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Robotic device and gripping method

A robot and sensor technology, which is applied in the field of robot devices and gripping, can solve problems such as workpiece slipping, and achieve the effect of suppressing workpiece falling and excessive gripping force

Active Publication Date: 2020-11-24
KYOCERA DOCUMENT SOLUTIONS INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] When using a robot to hold and transport a workpiece, the workpiece may slip due to the weight, shape, surface condition, etc. of the workpiece

Method used

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  • Robotic device and gripping method

Examples

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Embodiment Construction

[0012] Below, refer to Figure 1 to Figure 4 Embodiments of the present invention will be described. In addition, the same reference numerals are used for the same or corresponding parts in the drawings, and the description thereof will not be repeated.

[0013] First, refer to figure 1 , the robot device 10 according to the embodiment will be described. figure 1 It is a perspective view of an example of the appearance of the robot device 10 . figure 1 Among them, the directions perpendicular to each other in the horizontal plane are the positive direction of the X axis and the positive direction of the Y axis, and the vertical upward direction is the positive direction of the Z axis.

[0014] Such as figure 1 As shown, the robotic device 10 includes a base 20 , a manipulator device 26 and an end effector device 30 . The robot device 26 is arranged on the base 20 . The end effector unit 30 is replaceably connected to the top end of the manipulator unit 26 . The robot de...

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PUM

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Abstract

The invention provides a robot device and a gripping method. The robot device is provided with an end effector device, a first sensor, and a control unit. The end effector device has two fingers for gripping a workpiece. The first sensor is used for detecting pressure distribution of the two fingers at the holding position of the workpiece. The control unit executes attitude control including rotation of the end effector device on the basis of a change over time in the pressure distribution when the workpiece is lifted up.

Description

technical field [0001] The present invention relates to robotic devices and methods of handling. Background technique [0002] In the case of using a robot to hold and transport a workpiece, the gripped workpiece may slip due to the weight, shape, surface condition, etc. of the workpiece. Therefore, there is a robot device that increases the gripping force to prevent further slipping when detecting that the workpiece to be gripped is slipping. Contents of the invention [0003] In the above robot device, excessive gripping force may cause damage to the workpiece. [0004] An object of the present invention is to provide a robot device and a gripping method capable of suppressing a workpiece from falling while suppressing excessive gripping force. [0005] A robot device of the present invention includes an end effector device, a first sensor, and a control unit. The end effector device has two fingers for gripping a workpiece. The first sensor is used to detect the pre...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J9/00B25J13/08
CPCB25J9/1694B25J9/1602B25J9/163B25J9/00B25J13/085B25J9/1612B25J9/1669G05B2219/39507G05B2219/39509G05B2219/39508G05B2219/39514G05B2219/39487B25J13/081
Inventor 小路春树
Owner KYOCERA DOCUMENT SOLUTIONS INC
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