CN117651632A - 机器人系统 - Google Patents

机器人系统 Download PDF

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Publication number
CN117651632A
CN117651632A CN202180100747.2A CN202180100747A CN117651632A CN 117651632 A CN117651632 A CN 117651632A CN 202180100747 A CN202180100747 A CN 202180100747A CN 117651632 A CN117651632 A CN 117651632A
Authority
CN
China
Prior art keywords
torque
series data
reduction
time series
determination unit
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
CN202180100747.2A
Other languages
English (en)
Chinese (zh)
Inventor
藤岡直幹
若林一贵
巣山庆太
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 CN117651632A publication Critical patent/CN117651632A/zh
Pending legal-status Critical Current

Links

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
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • 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
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • 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
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • 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
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • 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
    • B25J9/163—Program controls characterised by the control loop learning, adaptive, model based, rule based expert 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
    • B25J9/1653—Program controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G01M13/02—Gearings; Transmission mechanisms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/06—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with parallel axes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/01—Monitoring wear or stress of gearing elements, e.g. for triggering maintenance
    • F16H2057/018—Detection of mechanical transmission failures
    • 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
    • G05B2219/40599—Force, torque sensor integrated in joint

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
CN202180100747.2A 2021-07-28 2021-07-28 机器人系统 Pending CN117651632A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/027965 WO2023007634A1 (ja) 2021-07-28 2021-07-28 ロボットシステム

Publications (1)

Publication Number Publication Date
CN117651632A true CN117651632A (zh) 2024-03-05

Family

ID=85087700

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180100747.2A Pending CN117651632A (zh) 2021-07-28 2021-07-28 机器人系统

Country Status (6)

Country Link
US (1) US20240278428A1 (https=)
JP (1) JP7772797B2 (https=)
CN (1) CN117651632A (https=)
DE (1) DE112021007501T5 (https=)
TW (1) TW202315730A (https=)
WO (1) WO2023007634A1 (https=)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2025025084A (ja) * 2023-08-08 2025-02-21 ニデックドライブテクノロジー株式会社 制御ユニット、駆動装置、および制御方法

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CN110662636A (zh) * 2017-05-18 2020-01-07 川崎重工业株式会社 减速机角度传递误差辨识系统和减速机角度传递误差辨识方法
JP2020110877A (ja) * 2019-01-11 2020-07-27 キヤノン株式会社 ロボット診断方法、ロボット診断装置、制御プログラム、記録媒体、生産システム、および物品の製造方法
JP2020151824A (ja) * 2019-03-22 2020-09-24 キヤノン株式会社 制御装置、ロボット装置、制御方法、物品の製造方法、プログラム、及び記録媒体
CN112805536A (zh) * 2018-09-24 2021-05-14 株式会社尼康 编码器、驱动装置、机器人装置、控制系统及其控制方法

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JP2006077980A (ja) * 2004-08-11 2006-03-23 Nabtesco Corp 産業ロボットの関節部に取り付けられる減速機
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CN110662636A (zh) * 2017-05-18 2020-01-07 川崎重工业株式会社 减速机角度传递误差辨识系统和减速机角度传递误差辨识方法
CN112805536A (zh) * 2018-09-24 2021-05-14 株式会社尼康 编码器、驱动装置、机器人装置、控制系统及其控制方法
JP2020110877A (ja) * 2019-01-11 2020-07-27 キヤノン株式会社 ロボット診断方法、ロボット診断装置、制御プログラム、記録媒体、生産システム、および物品の製造方法
JP2020151824A (ja) * 2019-03-22 2020-09-24 キヤノン株式会社 制御装置、ロボット装置、制御方法、物品の製造方法、プログラム、及び記録媒体

Also Published As

Publication number Publication date
TW202315730A (zh) 2023-04-16
WO2023007634A1 (ja) 2023-02-02
US20240278428A1 (en) 2024-08-22
JPWO2023007634A1 (https=) 2023-02-02
JP7772797B2 (ja) 2025-11-18
DE112021007501T5 (de) 2024-04-04

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