CN106041942A - 一种抓取大小混杂圆管的机械手及其工作方法 - Google Patents
一种抓取大小混杂圆管的机械手及其工作方法 Download PDFInfo
- Publication number
- CN106041942A CN106041942A CN201610507608.2A CN201610507608A CN106041942A CN 106041942 A CN106041942 A CN 106041942A CN 201610507608 A CN201610507608 A CN 201610507608A CN 106041942 A CN106041942 A CN 106041942A
- Authority
- CN
- China
- Prior art keywords
- mechanical
- mechanical hand
- pipe
- joint
- captures
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
-
- 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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0038—Cylindrical gripping surfaces
-
- 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
- B25J15/0047—Gripping heads and other end effectors for internally gripping hollow or recessed objects
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610507608.2A CN106041942B (zh) | 2016-07-01 | 2016-07-01 | 一种抓取大小混杂圆管的机械手 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610507608.2A CN106041942B (zh) | 2016-07-01 | 2016-07-01 | 一种抓取大小混杂圆管的机械手 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106041942A true CN106041942A (zh) | 2016-10-26 |
CN106041942B CN106041942B (zh) | 2018-09-25 |
Family
ID=57200422
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610507608.2A Active CN106041942B (zh) | 2016-07-01 | 2016-07-01 | 一种抓取大小混杂圆管的机械手 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN106041942B (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106639853A (zh) * | 2016-12-08 | 2017-05-10 | 国网山东省电力公司东明县供电公司 | 新型电力检修梯及电力抢修设备 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5446835A (en) * | 1991-10-30 | 1995-08-29 | Nippondenso Co., Ltd. | High-speed picking system for stacked parts |
US20120059517A1 (en) * | 2010-09-07 | 2012-03-08 | Canon Kabushiki Kaisha | Object gripping system, object gripping method, storage medium and robot system |
CN103299776A (zh) * | 2013-05-29 | 2013-09-18 | 西北农林科技大学 | 一种果实采摘机器人三指灵巧手 |
CN104044132A (zh) * | 2013-03-14 | 2014-09-17 | 株式会社安川电机 | 机器人***及被加工物的制造方法 |
CN205766168U (zh) * | 2016-07-01 | 2016-12-07 | 江苏捷帝机器人股份有限公司 | 一种抓取大小混杂圆管的机械手 |
-
2016
- 2016-07-01 CN CN201610507608.2A patent/CN106041942B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5446835A (en) * | 1991-10-30 | 1995-08-29 | Nippondenso Co., Ltd. | High-speed picking system for stacked parts |
US20120059517A1 (en) * | 2010-09-07 | 2012-03-08 | Canon Kabushiki Kaisha | Object gripping system, object gripping method, storage medium and robot system |
CN104044132A (zh) * | 2013-03-14 | 2014-09-17 | 株式会社安川电机 | 机器人***及被加工物的制造方法 |
CN103299776A (zh) * | 2013-05-29 | 2013-09-18 | 西北农林科技大学 | 一种果实采摘机器人三指灵巧手 |
CN205766168U (zh) * | 2016-07-01 | 2016-12-07 | 江苏捷帝机器人股份有限公司 | 一种抓取大小混杂圆管的机械手 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106639853A (zh) * | 2016-12-08 | 2017-05-10 | 国网山东省电力公司东明县供电公司 | 新型电力检修梯及电力抢修设备 |
CN106639853B (zh) * | 2016-12-08 | 2018-11-23 | 国网山东省电力公司东明县供电公司 | 电力检修梯及电力抢修设备 |
Also Published As
Publication number | Publication date |
---|---|
CN106041942B (zh) | 2018-09-25 |
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Legal Events
Date | Code | Title | Description |
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C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20230602 Address after: Room 585, floor 5, building 1, Hutai fashion, No. 10, Nanhai Road, Liuhe Town, Taicang City, Suzhou City, Jiangsu Province 215400 Patentee after: Suzhou huienyuan medical device accessories Co.,Ltd. Address before: 215138 Shitian Road, Yangchenghu Town, Xiangcheng District, Suzhou City, Jiangsu Province Patentee before: JIANGSU JIEDI ROBOT Co.,Ltd. |
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TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20230810 Address after: 509 Kangrui Times Square, Keyuan Business Building, 39 Huarong Road, Gaofeng Community, Dalang Street, Longhua District, Shenzhen, Guangdong Province, 518000 Patentee after: Shenzhen lizhuan Technology Transfer Center Co.,Ltd. Address before: Room 585, floor 5, building 1, Hutai fashion, No. 10, Nanhai Road, Liuhe Town, Taicang City, Suzhou City, Jiangsu Province 215400 Patentee before: Suzhou huienyuan medical device accessories Co.,Ltd. |