CN112828917A - 机器人系统以及工具更换方法 - Google Patents

机器人系统以及工具更换方法 Download PDF

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Publication number
CN112828917A
CN112828917A CN202011302155.2A CN202011302155A CN112828917A CN 112828917 A CN112828917 A CN 112828917A CN 202011302155 A CN202011302155 A CN 202011302155A CN 112828917 A CN112828917 A CN 112828917A
Authority
CN
China
Prior art keywords
tool
fitting
fitted
robot arm
fitting portion
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.)
Pending
Application number
CN202011302155.2A
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English (en)
Chinese (zh)
Inventor
饭岛嗣久马
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 CN112828917A publication Critical patent/CN112828917A/zh
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • 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
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • 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
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0408—Connections means
    • B25J15/0441—Connections means having vacuum or magnetic 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
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0491—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof comprising end-effector racks
    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • 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
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
CN202011302155.2A 2019-11-22 2020-11-19 机器人系统以及工具更换方法 Pending CN112828917A (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019-211684 2019-11-22
JP2019211684A JP2021079519A (ja) 2019-11-22 2019-11-22 ロボットシステムおよびツール交換方法

Publications (1)

Publication Number Publication Date
CN112828917A true CN112828917A (zh) 2021-05-25

Family

ID=75923156

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011302155.2A Pending CN112828917A (zh) 2019-11-22 2020-11-19 机器人系统以及工具更换方法

Country Status (3)

Country Link
US (1) US20210154859A1 (https=)
JP (1) JP2021079519A (https=)
CN (1) CN112828917A (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114178836A (zh) * 2021-12-22 2022-03-15 广州睿松自动化设备有限公司 一种螺丝自动锁付机

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12552046B2 (en) 2021-10-05 2026-02-17 Toyota Research Institute, Inc. Robotic tool control with compliant force/geometry sensor
US12318916B2 (en) * 2021-10-25 2025-06-03 Wichita State University Surface preparation end effector for industrial robot system and inspection and repair processes
US12600041B2 (en) * 2021-10-25 2026-04-14 Wichita State University Surface analyst end effector for industrial robot
JP7364284B1 (ja) * 2022-09-29 2023-10-18 コネクテッドロボティクス株式会社 把持システム、及び制御装置
JP2024111683A (ja) * 2023-02-06 2024-08-19 株式会社日立製作所 ロボットの制御方法及びシステム

Citations (7)

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TW200633823A (en) * 2005-03-29 2006-10-01 Qi-Cheng Ye Robotic arm with a changeable jaw
CN101432079A (zh) * 2007-02-06 2009-05-13 Abb株式会社 涂装系统
CN104608113A (zh) * 2013-11-01 2015-05-13 精工爱普生株式会社 机器人、机器人系统以及机器人控制装置
CN105189052A (zh) * 2013-03-29 2015-12-23 必爱路自动化设备 工具更换装置用的主装置
CN106217373A (zh) * 2015-06-02 2016-12-14 精工爱普生株式会社 机器人、机器人控制装置、机器人控制方法以及机器人系统
CN109129541A (zh) * 2017-06-28 2019-01-04 发那科株式会社 工具切换保持装置以及机器人系统
US20190054634A1 (en) * 2016-02-15 2019-02-21 Kastanienbaum GmbH Effector unit for a robot, work implement comprising a robot, and method for replacing an effector in robots

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US4867595A (en) * 1986-10-28 1989-09-19 Megamation, Incorporated Coupling method and apparatus for use with robotic devices and the like
JP2661767B2 (ja) * 1990-04-12 1997-10-08 キヤノン株式会社 フインガ交換方法及びハンド装置
JPH04141386A (ja) * 1990-09-28 1992-05-14 Hitachi Ltd 凸嵌合部と凹嵌合部の嵌合方法および装置、ボルト，ナットの嵌合，締結方法
JPH06143174A (ja) * 1992-11-02 1994-05-24 Furukawa Electric Co Ltd:The 高所作業用自動工具交換装置
JPH06179190A (ja) * 1992-12-16 1994-06-28 Fukai Seisakusho:Kk 工業用ロボットのツール自動交換装置
JPH07328869A (ja) * 1994-06-01 1995-12-19 Victor Co Of Japan Ltd 部品組付け装置
JPH07328967A (ja) * 1994-06-10 1995-12-19 Tokyo Electric Power Co Inc:The マニピュレータ
JP5369638B2 (ja) * 2008-11-21 2013-12-18 株式会社Ｉｈｉ ロボット装置
CH705297A1 (de) * 2011-07-21 2013-01-31 Tecan Trading Ag Greiferzange mit austauschbaren Greiferfingern.
JP2016030320A (ja) * 2014-07-30 2016-03-07 キヤノン株式会社 ロボットシステム、ツール交換装置及びロボット装置
JP6858962B2 (ja) * 2017-11-06 2021-04-14 株式会社ダイシン ロボットシステム

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TW200633823A (en) * 2005-03-29 2006-10-01 Qi-Cheng Ye Robotic arm with a changeable jaw
CN101432079A (zh) * 2007-02-06 2009-05-13 Abb株式会社 涂装系统
CN105189052A (zh) * 2013-03-29 2015-12-23 必爱路自动化设备 工具更换装置用的主装置
CN104608113A (zh) * 2013-11-01 2015-05-13 精工爱普生株式会社 机器人、机器人系统以及机器人控制装置
CN106217373A (zh) * 2015-06-02 2016-12-14 精工爱普生株式会社 机器人、机器人控制装置、机器人控制方法以及机器人系统
US20190054634A1 (en) * 2016-02-15 2019-02-21 Kastanienbaum GmbH Effector unit for a robot, work implement comprising a robot, and method for replacing an effector in robots
CN109129541A (zh) * 2017-06-28 2019-01-04 发那科株式会社 工具切换保持装置以及机器人系统

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114178836A (zh) * 2021-12-22 2022-03-15 广州睿松自动化设备有限公司 一种螺丝自动锁付机
CN114178836B (zh) * 2021-12-22 2024-03-22 广州睿松自动化设备有限公司 一种螺丝自动锁付机

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Publication number Publication date
JP2021079519A (ja) 2021-05-27
US20210154859A1 (en) 2021-05-27

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