KR100522653B1 - 로봇 핸들링 장치 - Google Patents
로봇 핸들링 장치 Download PDFInfo
- Publication number
- KR100522653B1 KR100522653B1 KR10-2003-0058112A KR20030058112A KR100522653B1 KR 100522653 B1 KR100522653 B1 KR 100522653B1 KR 20030058112 A KR20030058112 A KR 20030058112A KR 100522653 B1 KR100522653 B1 KR 100522653B1
- Authority
- KR
- South Korea
- Prior art keywords
- hand
- robot
- detection means
- handling apparatus
- visual sensor
- Prior art date
Links
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- 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
- B25J9/1697—Vision controlled systems
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39533—Measure grasping posture and pressure distribution
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40583—Detect relative position or orientation between gripper and currently handled object
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (11)
- 공급하는 대상물을 로봇에 의해 핸들링하고, 상기 대상물을 소정의 위치 자세에서 다음 공정으로 인도하는 로봇 핸들링 장치에 있어서,파지 손가락이 서보 모터로 구동되는 것을 특징으로 하는 서보 핸드와,상기 핸드로 파지한 대상물과 핸드와의 상대 위치 자세를 검출하는 검출 수단과, 상기 검출 수단에서 검출된 상대 위치 자세에 의거하여 다음 공정으로 상기 대상물을 인도하는 핸드 또는 로봇의 위치 자세를 보정하는 수단을 마련한 것을 특징으로 하는 로봇 핸들링 장치.
- 공급하는 대상물을 로봇에 의해 핸들링하여 상기 대상물을 소정의 위치 자세에서 다음 공정으로 인도하는 로봇 핸들링 장치에 있어서,공급된 대상물의 위치를 검출하는 제1 검출 수단과,파지 손가락이 서보 모터로 구동되는 것을 특징으로 하는 서보 핸드와,상기 검출된 위치에 의거하여 상기 로봇의 상기 서보 핸드를 상기 대상물의 파지 위치로 위치 결정하여 파지시키는 수단과,상기 대상물이 핸드로 파지된 상태에서 상기 대상물과 상기 핸드와의 상대 위치 자세를 검출하는 제2 검출 수단과,상기 파지 위치에서 상기 대상물을 상기 핸드에 의해 파지한 상태에서 상기 핸드가 상기 제2 검출 수단에 대해 소정의 검출 위치 자세가 되도록 상기 핸드 또는 상기 제2 검출 수단을 이동시키는 수단과,상기 검출된 상기 대상물과 상기 핸드와의 상대 위치 자세와, 상기 대상물을 다음 공정으로 인도하기 위한 상기 대상물의 소정의 위치 자세에 의거하여 상기 핸드 또는 상기 로봇의 위치 자세를 구하는 수단을 구비한 것을 특징으로 하는 로봇 핸들링 장치.
- 제2항에 있어서, 제1 검출 수단이 2차원 시각 센서 또는 3차원 시각 센서인 것을 특징으로 하는 로봇 핸들링 장치.
- 제2항에 있어서, 제2 검출 수단이 2차원 시각 센서 또는 3차원 시각 센서인 것을 특징으로 하는 로봇 핸들링 장치.
- 제2항 내지 제4항 중 어느 한 항에 있어서, 제1 검출 수단이 제2 검출 수단을 겸하는 것을 특징으로 하는 로봇 핸들링 장치.
- 제2항 내지 제4항 중 어느 한 항에 있어서, 상기 제2 검출 수단이 별도로 설치된 로봇에 부착된 것을 특징으로 하는 로봇 핸들링 장치.
- 제1항 내지 제4항 중 어느 한 항에 있어서, 상기 다음 작업 공정으로의 인도는 공작 기계의 지그에 대한 대상물의 부착인 것을 특징으로 하는 로봇 핸들링 장치.
- 삭제
- 제7항에 있어서, 상기 대상물의 형상에 대응하여 상기 파지 손가락의 위치 결정 제어로 상기 대상물을 파지하는 것을 특징으로 하는 로봇 핸들링 장치.
- 제7항에 있어서, 상기 핸드는 상기 대상물을 파지할 때에 상기 대상물에 따라서 지령 토크를 변경함으로써, 상기 대상물을 파지하는 것을 특징으로 하는 로봇 핸들링 장치.
- 제7항에 있어서, 상기 핸드가 상기 로봇의 제어 장치에 의해 제어되는 것을 특징으로 하는 로봇 핸들링 장치.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2002243498A JP3702257B2 (ja) | 2002-08-23 | 2002-08-23 | ロボットハンドリング装置 |
JPJP-P-2002-00243498 | 2002-08-23 |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20040018196A KR20040018196A (ko) | 2004-03-02 |
KR100522653B1 true KR100522653B1 (ko) | 2005-10-19 |
Family
ID=31185234
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR10-2003-0058112A KR100522653B1 (ko) | 2002-08-23 | 2003-08-22 | 로봇 핸들링 장치 |
Country Status (6)
Country | Link |
---|---|
US (1) | US7244093B2 (ko) |
EP (1) | EP1391275A3 (ko) |
JP (1) | JP3702257B2 (ko) |
KR (1) | KR100522653B1 (ko) |
CN (1) | CN1233510C (ko) |
TW (1) | TWI226304B (ko) |
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US4604016A (en) * | 1983-08-03 | 1986-08-05 | Joyce Stephen A | Multi-dimensional force-torque hand controller having force feedback |
JPH0452952Y2 (ko) | 1987-08-07 | 1992-12-11 | ||
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JPH03287394A (ja) | 1990-03-30 | 1991-12-18 | Nec Corp | 遠隔ハンドリング装置 |
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JPH11300670A (ja) | 1998-04-21 | 1999-11-02 | Fanuc Ltd | 物品ピックアップ装置 |
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US6244644B1 (en) * | 1999-01-25 | 2001-06-12 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Compact dexterous robotic hand |
JP3300682B2 (ja) | 1999-04-08 | 2002-07-08 | ファナック株式会社 | 画像処理機能を持つロボット装置 |
US6517132B2 (en) * | 2000-04-04 | 2003-02-11 | Honda Giken Kogyo Kabushiki Kaisha | Multifinger hand device |
US6430474B1 (en) * | 2001-04-03 | 2002-08-06 | Xerox Corporation | Tooling adapter for allowing selected manipulation of a workpiece |
-
2002
- 2002-08-23 JP JP2002243498A patent/JP3702257B2/ja not_active Expired - Fee Related
-
2003
- 2003-07-21 TW TW092119786A patent/TWI226304B/zh not_active IP Right Cessation
- 2003-07-28 US US10/627,722 patent/US7244093B2/en not_active Expired - Lifetime
- 2003-08-12 EP EP03254997A patent/EP1391275A3/en not_active Ceased
- 2003-08-22 CN CNB031558232A patent/CN1233510C/zh not_active Expired - Fee Related
- 2003-08-22 KR KR10-2003-0058112A patent/KR100522653B1/ko active IP Right Grant
Also Published As
Publication number | Publication date |
---|---|
TW200403184A (en) | 2004-03-01 |
CN1233510C (zh) | 2005-12-28 |
CN1486914A (zh) | 2004-04-07 |
JP3702257B2 (ja) | 2005-10-05 |
KR20040018196A (ko) | 2004-03-02 |
US7244093B2 (en) | 2007-07-17 |
TWI226304B (en) | 2005-01-11 |
US20040037689A1 (en) | 2004-02-26 |
EP1391275A3 (en) | 2004-06-16 |
EP1391275A2 (en) | 2004-02-25 |
JP2004082232A (ja) | 2004-03-18 |
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