CN111283660B - 机器人系统及连接方法 - Google Patents

机器人系统及连接方法 Download PDF

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Publication number
CN111283660B
CN111283660B CN201911244868.5A CN201911244868A CN111283660B CN 111283660 B CN111283660 B CN 111283660B CN 201911244868 A CN201911244868 A CN 201911244868A CN 111283660 B CN111283660 B CN 111283660B
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CN
China
Prior art keywords
cable
connector
force
robot
gripping
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Active
Application number
CN201911244868.5A
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English (en)
Chinese (zh)
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CN111283660A (zh
Inventor
上田淳也
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Seiko Epson Corp
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Seiko Epson Corp
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Publication of CN111283660A publication Critical patent/CN111283660A/zh
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    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with leader teach-in means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/1015—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. microadjustment of the end effector
    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40028—Insert flexible rod, beam into hole
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40584—Camera, non-contact sensor mounted on wrist, indep from gripper
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45033—Wire bonding, wire wrap
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45097—Cable harnessing robot
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R12/00—Structural associations of a plurality of mutually-insulated electrical connecting elements, specially adapted for printed circuits, e.g. printed circuit boards [PCB], flat or ribbon cables, or like generally planar structures, e.g. terminal strips, terminal blocks; Coupling devices specially adapted for printed circuits, flat or ribbon cables, or like generally planar structures; Terminals specially adapted for contact with, or insertion into, printed circuits, flat or ribbon cables, or like generally planar structures
    • H01R12/50—Fixed connections
    • H01R12/59—Fixed connections for flexible printed circuits, flat or ribbon cables or like structures
    • H01R12/592—Fixed connections for flexible printed circuits, flat or ribbon cables or like structures connections to contact elements
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • H01R43/28—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for wire processing before connecting to contact members, not provided for in groups H01R43/02 - H01R43/26

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
CN201911244868.5A 2018-12-07 2019-12-06 机器人系统及连接方法 Active CN111283660B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018-230437 2018-12-07
JP2018230437A JP7167681B2 (ja) 2018-12-07 2018-12-07 ロボットシステムおよび接続方法

Publications (2)

Publication Number Publication Date
CN111283660A CN111283660A (zh) 2020-06-16
CN111283660B true CN111283660B (zh) 2023-06-13

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Family Applications (1)

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CN201911244868.5A Active CN111283660B (zh) 2018-12-07 2019-12-06 机器人系统及连接方法

Country Status (4)

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US (1) US11230010B2 (enExample)
JP (1) JP7167681B2 (enExample)
CN (1) CN111283660B (enExample)
TW (1) TWI701116B (enExample)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7024579B2 (ja) * 2018-04-25 2022-02-24 セイコーエプソン株式会社 ロボット制御装置、ロボットシステムおよびロボット制御方法
US11426874B2 (en) * 2019-04-30 2022-08-30 Flexiv Ltd. Robot-based insertion mounting of workpieces
US11670894B2 (en) * 2020-06-19 2023-06-06 The Boeing Company Method and system for error correction in automated wire contact insertion within a connector
JP7552384B2 (ja) * 2021-01-28 2024-09-18 セイコーエプソン株式会社 ケーブル終端検出方法
TW202233368A (zh) * 2021-02-18 2022-09-01 日商發那科股份有限公司 教示裝置
JP7613198B2 (ja) * 2021-03-26 2025-01-15 セイコーエプソン株式会社 ロボットシステムの制御方法、ロボットシステムおよびプログラム
US12191619B2 (en) * 2022-04-22 2025-01-07 The Boeing Company Method, system, and computer program product for wire connector assembly
US12409551B2 (en) * 2022-12-12 2025-09-09 Southeast University Cable force control method applicable to time-varying configuration

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* Cited by examiner, † Cited by third party
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US7753642B2 (en) * 2007-09-06 2010-07-13 Ohio University Apparatus and method associated with cable robot system
JP5293039B2 (ja) 2008-09-19 2013-09-18 株式会社安川電機 ロボットシステムおよびロボットの制御方法
WO2011021375A1 (ja) 2009-08-21 2011-02-24 パナソニック株式会社 ロボットアームの制御装置及び制御方法、組立ロボット、ロボットアームの制御プログラム、及び、ロボットアームの制御用集積電子回路
CN104602873B (zh) 2012-09-04 2016-07-06 株式会社安川电机 机器人的控制参数调整方法、机器人系统及机器人控制装置
JP2014151377A (ja) 2013-02-06 2014-08-25 Seiko Epson Corp ロボット制御方法、ロボット制御装置、ロボットシステム、ロボット及びプログラム
JP5849993B2 (ja) * 2013-06-07 2016-02-03 株式会社安川電機 パラレルリンクロボット及びロボットシステム並びに搬送設備の構築方法
JP6164970B2 (ja) * 2013-08-07 2017-07-19 キヤノン株式会社 ロボット制御方法、ロボットシステム、プログラム、記録媒体及び部品の製造方法
JP6465289B2 (ja) * 2015-01-16 2019-02-06 国立大学法人 筑波大学 柔軟物の状態計算方法、ロボット軌道生成装置、ロボット装置、プログラム及び記録媒体
JP6791150B2 (ja) * 2015-09-18 2020-11-25 ソニー株式会社 取付装置、取付方法、及びハンド機構
JP6816364B2 (ja) * 2016-02-25 2021-01-20 セイコーエプソン株式会社 制御装置、ロボット、及びロボットシステム
JP2017159426A (ja) * 2016-03-11 2017-09-14 セイコーエプソン株式会社 ロボット制御装置、ロボット、及びロボットシステム
JP2017196705A (ja) * 2016-04-28 2017-11-02 セイコーエプソン株式会社 ロボット、及びロボットシステム
US10363661B2 (en) * 2016-07-27 2019-07-30 Seiko Epson Corporation Control device, robot, and robot system
CN107962563B (zh) * 2016-10-20 2022-10-04 精工爱普生株式会社 控制装置、机器人以及机器人系统
JP2018089747A (ja) * 2016-12-05 2018-06-14 セイコーエプソン株式会社 制御装置、ロボットおよびロボットシステム
US11413765B2 (en) * 2017-04-03 2022-08-16 Sony Corporation Robotic device, production device for electronic apparatus, and production method
WO2018207552A1 (ja) * 2017-05-09 2018-11-15 ソニー株式会社 ロボット装置および電子機器の製造方法

Also Published As

Publication number Publication date
US11230010B2 (en) 2022-01-25
JP7167681B2 (ja) 2022-11-09
TW202021757A (zh) 2020-06-16
TWI701116B (zh) 2020-08-11
JP2020089961A (ja) 2020-06-11
US20200180157A1 (en) 2020-06-11
CN111283660A (zh) 2020-06-16

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