CN111618843B - 机器人系统以及控制方法 - Google Patents

机器人系统以及控制方法 Download PDF

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Publication number
CN111618843B
CN111618843B CN202010124718.7A CN202010124718A CN111618843B CN 111618843 B CN111618843 B CN 111618843B CN 202010124718 A CN202010124718 A CN 202010124718A CN 111618843 B CN111618843 B CN 111618843B
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CN
China
Prior art keywords
connector
grip
robot
cable
hand
Prior art date
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Active
Application number
CN202010124718.7A
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English (en)
Chinese (zh)
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CN111618843A (zh
Inventor
桝川友靖
岛田裕司
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
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Seiko Epson Corp
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Publication date
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Publication of CN111618843A publication Critical patent/CN111618843A/zh
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Publication of CN111618843B publication Critical patent/CN111618843B/zh
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Classifications

    • 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
    • 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
    • B25J9/16—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
    • B25J13/00—Controls 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
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087—Dual 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
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37555—Camera detects orientation, position workpiece, points of workpiece
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39109—Dual arm, multiarm manipulation, object handled in cooperation
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39506—Grip flexible wire at fixed base, move gripper to top of wire and grip
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
CN202010124718.7A 2019-02-28 2020-02-27 机器人系统以及控制方法 Active CN111618843B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019037007A JP2020138292A (ja) 2019-02-28 2019-02-28 ロボットシステムおよび制御方法
JP2019-037007 2019-02-28

Publications (2)

Publication Number Publication Date
CN111618843A CN111618843A (zh) 2020-09-04
CN111618843B true CN111618843B (zh) 2023-08-15

Family

ID=69740222

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010124718.7A Active CN111618843B (zh) 2019-02-28 2020-02-27 机器人系统以及控制方法

Country Status (4)

Country Link
US (1) US11518037B2 (enExample)
EP (1) EP3702110B1 (enExample)
JP (1) JP2020138292A (enExample)
CN (1) CN111618843B (enExample)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6777682B2 (ja) * 2018-04-27 2020-10-28 ファナック株式会社 複数の把持部を備えるロボットハンド、及びロボットハンドを用いてワイヤハーネスをハンドリングする方法
JP7015265B2 (ja) * 2019-03-14 2022-02-02 ファナック株式会社 コネクタを含むワークを把持する作業ツールおよび作業ツールを備えるロボット装置
CN112496696A (zh) * 2020-11-24 2021-03-16 福州大学 一种智能手机内部射频线自动组装视觉测量系统
CN112440108B (zh) * 2020-11-24 2022-04-01 福州大学 智能手机射频线自动化组装系统及方法
US20240120697A1 (en) * 2020-12-07 2024-04-11 Polygon T.R Ltd. Systems and methods for automatic electrical wiring
JP7662938B2 (ja) * 2021-04-06 2025-04-16 株式会社デンソーウェーブ 機械学習装置、機械学習方法、ロボットの制御装置
JP7687117B2 (ja) * 2021-07-30 2025-06-03 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およびロボットシステム
CN119635679A (zh) * 2024-12-18 2025-03-18 华南理工大学 一种光纤-分纤箱的双臂机器人灵巧装配系统及方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1488893A2 (en) * 2003-06-17 2004-12-22 Fanuc Ltd Connector gripping device, connector inspection system comprising the device, and connector connection system
CN104044146A (zh) * 2013-03-14 2014-09-17 株式会社安川电机 机器人装置
JP2018073495A (ja) * 2016-10-25 2018-05-10 住友電装株式会社 ワイヤーハーネスの製造支援装置
CN207938384U (zh) * 2017-09-27 2018-10-02 上海和旭自动化股份有限公司 线束套管的自动进给装置
CN108687769A (zh) * 2017-03-30 2018-10-23 本田技研工业株式会社 位置估计方法及把持方法

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JPH03213286A (ja) * 1990-01-19 1991-09-18 Fujitsu Ltd ロボットの力制御方式
JPH09230922A (ja) * 1996-02-23 1997-09-05 Hitachi Constr Mach Co Ltd 力制御ロボットの接触検出装置
WO2010073700A1 (ja) 2008-12-26 2010-07-01 日本電気株式会社 無線通信システム、通信制御方法、無線基地局、無線端末および記憶媒体
JP2014108466A (ja) * 2012-11-30 2014-06-12 Fanuc Ltd 力センサ付き電動ハンド
JP6025658B2 (ja) 2013-05-29 2016-11-16 本田技研工業株式会社 コネクタ挿入方法及びコネクタ挿入装置
JP6638384B2 (ja) * 2015-12-25 2020-01-29 富士通株式会社 ロボットハンドおよびケーブル手繰り方法
JP6755724B2 (ja) * 2016-06-20 2020-09-16 キヤノン株式会社 制御方法、ロボットシステム、および物品の製造方法
JP2018024120A (ja) * 2016-08-08 2018-02-15 キヤノン株式会社 ケーブル保持装置、ケーブル保持方法およびプリント装置
JP6426685B2 (ja) * 2016-12-16 2018-11-21 ファナック株式会社 ロボットに取り付けられる把持装置
CN110520255B (zh) * 2017-04-21 2022-11-01 索尼公司 机械手装置和电子设备的制造方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1488893A2 (en) * 2003-06-17 2004-12-22 Fanuc Ltd Connector gripping device, connector inspection system comprising the device, and connector connection system
CN104044146A (zh) * 2013-03-14 2014-09-17 株式会社安川电机 机器人装置
JP2018073495A (ja) * 2016-10-25 2018-05-10 住友電装株式会社 ワイヤーハーネスの製造支援装置
CN108687769A (zh) * 2017-03-30 2018-10-23 本田技研工业株式会社 位置估计方法及把持方法
CN207938384U (zh) * 2017-09-27 2018-10-02 上海和旭自动化股份有限公司 线束套管的自动进给装置

Also Published As

Publication number Publication date
CN111618843A (zh) 2020-09-04
JP2020138292A (ja) 2020-09-03
EP3702110A1 (en) 2020-09-02
US11518037B2 (en) 2022-12-06
EP3702110B1 (en) 2024-10-09
US20200276715A1 (en) 2020-09-03

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