The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 25, 2022
Filed:
Dec. 14, 2017
Nanjing Estun Robotics Co., Ltd, Nanjing, CN;
Jinbao Zhang, Nanjing, CN;
Lin Zhou, Nanjing, CN;
Shuyi Jing, Nanjing, CN;
Xiaobo Chi, Nanjing, CN;
Jiegao Wang, Nanjing, CN;
NANJING ESTUN ROBOTICS CO., LTD, Nanjing, CN;
Abstract
A method for a robot to automatically find a bending position, including the following steps: step 1, establishing a gripper tool coordinate system (TX, TY, TZ); step 2, determining a user coordinate system (X, Y, Z; X, Y, Z) of rear blocking fingers (); step 3, a robot gripper moving horizontally, and detecting the state of sensors (); step 4, the robot gripper executing a rotational movement, detecting the state of the sensors (), and thereby obtaining a standard bending position. The robot automatically finds the bending position, the teaching difficulty is reduced, and the bending quality is increased. In the elevator industry, elevator door plate bending sizes are the same, but forming sizes are different. In the present invention, only one product process needs to be taught in order to satisfy elevator door plate processing with different specifications, thereby reducing maintenance costs and increasing production efficiency.