CN114905517B - Robot control method, robot and control system thereof - Google Patents
Robot control method, robot and control system thereof Download PDFInfo
- Publication number
- CN114905517B CN114905517B CN202210605249.XA CN202210605249A CN114905517B CN 114905517 B CN114905517 B CN 114905517B CN 202210605249 A CN202210605249 A CN 202210605249A CN 114905517 B CN114905517 B CN 114905517B
- Authority
- CN
- China
- Prior art keywords
- robot
- zero point
- positioning
- point
- mechanical
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000006243 chemical reaction Methods 0.000 claims abstract description 13
- 238000001514 detection method Methods 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 abstract description 5
- 230000002159 abnormal effect Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
The invention relates to the technical field of robot control, and discloses a control method of a robot, the robot and a control system of the robot. The control method of the robot comprises the steps of powering up the robot; acquiring initial position information of the robot when the robot is positioned at a mechanical zero point; calibrating conversion coordinates of each working point position of the robot relative to a mechanical zero point; when the robot runs abnormally and the zero point of the robot is lost, the robot is driven to recover to the position of the mechanical zero point, and each working point of the robot is recovered according to the conversion coordinates. According to the invention, the mechanical zero point is set, and the conversion coordinates of each working point position of the robot relative to the mechanical zero point are obtained through calibration, so that the zero point of the robot is lost, and the robot is restored to the mechanical zero point through manual driving, so that the robot is quickly restored. By setting the mechanical zero point, the zero point of the robot can be quickly restored, and the maintenance efficiency is greatly improved especially for the robot needing to perform multi-working-point actions.
Description
Technical Field
The present invention relates to the field of robot control technologies, and in particular, to a control method for a robot, and a control system thereof.
Background
During the operation of an industrial robot, the zero point of the robot may be lost. In the prior art, after zero point loss of a robot, after the zero point is reclinated, all working points of the robot need to be recalibrated, if the working points of the robot are more, the work load of recalibrating the working points is huge, and the time is long.
Therefore, there is a need for a control method of a robot, a robot and a control system thereof to solve the above problems
Disclosure of Invention
Based on the above, the invention aims to provide a control method of a robot, the robot and a control system thereof, which can quickly restore the robot after the zero point of the robot is lost, thereby improving the maintenance efficiency.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a control method of a robot, comprising:
powering up the robot;
acquiring initial position information of the robot when the robot is positioned at a mechanical zero point;
calibrating conversion coordinates of each working point position of the robot relative to the mechanical zero point;
when the robot runs abnormally and the zero point of the robot is lost, the robot is driven to recover to the position of the mechanical zero point, and each working point of the robot is recovered according to the converted coordinates.
As a preferable mode of the control method of the robot, the mechanical zero point is a pose of the robot when a first positioning piece on a fixing seat of the robot is matched with a second positioning piece at the tail end of the robot.
As a preferable mode of the control method of the robot, the initial position information includes coordinate values of axes when the robot is located at the mechanical zero point.
As a preferable mode of a control method of a robot, when the robot is abnormal in operation, the method further comprises the steps of: judging whether the robot is lost in zero point, if so, driving the tail end of the robot to recover to the position of the tail end when the mechanical zero point is reached, and recovering each working point of the robot according to the converted coordinates; if not, the robot is replaced.
As a preferable mode of a control method of a robot, the method of judging whether the robot is a zero point loss includes: detecting whether an encoder of the robot is powered off, if so, losing a zero point of the robot; if not, the zero point of the robot is not lost.
A robot employing the control method of the robot according to any one of the above aspects, the robot comprising:
the fixing seat is provided with a first positioning piece;
the actuator is arranged on the fixing seat, a second locating piece is arranged at the tail end of the actuator, and the first locating piece and the second locating piece can be matched to locate the initial position of the tail end.
As a preferable mode of the robot, the first positioning piece and the second positioning piece are one positioning pin, the other positioning pin is a positioning hole, and the positioning pin can be placed in the positioning hole.
As a preferable scheme of the robot, the robot is arranged on a production line equipment table top, and the fixing seat is fixedly connected with the production line equipment table top; the first locating piece is arranged on the table top of the production line equipment.
As a preferable mode of the robot, the actuator comprises a four-axis mechanical arm and a clamping jaw assembly arranged at the tail end of the four-axis mechanical arm, and the second positioning piece is arranged on the clamping jaw assembly.
As a preferable scheme of robot, be provided with the locating piece on the production line equipment mesa, be provided with on the locating piece the locating pin, the clamping jaw subassembly includes the clamping jaw mounting panel, the clamping jaw mounting panel is last to be seted up the locating hole.
As a preferred embodiment of the robot, the robot further comprises a detecting member configured to generate an alarm signal when the encoder of the robot is powered down.
A control system for a robot, comprising:
a processor;
and a memory having executable code stored thereon, which when executed by the processor, performs the method of controlling a robot according to any one of the above aspects.
The beneficial effects of the invention are as follows:
according to the invention, the mechanical zero point is set, and the conversion coordinates of each working point position of the robot relative to the mechanical zero point are obtained through calibration, so that the robot runs abnormally, the zero point of the robot is lost, and the robot is restored to the mechanical zero point by manually driving the robot, so that the robot is quickly restored. Because the position of each working point position relative to the mechanical zero point is determined, the restored robot can continuously and accurately run to each working point position through the conversion coordinates in the calibration process and complete corresponding actions. Compared with the prior art, the control method is adopted to calibrate each working point position again after the zero point is lost, the mechanical zero point is arranged, so that the zero point of the robot can be quickly restored, and the maintenance efficiency is greatly improved especially for robots needing to perform multi-working point position actions.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the drawings needed in the description of the embodiments of the present invention, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the contents of the embodiments of the present invention and these drawings without inventive effort for those skilled in the art.
Fig. 1 is a schematic view of a control method of a robot according to an embodiment of the present invention;
FIG. 2 is a schematic view of a robot provided in an embodiment of the present invention;
fig. 3 is an enlarged partial schematic view at a in fig. 2.
In the figure:
110. a positioning block; 111. a positioning pin;
1. a fixing seat;
2. an actuator; 21. a four-axis mechanical arm; 22. a jaw assembly; 221. a jaw mounting plate; 2211. and positioning holes.
Detailed Description
In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
As shown in fig. 1, the present embodiment provides a control method of a robot, the control method including: powering up the robot; acquiring initial position information of the robot when the robot is positioned at a mechanical zero point; calibrating conversion coordinates of each working point position of the robot relative to a mechanical zero point; when the robot runs abnormally and the zero point of the robot is lost, the robot is driven to recover to the position of the mechanical zero point, and each working point of the robot is recovered according to the conversion coordinates.
Through setting up mechanical zero point to obtain the conversion coordinate of each working point position of robot relative to this mechanical zero point through the demarcation, make at the unusual operation of robot, and the zero point of robot loses, resumes mechanical zero point through the manual drive robot, thereby restores the robot fast. Because the position of each working point position relative to the mechanical zero point is determined, the restored robot can continuously and accurately run to each working point position through the conversion coordinates in the calibration process and complete corresponding actions. Compared with the prior art, the control method is adopted to calibrate each working point position again after the zero point is lost, the mechanical zero point is arranged, so that the zero point of the robot can be quickly restored, and the maintenance efficiency is greatly improved especially for robots needing to perform multi-working point position actions.
As shown in fig. 2 and fig. 3, the present embodiment further discloses a robot, which adopts the control method of the robot according to the above scheme, and the robot includes a fixing seat 1 and an actuator 2, and a first positioning member is disposed on the fixing seat 1; the actuator 2 is arranged on the fixing seat 1, the tail end of the actuator 2 is provided with a second positioning piece, and the first positioning piece and the second positioning piece can be matched to position the initial position of the tail end.
Specifically, the holder 1 of the robot is a member for realizing the overall installation of the robot, and the actuator 2 is a part of the robot that moves relative to the holder 1 for performing various actions of the robot. The relative positions of the fixing base 1 at all working points are unchanged, and the fixing base is used for ensuring that after a first positioning piece on the fixing base 1 is matched with a second positioning piece at the tail end of the robot, the initial position of the tail end of the robot can be positioned. It should be noted that, after the initial position of the robot end is located, each axis of the robot may be in a different pose.
In this embodiment, the mechanical zero point is the pose of the robot when the first positioning piece on the fixing seat 1 of the robot is matched with the second positioning piece at the tail end of the robot. The position of the robot is the initial position of the tail end of the robot.
In other embodiments, the fixing base 1 of the robot may be mounted on a table of a production line apparatus, and the actuator 2 of the robot may be a four-axis mechanical arm 21 and a clamping jaw assembly 22 disposed at the end of the four-axis mechanical arm 21, so as to be used for clamping and assembling workpieces on the production line. Correspondingly, the first positioning piece can also be arranged at other fixed positions on the table top of the production line equipment, which are independent of the base of the robot body, and is preferably located outside the range of the normal operation area of the robot, for example, the first positioning piece is arranged on the positioning block 110 shown in fig. 2, and the positioning block 110 is a mechanical block with a positioning pin 111; the second locating piece sets up on clamping jaw subassembly 22, and does not interfere the position of clamping jaw subassembly 22 centre gripping work piece, so can guarantee that the cooperation of first locating piece and second locating piece does not influence the normal work of robot on the one hand, on the other hand more makes things convenient for the calibration work of mechanical zero point.
Illustratively, one of the first positioning member and the second positioning member is a positioning pin 111, and the other is a positioning hole 2211, and when the end of the manually driven (i.e. manually pulled) robot is restored to the mechanical zero point, the positioning pin 111 can be placed in the positioning hole 2211, so that the positioning is more accurate.
Further, the positioning hole 2211 is formed on the clamping jaw mounting plate 221 of the clamping jaw assembly 22, the positioning pin 111 is disposed on the positioning block 110 of the production line equipment table, and when the positioning pin 111 is disposed in the positioning hole 2211, the plane of the clamping jaw mounting plate 221 is attached to the plane of the positioning block 110. It should be noted that, in the present embodiment, the number and position of the positioning pins 111, the shape and size of the top surface of the positioning block 110, and the like are designed adaptively according to the specific conditions of the clamping jaw mounting plate 221 and the positioning hole 2211, which is not limited in the present invention.
As an alternative to a control method of the robot, the initial position information includes coordinate values of axes when the robot is located at a mechanical zero point. I.e., the positioning pin 111 can be placed in the positioning hole 2211, the coordinate values of each axis of the robot are obtained. The conversion coordinates of each operating point with respect to the mechanical zero point can also be represented by the pulse values of each axis. By obtaining the pulse value of each axis, the motion parameters of each axis of the robot can be obtained, so that the motion of the robot is more standard.
Specifically, when the robot is abnormal in operation, the method further comprises the following steps: judging whether the robot is in zero loss, if so, driving the tail end of the robot to recover to the position of the tail end when the mechanical zero point is reached, and recovering each working point of the robot according to the conversion coordinates; if not, the robot is replaced.
It should be noted that, since the abnormal operation of the robot includes various situations, it is necessary to determine whether the zero point is lost after the abnormal operation of the robot, and the mechanical zero point recovery operation is performed only after the zero point is determined to be lost, and if the zero point is not lost, the robot needs to be replaced.
Illustratively, if the robot is operating abnormally and the robot zero is not lost, then the robot experiences a collision. In other embodiments, the robot is running abnormally, the robot zero is not lost, and the robot can also be in failure.
Optionally, monitoring equipment is installed at each working point to judge whether the robot can accurately reach the working point and normally act, so as to judge whether the robot operates abnormally; or the operator manually observes the operation condition of the robot to judge whether the robot operates abnormally.
As an alternative to a control method of a robot, the method for judging whether the robot is a zero point loss includes: detecting whether an encoder of the robot is powered off, if so, losing the zero point of the robot; if not, the zero point of the robot is not lost. It should be noted that, the power loss of the encoder may be when the battery of the encoder drops to affect the normal operation of the robot, or when the power of the encoder is disconnected.
As an alternative to a robot, the robot further comprises a detection element configured to generate an alarm signal when the encoder of the robot is de-energized. Through setting up the detecting element for the auxiliary operator judges whether the encoder of robot loses the electricity, judges more accurately, can also alleviate operator's intensity of labour simultaneously.
The embodiment also discloses a control system of the robot, the control system includes: a processor and a memory, the memory having executable code stored thereon, which when executed by the processor, performs the method of controlling a robot as described in any of the above aspects.
The robot adopting the control method can quickly restore the robot to the mechanical zero point after the zero point is lost, so that the work of repeatedly correcting the coordinates of each working point of the robot is omitted, and the maintenance time of the robot is greatly prolonged.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
In the description of the present invention, it should be noted that, unless explicitly stated and defined otherwise, "above" or "below" a first feature may include the first feature and the second feature being in direct contact, or may include the first feature and the second feature not being in direct contact but being in contact through another feature therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Claims (11)
1. A control method of a robot, comprising:
powering up the robot;
acquiring initial position information of the robot when the robot is positioned at a mechanical zero point;
calibrating conversion coordinates of each working point position of the robot relative to the mechanical zero point;
when the robot runs abnormally and the zero point of the robot is lost, driving the robot to recover to the position of the mechanical zero point, and recovering each working point of the robot according to the converted coordinates;
when the robot runs abnormally, the method further comprises the following steps: judging whether the robot is lost in zero point, if so, driving the tail end of the robot to recover to the position of the tail end when the mechanical zero point is reached, and recovering each working point of the robot according to the converted coordinates; if not, the robot is replaced.
2. The method of controlling a robot according to claim 1, characterized in that the mechanical zero point is the pose of the robot when a first positioning element on a fixed seat (1) of the robot is mated with a second positioning element at the end of the robot.
3. The method according to claim 1, wherein the initial position information includes coordinate values of axes when the robot is located at the mechanical zero point.
4. The method of controlling a robot according to claim 1, wherein the method of judging whether the robot is a zero point loss comprises: detecting whether an encoder of the robot is powered off, if so, losing a zero point of the robot; if not, the zero point of the robot is not lost.
5. A robot, characterized by adopting the control method of the robot according to any one of claims 1 to 4, comprising:
the fixing seat (1) is provided with a first positioning piece;
the actuator (2) is arranged on the fixing seat (1), a second positioning piece is arranged at the tail end of the actuator (2), and the first positioning piece and the second positioning piece can be matched to position the initial position of the tail end.
6. The robot of claim 5, wherein one of the first positioning member and the second positioning member is a positioning pin (111), and the other is a positioning hole (2211), and wherein the positioning pin (111) is capable of being placed in the positioning hole (2211).
7. The robot according to claim 6, wherein the robot is arranged on a production line equipment table, and the fixing base (1) is fixedly connected with the production line equipment table; the first locating piece is arranged on the table top of the production line equipment.
8. The robot of claim 7, wherein the actuator (2) comprises a four-axis mechanical arm (21) and a jaw assembly (22) disposed at a distal end of the four-axis mechanical arm (21), the second positioning member being disposed on the jaw assembly (22).
9. The robot of claim 8, wherein a positioning block (110) is arranged on the production line equipment table, the positioning block (110) is provided with the positioning pin (111), the clamping jaw assembly (22) comprises a clamping jaw mounting plate (221), and the positioning hole (2211) is formed in the clamping jaw mounting plate (221).
10. The robot of any of claims 5-9, further comprising a detection member configured to generate an alarm signal when an encoder of the robot is de-energized.
11. A control system for a robot, comprising:
a processor;
a memory having executable code stored thereon, which when executed by the processor performs the method of controlling a robot according to any of claims 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210605249.XA CN114905517B (en) | 2022-05-30 | 2022-05-30 | Robot control method, robot and control system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210605249.XA CN114905517B (en) | 2022-05-30 | 2022-05-30 | Robot control method, robot and control system thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114905517A CN114905517A (en) | 2022-08-16 |
| CN114905517B true CN114905517B (en) | 2024-02-09 |
Family
ID=82770862
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210605249.XA Active CN114905517B (en) | 2022-05-30 | 2022-05-30 | Robot control method, robot and control system thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114905517B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202726917U (en) * | 2012-08-07 | 2013-02-13 | 吕健 | Mechanical zero calibration device of industrial robot |
| CN211440081U (en) * | 2020-01-10 | 2020-09-08 | 上汽大众汽车有限公司 | Robot calibration device at zero point |
| CN113211445A (en) * | 2021-05-21 | 2021-08-06 | 广东拓斯达科技股份有限公司 | Robot parameter calibration method, device, equipment and storage medium |
| CN114102580A (en) * | 2021-10-25 | 2022-03-01 | 珠海格力电器股份有限公司 | Industrial robot zero point calibration method and device and electronic equipment |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8224607B2 (en) * | 2007-08-30 | 2012-07-17 | Applied Materials, Inc. | Method and apparatus for robot calibrations with a calibrating device |
-
2022
- 2022-05-30 CN CN202210605249.XA patent/CN114905517B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202726917U (en) * | 2012-08-07 | 2013-02-13 | 吕健 | Mechanical zero calibration device of industrial robot |
| CN211440081U (en) * | 2020-01-10 | 2020-09-08 | 上汽大众汽车有限公司 | Robot calibration device at zero point |
| CN113211445A (en) * | 2021-05-21 | 2021-08-06 | 广东拓斯达科技股份有限公司 | Robot parameter calibration method, device, equipment and storage medium |
| CN114102580A (en) * | 2021-10-25 | 2022-03-01 | 珠海格力电器股份有限公司 | Industrial robot zero point calibration method and device and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114905517A (en) | 2022-08-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP5466484B2 (en) | Arc welding system, single arc welding system and tandem arc welding system | |
| JP5048097B2 (en) | Spot welding system and dressing determination method | |
| CN108971840B (en) | Laser locating device for locating robot welding and locating system for robot welding | |
| JP2001225288A (en) | How to correct the teaching position of a welding robot | |
| US20220152821A1 (en) | Robot safety weight compensation system and method capable of compensating weight of robot | |
| CN114905517B (en) | Robot control method, robot and control system thereof | |
| CN111113468A (en) | Quick-changing device and method for tail end of industrial robot | |
| CN212329961U (en) | Unmanned wall welding robot that climbs based on vision measurement | |
| US20200070349A1 (en) | Robot and method of adjusting original position of robot | |
| US20200352037A1 (en) | Robot apparatus and method of manufacturingg electronic apparatus | |
| KR101206241B1 (en) | Apparatus and method of pivot management for robot | |
| CN215093715U (en) | Novel clamp contact sensor and clamp thereof | |
| US11752628B2 (en) | Control method for robot, and robot system | |
| CN210233040U (en) | Reconfigurable fixture system of automobile body repairing and remanufacturing robot | |
| CN209491751U (en) | A kind of Intelligent transfer robot | |
| CN213003450U (en) | Mobile welding robot | |
| CN215471201U (en) | Flexible gripping apparatus of robot | |
| CN213998177U (en) | Plasma cutting torch height rapid positioning structure | |
| CN108767793A (en) | Laser deicing device monitoring and control system | |
| CN217529738U (en) | Engine compartment boundary beam anterior segment welding assembly anchor clamps | |
| CN114986549A (en) | Mechanical robot terminal quick-change device | |
| CN210119552U (en) | Short circuit detection mechanism | |
| CN218329623U (en) | Sheet metal component projection nut on-line measuring device | |
| CN209986941U (en) | Robot neck activity structure | |
| KR20180078096A (en) | Apparatus and Method for preventing the overthrow of the portable robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |