Title:
PUNCHING OPERATION CONTROL METHOD AND APPARATUS, AND COLLABORATIVE ROBOT
Document Type and Number:
WIPO Patent Application WO/2022/111207
Kind Code:
A1
Abstract:
The present application relates to a punching operation control method and apparatus, and a collaborative robot. The method comprises: acquiring stress information of an execution mechanism, the stress information of the execution mechanism being collected by a force sensor mounted on the execution mechanism; on the basis of the stress information of the execution mechanism, determining whether the magnitude of the stress of the execution mechanism is greater than a first preset threshold value; and, when the magnitude of the stress of the execution module is greater than the first preset threshold value, controlling the execution mechanism to withdraw and, after translating, re-implement a punching operation. By means of the force sensor mounted on the execution mechanism, the present punching operation control method acquires stress information of the execution mechanism in real time and, when the magnitude of the stress of the execution mechanism is greater than the first preset threshold value, then a hard object such as a steel rib or nail has been encountered during the process of the punching operation. The execution mechanism is then controlled to withdraw and, after translating, re-implement the punching operation, helping to improve the working efficiency of punching.
Inventors:
SONG YINHAO (CN)
HAN BING (CN)
LIU DAWEI (CN)
CHEN ZHIBIN (CN)
HUANG YONGJIAN (CN)
HAN BING (CN)
LIU DAWEI (CN)
CHEN ZHIBIN (CN)
HUANG YONGJIAN (CN)
Application Number:
PCT/CN2021/127304
Publication Date:
June 02, 2022
Filing Date:
October 29, 2021
Export Citation:
Assignee:
GUANGDONG BRIGHT DREAM ROBOTICS CO LTD (CN)
International Classes:
B28D1/14
Foreign References:
| CN111037556A | 2020-04-21 | |||
| CN107303670A | 2017-10-31 | |||
| CN112065275A | 2020-12-11 | |||
| CN113482528A | 2021-10-08 | |||
| CN109519123A | 2019-03-26 | |||
| CN108625777A | 2018-10-09 | |||
| JP2019151015A | 2019-09-12 |
Attorney, Agent or Firm:
ADVANCE CHINA IP LAW OFFICE (CN)
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