发明申请
- 专利标题： Compliant End Of Arm Tooling For A Robot
- 专利标题（中）： 机器人手臂工具的一致性结束
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申请号： US13061245申请日： 2008-08-29
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公开(公告)号： US20110211938A1公开(公告)日： 2011-09-01
- 发明人: William Eakins , Thomas A. Fuhlbrigge , Carlos Martinez , Heping Chen , Gregory Rossano
- 申请人： William Eakins , Thomas A. Fuhlbrigge , Carlos Martinez , Heping Chen , Gregory Rossano
- 申请人地址： CH Zurich
- 专利权人： ABB RESEARCH LTD.
- 当前专利权人： ABB RESEARCH LTD.
- 当前专利权人地址： CH Zurich
- 国际申请： PCT/US08/10248 WO 20080829
- 主分类号： B25J9/00
- IPC分类号： B25J9/00 ; B25J15/04 ; B25J17/02 ; G06F19/00
摘要：
A robot (12) is used to pick parts from a bin (40 in FIG. 1). The robot has a compliant apparatus (42) and one or more tools are connected to the apparatus to perform the picking. The compliant apparatus has mechanisms for monitoring and/or controlling its compliance. The compliant apparatus can have various embodiments. Force sensing can be used during removal of grasped parts from the bin to determine the force exerted on the picking tool (s). The signal indicative of the exerted force can be used by the robot controller to determine the weight of the parts that may be held by the picking tool(s). The robot has one or more devices (FIG. 16, 17) which can be the picking tool to stir the parts in the bin.
公开/授权文献
- US08606398B2 Compliant end of arm tooling for a robot 公开/授权日：2013-12-10
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