CN114901439B - 工件搬运系统 - Google Patents

工件搬运系统

Info

Publication number
CN114901439B
CN114901439B CN202180008195.2A CN202180008195A CN114901439B CN 114901439 B CN114901439 B CN 114901439B CN 202180008195 A CN202180008195 A CN 202180008195A CN 114901439 B CN114901439 B CN 114901439B
Authority
CN
China
Prior art keywords
workpiece
hand
robot
external force
sensor
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
CN202180008195.2A
Other languages
English (en)
Chinese (zh)
Other versions
CN114901439A (zh
Inventor
山口隼司
渡边英行
加藤裕贵
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.)
Fanuc Corp
Original Assignee
Fanuc 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 Fanuc Corp filed Critical Fanuc Corp
Publication of CN114901439A publication Critical patent/CN114901439A/zh
Application granted granted Critical
Publication of CN114901439B publication Critical patent/CN114901439B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • 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
    • 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
    • B25J19/0008—Balancing devices
    • B25J19/0012—Balancing devices using fluidic devices
    • 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
    • B25J9/1612—Program controls characterised by the hand, wrist, grip 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
    • B25J9/1628—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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
CN202180008195.2A 2020-01-09 2021-01-06 工件搬运系统 Active CN114901439B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020001792 2020-01-09
JP2020-001792 2020-01-09
PCT/JP2021/000175 WO2021141039A1 (ja) 2020-01-09 2021-01-06 ワーク搬送システム

Publications (2)

Publication Number Publication Date
CN114901439A CN114901439A (zh) 2022-08-12
CN114901439B true CN114901439B (zh) 2026-04-14

Family

ID=76788082

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180008195.2A Active CN114901439B (zh) 2020-01-09 2021-01-06 工件搬运系统

Country Status (5)

Country Link
US (1) US12122616B2 (https=)
JP (1) JP7794641B2 (https=)
CN (1) CN114901439B (https=)
DE (1) DE112021000515T5 (https=)
WO (1) WO2021141039A1 (https=)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114055432B (zh) * 2021-11-11 2023-04-11 江苏月生达机械制造有限公司 一种用于大型预制箱梁的智能机械臂机构
CN114029932A (zh) * 2021-11-21 2022-02-11 北京华能新锐控制技术有限公司 清仓机器人的柔性臂的支撑机构
CN118354879A (zh) * 2021-11-29 2024-07-16 京瓷株式会社 控制装置、机器人控制系统和用于控制机器人的方法
WO2023145901A1 (ja) * 2022-01-27 2023-08-03 京セラ株式会社 推定装置、推定方法、及び制御装置
JP2023152152A (ja) * 2022-04-01 2023-10-16 オムロン株式会社 ロボットハンド
DE102024110702A1 (de) * 2024-04-17 2025-10-23 Kuka Deutschland Gmbh Automatisiertes Handhabungssystem und Verfahren zum Betreiben eines automatisierten Handhabungssystems

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6099588A (ja) * 1983-11-04 1985-06-03 株式会社日立製作所 ア−ムの跳ね上がり防止方法
JP2008049459A (ja) * 2006-08-28 2008-03-06 Toshiba Corp マニピュレータ制御システム、マニピュレータ制御方法およびプログラム
WO2017002266A1 (ja) * 2015-07-02 2017-01-05 株式会社安川電機 物品支持システム

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1158287A (ja) 1997-08-12 1999-03-02 Fanuc Ltd ロボットのためのバランス装置
JP4691118B2 (ja) 2008-02-01 2011-06-01 本田技研工業株式会社 作業装置及び方法
JP2009262304A (ja) 2008-04-28 2009-11-12 Nachi Fujikoshi Corp 荷役物搬送装置
WO2010104157A1 (ja) 2009-03-11 2010-09-16 本田技研工業株式会社 作業装置及び作業方法
JP5505138B2 (ja) * 2010-07-05 2014-05-28 株式会社安川電機 ロボット装置およびロボット装置による把持方法
JP5522403B2 (ja) * 2010-12-28 2014-06-18 株式会社安川電機 ロボットシステム及びロボットの状態判定方法
JP5891698B2 (ja) 2011-10-12 2016-03-23 セイコーエプソン株式会社 ロボット
KR101305617B1 (ko) * 2012-01-02 2013-09-09 현대자동차주식회사 착용식 로봇의 양중제어방법 및 양중제어시스템
JP2015217451A (ja) * 2014-05-14 2015-12-07 ファナック株式会社 外力監視機能を有するワーク搬送方法システム
US10556346B2 (en) * 2017-05-30 2020-02-11 International Business Machines Corporation Inspecting clearance size between mechanical parts
JP2019058993A (ja) * 2017-09-27 2019-04-18 セイコーエプソン株式会社 ロボットシステム
JP7015499B2 (ja) 2017-10-17 2022-02-03 ユニパルス株式会社 物品移動装置システム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6099588A (ja) * 1983-11-04 1985-06-03 株式会社日立製作所 ア−ムの跳ね上がり防止方法
JP2008049459A (ja) * 2006-08-28 2008-03-06 Toshiba Corp マニピュレータ制御システム、マニピュレータ制御方法およびプログラム
WO2017002266A1 (ja) * 2015-07-02 2017-01-05 株式会社安川電機 物品支持システム

Also Published As

Publication number Publication date
US12122616B2 (en) 2024-10-22
WO2021141039A1 (ja) 2021-07-15
CN114901439A (zh) 2022-08-12
DE112021000515T5 (de) 2022-11-24
US20230010518A1 (en) 2023-01-12
JP7794641B2 (ja) 2026-01-06
JPWO2021141039A1 (https=) 2021-07-15

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