Title:
TOOL ORIENTATION ADJUSTING METHOD APPLIED TO ROBOTIC PUNCHING
Document Type and Number:
WIPO Patent Application WO/2021/017203
Kind Code:
A1
Abstract:
A tool orientation adjusting method applied to robotic punching. An orientation perpendicular to a punching plane is obtained by means of coordinate system transformation, and then adjusted initial punching position and orientation are obtained. There is no need to consider the orientation at an initial punching point, and only two additional points need to be taught in a small range, so that the initial punching position and orientation can be calculated by means of coordinate system transformation to ensure that the tail end of the tool is perpendicular to the punching plane, thus ensuring that the final hole will not appear as an ellipse. In addition, since during the initial teaching, there is no need to consider the orientation, programming becomes more efficient and simple.
Inventors:
SHEN YANG (CN)
SONG FANGFANG (CN)
ZHANG JINBAO (CN)
WANG JIEGAO (CN)
SONG FANGFANG (CN)
ZHANG JINBAO (CN)
WANG JIEGAO (CN)
Application Number:
PCT/CN2019/112855
Publication Date:
February 04, 2021
Filing Date:
October 23, 2019
Export Citation:
Assignee:
NANJING ESTUN ROBOTICS CO LTD (CN)
International Classes:
B25J11/00; B25J9/22; B27C3/00
Foreign References:
| CN109352663A | 2019-02-19 | |||
| CN103991006A | 2014-08-20 | |||
| CN108766894A | 2018-11-06 | |||
| US20160250749A1 | 2016-09-01 | |||
| US20180154455A1 | 2018-06-07 | |||
| CN108161882A | 2018-06-15 | |||
| GB2537920A | 2016-11-02 |
Attorney, Agent or Firm:
NANJING RUIZHIBO INTELLECTUAL PROPERTY AGENCY CO., LTD. et al. (CN)
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