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Workpiece grabbing method and device and robot equipment

A technology of robots and robot fixtures, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as suction cup extrusion deformation and affecting the service life of suction cups

Inactive Publication Date: 2020-12-04
ZHUHAI GREE INTELLIGENT EQUIP CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present invention provides a workpiece grabbing method and device, and a robot device to at least solve the technical problem in the related art that when the sucker at the front end of the robot is controlled to grab the workpiece, the sucker is easily squeezed and deformed, which affects the remaining service life of the sucker

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  • Workpiece grabbing method and device and robot equipment
  • Workpiece grabbing method and device and robot equipment

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Embodiment Construction

[0025] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0026] It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate ...

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Abstract

The invention discloses a workpiece grabbing method and device and robot equipment. The workpiece grabbing method comprises the steps: a mechanical arm of a robot is controlled to press downward so asto drive a robot clamp to move towards a target workpiece, wherein a suction cup is arranged at the top of the robot clamp; a vacuum generator is started to extract air between the suction cup and the target workpiece; the extracted vacuum is detected, wherein the extracted vacuum is used for indicating the current state of the suction cup sucking the target workpiece; and if the extracted vacuumreaches the preset vacuum threshold value, the mechanical arm of the robot is controlled to stop pressing downward, and the target workpiece is grabbed. According to the workpiece grabbing method, the technical problem that in the related art, when the suction cup at the front end of the robot is controlled to grab the workpiece, the suction cup is easily extruded to deform, and the remaining service life of the suction cup is affected is solved.

Description

technical field [0001] The present invention relates to the technical field of equipment control, in particular to a workpiece grasping method and device, and robot equipment. Background technique [0002] In the related technology, when controlling the suction cup / nozzle at the front end of the robot to grab the workpiece, it is usually realized by using fixed point positioning and judging the vacuum degree. Due to the uncertainty of the on-site production environment, the suction nozzle is usually over-squeezed to achieve the vacuum degree, and when the feeding mechanism has a small range of positioning deviation, the robot cannot complete the task of grasping the workpiece normally. [0003] For the above problems, no effective solution has been proposed yet. Contents of the invention [0004] Embodiments of the present invention provide a workpiece grabbing method and device, and robotic equipment, to at least solve the technical problem in the related art that when t...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J15/06
CPCB25J9/1661B25J15/065
Inventor 王欣刘其剑李成龙张天翼张秀峰唐小勇
Owner ZHUHAI GREE INTELLIGENT EQUIP CO LTD
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