CN114249084B - 机器人的控制方法及机器人系统 - Google Patents

机器人的控制方法及机器人系统 Download PDF

Info

Publication number
CN114249084B
CN114249084B CN202111113813.8A CN202111113813A CN114249084B CN 114249084 B CN114249084 B CN 114249084B CN 202111113813 A CN202111113813 A CN 202111113813A CN 114249084 B CN114249084 B CN 114249084B
Authority
CN
China
Prior art keywords
conveyor belt
distance
image
reference position
robot
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
CN202111113813.8A
Other languages
English (en)
Chinese (zh)
Other versions
CN114249084A (zh
Inventor
横田雅人
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 CN114249084A publication Critical patent/CN114249084A/zh
Application granted granted Critical
Publication of CN114249084B publication Critical patent/CN114249084B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0093—Program-controlled manipulators co-operating with conveyor means
    • 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
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/905—Control arrangements
    • 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
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/4182—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0233—Position of the article
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0283—Position of the load carrier
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/041—Camera
    • 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
    • G05B2219/39102—Manipulator cooperating with conveyor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)
CN202111113813.8A 2020-09-24 2021-09-23 机器人的控制方法及机器人系统 Active CN114249084B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020-159559 2020-09-24
JP2020159559A JP7658071B2 (ja) 2020-09-24 2020-09-24 ロボットの制御方法およびロボットシステム

Publications (2)

Publication Number Publication Date
CN114249084A CN114249084A (zh) 2022-03-29
CN114249084B true CN114249084B (zh) 2024-08-09

Family

ID=80739815

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111113813.8A Active CN114249084B (zh) 2020-09-24 2021-09-23 机器人的控制方法及机器人系统

Country Status (3)

Country Link
US (1) US11969905B2 (https=)
JP (1) JP7658071B2 (https=)
CN (1) CN114249084B (https=)

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110733034A (zh) * 2018-07-20 2020-01-31 台达电子工业股份有限公司 机械手臂校正方法、机械手臂校正系统以及输送系统

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62100306A (ja) 1985-10-25 1987-05-09 Kobe Steel Ltd ベルトコンベアの蛇行制御装置
JP3278952B2 (ja) * 1993-01-29 2002-04-30 ソニー株式会社 電子部品の取り出し方法
JP2007183368A (ja) * 2006-01-05 2007-07-19 Noritsu Koki Co Ltd 写真処理装置
CN201438107U (zh) * 2009-06-03 2010-04-14 北京斯凯尔工业科技有限公司 皮带跑偏监测装置
JP5446887B2 (ja) 2010-01-06 2014-03-19 セイコーエプソン株式会社 制御装置、ロボット、ロボットシステム及びロボットの追従方法
CN105792996B (zh) 2013-11-28 2017-07-25 三菱电机株式会社 机器人系统以及机器人系统的控制方法
CN204689038U (zh) * 2015-05-05 2015-10-07 中国矿业大学(北京) 基于视觉的皮带跑偏检测装置
JP6793179B2 (ja) * 2016-02-24 2020-12-02 芝浦メカトロニクス株式会社 錠剤印刷装置及び錠剤印刷方法
JP6701042B2 (ja) * 2016-09-20 2020-05-27 株式会社ブリヂストン コンベヤベルトの伸び測定装置およびコンベヤベルトの伸び測定方法
JP6903922B2 (ja) * 2017-01-18 2021-07-14 横浜ゴム株式会社 コンベヤベルトのモニタリングシステム
JP6659744B2 (ja) * 2018-01-25 2020-03-04 ファナック株式会社 ロボットシステム
EP3520971A1 (en) * 2018-02-06 2019-08-07 ABB Schweiz AG Assembling parts in an assembly line
JP6859967B2 (ja) * 2018-02-16 2021-04-14 オムロン株式会社 コンベアトラッキングシステムおよびキャリブレーション方法
JP7093255B2 (ja) * 2018-07-09 2022-06-29 Juki株式会社 実装装置及び実装方法

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110733034A (zh) * 2018-07-20 2020-01-31 台达电子工业股份有限公司 机械手臂校正方法、机械手臂校正系统以及输送系统

Also Published As

Publication number Publication date
US20220088790A1 (en) 2022-03-24
JP7658071B2 (ja) 2025-04-08
JP2022052995A (ja) 2022-04-05
US11969905B2 (en) 2024-04-30
CN114249084A (zh) 2022-03-29

Similar Documents

Publication Publication Date Title
CN109564889B (zh) 基板搬送手的诊断系统
CN112297004B (zh) 对机器人的位置进行控制的机器人装置的控制装置
CN103079746A (zh) 激光加工装置及基板位置检测方法
CN115039214B (zh) 基板搬运装置以及基板位置偏移测定方法
JP2003069288A (ja) 部品実装方法及び部品実装装置
JP3823799B2 (ja) ビジュアルサーボによる位置姿勢制御方法
JP4303411B2 (ja) トラッキング方法、及びトラッキングシステム
CN114249084B (zh) 机器人的控制方法及机器人系统
JP2002280440A (ja) 検査装置における回転ステージ自動位置補正制御方法
CN115803584A (zh) 取得工件表面的三维信息及工件的二维图像的拍摄装置
JPH0620920A (ja) 基板位置補正装置
CN114290324B (zh) 带式输送机校准方法、机器人控制方法、机器人系统及存储介质
CN116918054A (zh) 机器人系统以及滑动判定方法
KR100573471B1 (ko) 디지털 이미지를 이용한 웨이퍼 얼라인 방법
WO2020100522A1 (ja) マーク検出システム、信号処理回路、コンピュータプログラムおよび方法
JP2021045835A (ja) ロボットシステム
JP5398314B2 (ja) 露光装置、及び露光方法
JPH0616285A (ja) 基板位置ずれ検出装置
JPH1177562A (ja) 移動ロボット
JP3779118B2 (ja) 撮像装置におけるカメラの位置ずれ検出方法、撮像装置におけるカメラの傾き検出方法、および、撮像装置におけるカメラの移動量補正方法
KR20240110643A (ko) 기판 반송 로봇의 제어 장치 및 관절 모터의 제어 방법
CN111051014B (zh) 机器人系统以及对输送的工件进行作业的方法
KR101430979B1 (ko) 노광 장치, 및 노광 방법
JP7446499B2 (ja) 部品実装機
JP5715744B2 (ja) 部品搭載方法

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