • the surface is grasped to ensure that the parts in different postures are smoothly captured.
  • FIG. 1 is a flow chart of a method for grabbing a part based on a robot system according to an embodiment of the present invention
  • FIG. 2 is a flow chart of a method for capturing a part based on a robot system according to another embodiment of the present invention
  • FIG. 3 is a simplified schematic diagram of a robot system provided by the present invention.
  • FIG. 4 is a schematic plan view showing the structure of a jig of the robot system provided by the present invention.
  • FIG. 5 is a partial cross-sectional view of a jig of a robot system provided by the present invention.
  • an embodiment of the present invention provides a method for capturing a part based on a robot system, wherein the robot system includes a robot 20 and a clamp 30 driven by the robot 20 , and the robot 20 adopts six axes.
  • the robot, the jig 30 includes at least two suction cup assemblies 31 spaced apart, the method comprising the steps of:
  • the control robot 20 drives the clamp 30 to approach the surface to be grasped of the part to be grasped in a preset initial posture.
  • the surface of the jig 30 and the surface of the tray 50 to be gripped are to be grasped each time the tray 50 is replaced. Take the surface as two non-parallel planes.
  • the control robot 20 adjusts the posture of the clamp 30 such that the remaining suction cup assembly 31 while the first suction cup assembly 31 is kept in contact with the surface to be grasped. Further contact with the surface to be grasped.
  • the first suction cup assembly 31 refers to the first suction cup assembly 31 that is in contact with the surface to be gripped.
  • the suction cup assembly 31 is in contact with the surface to be gripped by a sensor provided on the jig 30.
  • the sensor may be a sensor for detecting a distance such as a proximity sensor or a photoelectric sensor.
  • control robot 20 to adjust the posture of the jig 30 is described in the following description.
  • the control robot 20 grasps the part 40 to be grasped by at least two suction cup assemblies 31.
  • the vacuum can be grasped by providing vacuum suction to at least two suction cup assemblies 31.
  • the plurality of parts to be grasped 40 all have different postures, so the posture is adjusted every time the grasping is performed to ensure accurate grasping of each part 40 to be grasped.
  • FIG. 2 to FIG. 5 another embodiment of the present invention provides a robot system-based part grabbing method, wherein the robot system includes a robot 20 and a clamp 30 driven by the robot 20, and the robot 20 uses a six-axis robot.
  • the clamp 30 includes at least two suction cup assemblies 31 spaced apart, the method comprising the steps of:
  • the control robot 20 drives the clamp 30 to approach the surface to be grasped of the part to be grasped in a preset initial posture.
  • the surface of the jig 30 and the surface to be gripped on the tray 50 to be gripped are two non-parallel planes.
  • the control robot 20 adjusts the posture of the clamp 30 such that the remaining suction cup assembly 31 while the first suction cup assembly 31 is kept in contact with the surface to be grasped. Further contact with the surface to be grasped.
  • the first suction cup assembly 31 refers to the first suction cup assembly 31 that is in contact with the surface to be gripped.
  • a sensor provided on the clamp 30. Touch the surface to be grabbed.
  • the sensor may be a sensor for detecting a distance such as a proximity sensor or a photoelectric sensor.
  • control robot 20 to adjust the posture of the jig 30 is described in the following description.
  • the control robot 20 drives the clamp 30 to approach the surface to be grasped with the corrected initial posture so that at least two suction cup assemblies 31 simultaneously contact the surface to be grasped during the approach.
  • the control robot 20 grasps the part 40 to be grasped by at least two suction cup assemblies 31.
  • the vacuum can be grasped by providing vacuum suction to at least two suction cup assemblies 31.
  • the plurality of parts to be grasped 40 have a consistent posture, and after the robot 20 adjusts once, the subsequent grabs are captured according to the adjusted posture.
  • the surface to be grasped is a flat surface
  • the clamp 30 includes two suction cup assemblies 31 disposed in a coplanar manner, wherein when the first suction cup assembly 31 is detected to contact the surface to be grasped, the control robot 20 adjusts the clamp.
  • the steps of the 30 gesture include:
  • the control robot 20 After detecting that the first suction cup assembly 31 contacts the surface to be grasped, the control robot 20 rotates the clamp 30 about the preset first direction such that the other suction cup assembly 31 contacts the surface to be grasped, and records the first direction.
  • the first direction is any one of the lines connecting the two suction cup assemblies, preferably one direction perpendicular to the line connecting the two suction cup assemblies.
  • the step of correcting the initial pose according to the adjustment parameter in the posture adjustment process includes:
  • the initial pose is corrected according to the rotation angle of each of the rotation axes of the robot 20 during the rotation about the first direction.
  • the surface to be grasped is planar and the clamp 30 includes at least three suction cup assemblies 31 disposed coplanar.
  • the step of controlling the robot 20 to adjust the posture of the clamp 30 includes:
  • the control robot 20 After detecting that the first suction cup assembly 31 contacts the surface to be grasped, the control robot 20 rotates the clamp 30 about the preset first direction such that the other suction cup assembly 31 contacts the surface to be grasped, and records the first direction. Turn The rotation angle of each rotation axis of the robot 20 during the movement; the control robot 20 rotates the clamp 30 about the preset second direction so that the remaining suction cup assembly 31 contacts the surface to be grasped, and records the rotation of the robot during the rotation in the second direction 20 rotation angle of each shaft.
  • the steps of correcting the initial pose according to the adjustment parameters in the attitude adjustment process include:
  • the initial pose is corrected according to the rotation angle of each of the rotation axes of the robot 20 during the rotation about the first direction and the rotation angle of each of the rotation axes of the robot 20 during the rotation about the second direction.
  • the preset first direction may be any direction, and the preset second direction is a connection direction of the two suction cup assemblies 31 that have contacted the surface to be grasped.
  • the predetermined first direction is a connection direction of the suction cup assembly 31 that first contacts the surface to be grasped and the adjacent suction cup assembly 31; the preset second direction is that the surface to be grasped has been touched.
  • the wiring direction of the two suction cup assemblies 31 is any direction, and the preset second direction is a connection direction of the two suction cup assemblies 31 that have contacted the surface to be grasped.
  • the predetermined first direction is a connection direction of the suction cup assembly 31 that first contacts the surface to be grasped and the adjacent suction cup assembly 31; the preset second direction is that the surface to be grasped has been touched.
  • the clamp 30 includes four suction cup assemblies 31 respectively disposed at different vertices of a rectangular region, wherein the first direction and the second direction respectively correspond to the first contact with the rectangular region and the surface to be grasped The direction of the two right-angled sides of the first suction cup assembly 31 is connected.
  • the clamp 30 further includes a bracket 32.
  • the bracket 32 is provided with a plurality of receiving holes 321 corresponding to the suction cup assembly 31.
  • the receiving hole 321 may be provided by the bracket 32 itself.
  • the receiving aperture 321 is provided by another L-shaped chuck retaining plate 34 that is secured to the bracket 32.
  • each of the chuck assemblies 31 includes an insertion rod 311, a suction head 312, an elastic member 313, and a first sensor 314.
  • the insertion rod 311 is inserted into the receiving hole 321 and can be accommodated along the receiving hole.
  • the axial movement of the 321 is disposed at one end of the insertion rod 311.
  • the elastic member 313 is preferably spring-loaded between the bracket 32 and the suction head 312, and when the suction head 312 contacts the surface to be grasped, The elastic member 313 is compressed, thereby causing the insertion rod 311 to move in the axial direction of the accommodating hole 321.
  • the step of detecting whether the at least two suction cup assemblies 31 are in contact with the surface to be grasped includes: detecting, by the first sensor 314, a moving distance of the insertion rod 311 along the axial direction of the accommodating hole 321 and determining at least two suction cup assemblies according to the moving distance 31 Whether it is in contact with the surface to be grasped.
  • the first sensor 314 is a proximity sensor, and is detected by the first sensor 314.
  • the step of measuring the moving distance of the insertion rod 311 along the axial direction of the accommodating hole 321 and determining whether the at least two suction cup assemblies 31 are in contact with the surface to be grasped according to the moving distance includes:
  • the preset detection range is an area in which the first sensor 314 is directionally monitored, for example, an area of 20 mm or more.
  • the insertion rod 311 is moved a certain distance (for example, 20 mm) in the axial direction of the accommodating hole 321, Entering the area in which the first sensor 314 is orientated, it is determined that the corresponding suction cup assembly 31 has contacted the surface to be grasped.
  • each of the chuck assemblies 31 further includes an inductive device 315 disposed on the interposing rod 311.
  • the first sensor 314 detects the moving distance of the interposing rod 311 along the axial direction of the receiving hole 321 through the sensing device 315. .
  • the insertion rod 311 is provided with an air passage 316 in the cavity connecting the suction head 312, and a negative pressure is provided in the cavity of the suction head 312 through the air passage 316, so that the suction head 312 is attracted to be grasped. Take the surface.
  • the robot system further includes a vacuum pump 10, and the suction cup assembly 31 is connected to the vacuum pump 10 through a pipeline.
  • the position of the vacuum pump 10 is not limited. In an embodiment, it may be disposed near the base of the robot 20.
  • the jig 30 further includes a conduit (not shown) that connects the interposing rod 311 with the vacuum pump 10, wherein the interposing rods 311 of the at least two suction cup assemblies 31 share the same conduit, and thus the suction heads of the at least two suction cup assemblies 31.
  • the negative pressure of the same pressure is simultaneously generated in the cavity of 312.
  • the jig 30 further includes a second sensor 317 (shown in FIG. 4) disposed in the pipeline, and the second sensor 317 is configured to detect the degree of vacuum in the pipeline, passing through the air passage 316.
  • the control robot 20 drives the clamp 30 to move the component 40 to be gripped by the chucking head 312. Go to the scheduled location.
  • the posture of the clamp 30 is adjusted by the control robot 20 so that the remaining suction cup assembly is maintained while the first suction cup assembly 31 is in contact with the surface to be grasped. 31 is further contacted to the surface to be grasped to ensure that the parts 40 in different postures are smoothly grasped.
  • the present invention also provides a robot system for grasping parts, the machine
  • the human system includes a robot 20, a clamp 30, and a master control system (not shown).
  • the robot 20 is a six-axis robot, and the clamp 30 includes at least two suction cup assemblies 31 spaced apart from each other.
  • the suction cup assembly 31 is connected to the vacuum pump 10 through a pipeline.
  • the position of the vacuum pump 10 is not limited.
  • the robot can be disposed in the robot. Near the base of 20.
  • Each of the chuck assemblies 31 further includes a first sensor 314 that controls the robot 20 to move the jig 30 to a predetermined initial position to approach the surface to be gripped of the part 40 to be gripped, and the first sensor 314 is configured to detect the chuck assembly 31.
  • the main control system controls the robot 20 to adjust the posture of the jig 30 so as to maintain the first suction cup assembly 31 and the surface to be grasped.
  • the remaining suction cup assembly 31 further contacts the surface to be gripped, and the portion 40 to be gripped is grasped by at least two suction cup assemblies 31.
  • the plurality of parts to be grasped 40 all have different postures, so the posture is adjusted each time the gripping is performed to ensure accurate grasping of each part 40 to be gripped.
  • the plurality of parts to be grasped 40 have a consistent posture, and after the robot 20 can be adjusted once, the subsequent grabs are captured according to the adjusted posture.
  • the main control system adjusts according to the posture.
  • the adjustment parameter in the process corrects the initial pose, and the main control system controls the robot 20 to transmit the fixture 30 in the subsequent grasping process to the corrected initial posture to approach the surface to be grasped, so that at least two suction cups in the approaching process
  • the assembly 31 simultaneously contacts the surface to be grasped to grasp the part 40 to be grasped.
  • the surface to be grasped is a flat surface
  • the clamp 30 includes two suction cup assemblies 31 disposed in a coplanar manner, wherein when the first suction cup assembly 31 is detected to contact the surface to be grasped, the control robot 20 is controlled.
  • the steps of adjusting the posture of the jig 30 include:
  • the control robot 20 After detecting that the first suction cup assembly 31 contacts the surface to be grasped, the control robot 20 rotates the clamp 30 about the preset first direction such that the other suction cup assembly 31 contacts the surface to be grasped, and records the first direction.
  • the first direction is any one of the lines connecting the two suction cup assemblies, preferably one direction perpendicular to the line connecting the two suction cup assemblies.
  • the step of correcting the initial pose according to the adjustment parameter in the posture adjustment process includes:
  • the initial pose is corrected according to the rotation angle of each of the rotation axes of the robot 20 during the rotation about the first direction.
  • the surface to be grasped is a plane
  • the jig 30 includes at least three of the coplanar surfaces.
  • the preset first direction is the connection direction of the suction cup assembly 31 that first contacts the surface to be grasped and the adjacent suction cup assembly 31; the preset second direction is two that have contacted the surface to be grasped.
  • the clamp 30 includes four suction cup assemblies 31 respectively disposed at different vertices of a rectangular region, wherein the first direction and the second direction respectively correspond to the first contact with the rectangular region and the surface to be grasped The direction of the two right-angled sides of the first suction cup assembly 31 is connected.
  • the holder 30 includes a bracket 32.
  • the bracket 32 is provided with a plurality of receiving holes 321 corresponding to the chuck assembly 31.
  • the receiving hole 321 may be provided by the bracket 32 itself, or as shown in FIG. 4, the receiving hole 321 It is provided by another L-shaped suction cup fixing plate 34 fixed to the bracket.
  • each of the suction cup assemblies 31 further includes an insertion rod 311, a suction head 312, and an elastic member 313, wherein the insertion rod 311 is inserted into the accommodating hole 321 and can be along the axial direction of the accommodating hole 321 Moving, the suction head 312 is disposed at one end of the insertion rod 311, and the elastic member 313 is elastically supported between the bracket 32 and the suction head 312, and when the suction head 312 contacts the surface to be grasped, the elastic member 313 is compressed, thereby
  • the insertion rod 311 moves along the axial direction of the accommodating hole 321 , the first sensor 314 detects the moving distance of the insertion rod 311 along the axial direction of the accommodating hole 321 , and the main control system determines whether the suction cup assembly 31 is in contact with the suction cup according to the moving distance. Take the surface.
  • the first sensor 314 is a proximity sensor. When the moving distance of the insertion rod 311 along the axial direction of the accommodating hole 321 is within a preset detection range, the main control system determines that the corresponding suction cup assembly 31 is in contact with the surface to be grasped.
  • the L-shaped suction cup fixing plate 34 is provided with an adjustment groove 341, and the position of the first sensor 314 can be finely adjusted in the adjustment groove 341 as needed.
  • each of the chuck assemblies 31 further includes an inductive device 315 disposed on the interposing rod 311.
  • the first sensor 314 detects the moving distance of the interposing rod 311 along the axial direction of the receiving hole 321 through the sensing device 315.
  • the insertion rod 311 is provided with an air passage 316 in the cavity communicating with the suction head 312 for providing a negative pressure into the cavity of the suction head 312 so that the suction head 312 is attracted to the surface to be grasped.
  • the robotic system further includes a vacuum pump 10, the clamp 30 further comprising a conduit connecting the insertion rod 311 and the vacuum pump 10, wherein the insertion rods 311 of the at least two suction cup assemblies 31 share the same conduit, and thus the suction cups of the at least two suction cup assemblies 31 The negative pressure of the same pressure is simultaneously generated in the cavity of the head 312.
  • the clamp 30 further includes a second sensor 317 disposed in the pipeline, the second sensor 317 is configured to detect the degree of vacuum in the pipeline, and the degree of vacuum of the main control system in the pipeline is greater than or equal to a preset vacuum threshold.
  • the control robot 20 drives the jig 30, thereby moving the part to be grasped 40 sucked by the suction head 312 to a predetermined position.
  • the posture of the jig 30 is adjusted by the control robot 20 so that the remaining suction cup assembly 31 is further contacted while the first suction cup assembly 31 is kept in contact with the surface to be gripped.
  • the surface to be grasped is taken to ensure that the parts 40 in different postures are smoothly grasped.
  • the present invention further provides a clamp 30 including a bracket 32 and at least two suction cup assemblies 31.
  • the bracket 32 is provided with a plurality of receiving holes 321 corresponding to the suction cup assembly 31.
  • a suction cup assembly 31 includes an insertion rod 311, a suction head 312, an elastic member 313, and a first sensor 314.
  • the insertion rod 311 is inserted into the accommodating hole 321 and is movable in the axial direction of the accommodating hole 321, and the suction head 312 is disposed at one end of the insertion rod 311, and the elastic member 313 is elastically supported between the bracket 32 and the suction head 312.
  • the first sensor 314 is configured to detect the moving distance of the insertion rod 311 along the axial direction of the accommodating hole 321 and determine whether the at least two suction cup assemblies 31 are in contact with the to-be-grabbed according to the moving distance. surface.
  • the bracket 32 is provided with a connecting plate 33 for connection with the robot 20 in the foregoing embodiment, and the connecting plate 33 is provided with a connecting hole for fitting with the end shaft of the robot 20.
  • the clamp 30 further includes a suction cup fixing plate 34, and the suction plate fixing plate 34 is adjustably disposed on the bracket 32.
  • the adjustable size of the suction cup assembly 31 is adjusted by adjusting the position of the suction cup fixing plate 34.
  • the clamp 30 provided in this embodiment can be used in conjunction with the aforementioned robot 20, and the posture of the clamp 30 is adjusted by the control robot 20 so that the remaining suction cup assembly 31 is further contacted while the first suction cup assembly 31 is kept in contact with the surface to be grasped.
  • the surface to be grabbed is to be taken to ensure the smooth capture of different parts 40.
  • the robot 20 gradually approaches the part in the initial pose P0 (x, y, z, a, b, c), and one of the sensors S1, S2, S3, S4 located at the four corners of the clamp 30 first senses the part, assuming S1 At this time, the robot 20 records the pose P1 (x1, y1, z1, a1, b1, c1) at this time, and controls the robot 20 to rotate at a fixed point in the S4 direction with S1-S2 as the rotation axis, so that the sensor S4 senses the part.
  • the poses P4 (x4, y4, z4, a4, b4, and c4) at this time are recorded, and the difference in posture between the jig 30 and the parts in the left and right directions on the robot 20 is calculated by the control algorithm, and the initial pose P0 is first.
  • the secondary attitude compensates P 0 ' (x, y, z, a + ⁇ a1, b + ⁇ b1, c + ⁇ c1).
  • the robot approaches the part with the compensated attitude P 0 '(x, y, z, a+ ⁇ a1, b+ ⁇ b1, c+ ⁇ c1). Based on the assumption of step 2, the sensors S1 and S4 sense the part at the same time. At this time, the robot 20 records the posture P14 (x14, y14, z14, a14, b14, c14) at this time, and controls the robot to rotate the S2 and S3 directions with the S1-S4 as the axis until the parts are sensed by S2 and S3.
  • the robot 20 picks up the parts after the two corrected postures P 0 "(x, y, z, a + ⁇ a1 + ⁇ a2, b + ⁇ b1 + ⁇ b2, c + ⁇ c1 + ⁇ c2), after which the parts are adjusted.
  • the posture of the clamp 30 of the robot 20 is level with the front of the part.
  • the vacuum pump 10 is opened, the robot 20 is slowly approaching the part, the suction head 312 is first brought into contact with the part, the robot 20 continues to approach, the elastic member 313 is compressed, and the air passage 316 is under negative pressure.
  • the part is attached to the clamp 30 until the vacuum negative pressure reaches the preset value, the vacuum sensor 317 gives a signal, the robot 20 stops the forward movement, and takes the current point as a reference, grabs the glass to a safe position, and transports it to the production line. .

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un procédé de préhension de composant basé sur un système de robot, le système de robot comprenant un robot (20) et une pince (30) entraînée par le robot, la pince comprenant au moins deux ensembles de pompage (31) espacés l'un de l'autre. Le procédé de préhension comprend les étapes consistant à : commander le robot pour amener la pince à s'approcher, dans une position et posture initiales prédéfinies, d'une surface à saisir d'un composant à saisir (40); lorsqu'il est détecté qu'un premier ensemble de pompage entre en contact avec la surface à saisir, commander le robot pour ajuster la posture de la pince, de telle sorte que l'ensemble de pompage restant vient en outre en contact avec la surface à saisir tandis que le premier ensemble de pompage reste en contact avec la surface à saisir; et commander le robot pour saisir le composant à saisir au moyen des au moins deux ensembles de pompage. L'utilisation du procédé de saisie de composant peut garantir que des composants ayant des postures différentes sont saisis avec succès. L'invention concerne en outre un système de robot et une pince.
PCT/CN2017/082225 2017-04-27 2017-04-27 Procédé de préhension de composant basé sur un système de robot, et système de robot et pince WO2018195866A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201780001553.0A CN107690377B (zh) 2017-04-27 2017-04-27 基于机器人系统的零件抓取方法及机器人系统、夹具
PCT/CN2017/082225 WO2018195866A1 (fr) 2017-04-27 2017-04-27 Procédé de préhension de composant basé sur un système de robot, et système de robot et pince

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/082225 WO2018195866A1 (fr) 2017-04-27 2017-04-27 Procédé de préhension de composant basé sur un système de robot, et système de robot et pince

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WO2018195866A1 true WO2018195866A1 (fr) 2018-11-01

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CN112658672A (zh) * 2019-10-16 2021-04-16 富鼎电子科技(嘉善)有限公司 零件自动组装设备
CN110802599B (zh) * 2019-11-28 2021-04-06 爱孚迪(上海)制造系统工程有限公司 一种机器人视觉引导从料框抓取零件的控制方法
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