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

Info

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
Authority
CN
China
Prior art keywords
cable
connector
force
robot
gripping
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
Application number
CN201911244868.5A
Other languages
English (en)
Chinese (zh)
Other versions
CN111283660A (zh
Inventor
上田淳也
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Seiko Epson Corp
Original Assignee
Seiko Epson Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Seiko Epson Corp filed Critical Seiko Epson Corp
Publication of CN111283660A publication Critical patent/CN111283660A/zh
Application granted granted Critical
Publication of CN111283660B publication Critical patent/CN111283660B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program 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—Program-controlled manipulators
    • B25J9/0081—Program-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—Program-controlled manipulators
    • B25J9/08—Program-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—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Program-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/1015—Program-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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1602—Program 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program 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

Family

ID=70970604

Family Applications (1)

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

Country Status (4)

Country Link
US (1) US11230010B2 (https=)
JP (1) JP7167681B2 (https=)
CN (1) CN111283660B (https=)
TW (1) TWI701116B (https=)

Families Citing this family (11)

* 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
JP7579668B2 (ja) * 2020-10-07 2024-11-08 川崎重工業株式会社 ロボットシステム及びその制御方法
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
TWI911378B (zh) * 2021-02-18 2026-01-11 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
DE112022007229T5 (de) * 2022-07-06 2025-03-20 Fanuc Corporation Robotersystem und Robotersteuervorrichtung
US12409551B2 (en) * 2022-12-12 2025-09-09 Southeast University Cable force control method applicable to time-varying configuration
CN121374654B (zh) * 2025-12-25 2026-03-24 山东大学 一种机械臂线缆装配方法及系统

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
JP4759660B2 (ja) * 2009-08-21 2011-08-31 パナソニック株式会社 ロボットアーム制御用の装置、方法、プログラム及び集積電子回路、並びに、組立ロボット
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
WO2018186134A1 (ja) * 2017-04-03 2018-10-11 ソニー株式会社 ロボット装置、電子機器の製造装置及び製造方法
US11581690B2 (en) * 2017-05-09 2023-02-14 Sony Corporation Robot apparatus for producing electronic apparatus

Also Published As

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

Similar Documents

Publication Publication Date Title
CN111283660B (zh) 机器人系统及连接方法
JP7024579B2 (ja) 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
US10456917B2 (en) Robot system including a plurality of robots, robot controller and robot control method
CN108453701B (zh) 控制机器人的方法、示教机器人的方法和机器人系统
CN102398269B (zh) 机器人
CN109382826B (zh) 控制装置、机器人及机器人系统
US11565422B2 (en) Controller of robot apparatus for adjusting position of member supported by robot
EP1488893A2 (en) Connector gripping device, connector inspection system comprising the device, and connector connection system
CN111618843B (zh) 机器人系统以及控制方法
CN111195907B (zh) 机器人系统及连接方法
CN110573311B (zh) 机器人设备和电子设备制造方法
CN107962563A (zh) 控制装置、机器人以及机器人系统
JP2020138293A (ja) ロボットシステムおよび制御方法
CN115008477A (zh) 机械手移动补偿方法、装置、计算机可读存储介质
US12343860B2 (en) Automated work-holding for precise fastening of light parts during automated transfer
JP2012228757A (ja) ロボット教示方法、ロボット教示装置およびプログラム
CN111417496B (zh) 控制装置、工件作业装置、工件作业系统以及控制方法
JP2007237394A (ja) ワーク位置決め装置
JP2004160614A (ja) 自動作業教示システム
CN117283596A (zh) 把持位置设定方法以及机器人系统
JP2013129005A (ja) 把持ロボット装置、把持動作制御方法、および、把持動作制御装置
CN118434541A (zh) 机器人控制装置、机器人系统以及机器人控制程序
JPH04189495A (ja) 位置決め方法及びその装置
WO2024063857A1 (en) Automated work-holding for precise fastening of light parts during automated transfer
JP2025053977A (ja) ロボット装置、ロボット装置の制御方法、物品の製造方法、プログラム、記録媒体

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