JP2015100863A5 - Robot fixing method - Google Patents

Robot fixing method Download PDF

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Publication number
JP2015100863A5
JP2015100863A5 JP2013241574A JP2013241574A JP2015100863A5 JP 2015100863 A5 JP2015100863 A5 JP 2015100863A5 JP 2013241574 A JP2013241574 A JP 2013241574A JP 2013241574 A JP2013241574 A JP 2013241574A JP 2015100863 A5 JP2015100863 A5 JP 2015100863A5
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robot
fixing
base end
robot arm
fixing method
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JP2015100863A (en
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Description

本発明は、ロボットアームの基端を支持体に固定するロボットの固定方法に関する。 The present invention relates to a robot fixing method for fixing a base end of a robot arm to a support .

本発明は、先端にエンドエフェクタが取り付けられたロボットアームの基端を支持体に固定するロボットの固定方法において、前記ロボットアームを、所定の姿勢に動作させる姿勢決め工程と、前記所定の姿勢の前記ロボットアームの基端を移動可能に支持した状態で、フロアに対して位置決めされた位置決め治具に前記エンドエフェクタを保持させて位置決めする位置決め工程と、前記位置決め工程にて前記エンドエフェクタが前記位置決め治具に保持された状態で、前記ロボットアームの基端を前記支持体に固定する固定工程と、を備えたことを特徴とする。 The present invention provides a fixing method of a robot for fixing the base end of the robot arm end effector attached to the distal end to a support, said robot arm, and the attitude decided step of operating in a predetermined posture, the predetermined posture while movably supporting the base end of the robot arm, the positioning step for positioning by holding the end effector in the positioned positioning jig with respect to the floor, the end effector said positioning in said positioning step And a fixing step of fixing the base end of the robot arm to the support while being held by a jig .

Claims (10)

先端にエンドエフェクタが取り付けられたロボットアームの基端を支持体に固定するロボットの固定方法において、
前記ロボットアームを、所定の姿勢に動作させる姿勢決め工程と、
前記所定の姿勢の前記ロボットアームの基端を移動可能に支持した状態で、フロアに対して位置決めされた位置決め治具に前記エンドエフェクタを保持させて位置決めする位置決め工程と、
前記位置決め工程にて前記エンドエフェクタが前記位置決め治具に保持された状態で、前記ロボットアームの基端を前記支持体に固定する固定工程と、を備えたことを特徴とするロボットの固定方法。 In a robot fixing method for fixing the base end of a robot arm having an end effector attached to the tip to a support ,
A posture determining step of moving the robot arm to a predetermined posture;
A positioning step in which the end effector is held and positioned by a positioning jig positioned with respect to a floor in a state where the base end of the robot arm in the predetermined posture is movably supported;
Wherein at positioning step in a state where the end effector is held in the positioning jig, fixing step and fixing method of a robot, characterized in that it comprises a for fixing the base end of the robot arm to the support. 前記固定工程にて前記ロボットアームの基端が前記支持体に固定された後、前記エンドエフェクタを前記位置決め治具から取り外す取り外し工程を、更に備えたことを特徴とする請求項１に記載のロボットの固定方法。 The robot according to claim 1, further comprising a detaching step of removing the end effector from the positioning jig after the base end of the robot arm is fixed to the support in the fixing step. Fixing method. 前記固定工程では、前記ロボットに作用する力の値を求め、前記求めた力の値が許容値以下となるように、前記ロボットアームの基端を前記支持体に固定することを特徴とする請求項１または２に記載のロボットの固定方法。 The fixed step obtains the value of the force acting on the robot, as the value of the calculated force is less than the allowable value, characterized in that for fixing the base end of the previous SL robot arm to the support The robot fixing method according to claim 1 or 2. 前記ロボットは、力覚センサを有することを特徴とする請求項３に記載のロボットの固定方法。 The robot fixing method according to claim 3, wherein the robot includes a force sensor. 前記ロボットアームが、関節を駆動する電動モータを有し、前記電動モータへの出力電流により前記力の値を求めることを特徴とする請求項３に記載のロボットの固定方法。 The robot arm has an electric motor for driving the joint, the robot fixing method according to claim 3, characterized in Rukoto determined value of the force by the output current to the electric motor. 前記固定工程では、前記ロボットアームの基端を、前記フロアに固定された前記支持体に固定することを特徴とする請求項１乃至５のいずれか１項に記載のロボットの固定方法。 The robot fixing method according to any one of claims 1 to 5, wherein, in the fixing step, a base end of the robot arm is fixed to the support body fixed to the floor. 前記固定工程では、前記ロボットアームの基端を、締結具を用いて前記支持体に固定することを特徴とする請求項１乃至６のいずれか１項に記載のロボットの固定方法。 The robot fixing method according to claim 1, wherein, in the fixing step, a base end of the robot arm is fixed to the support using a fastener. 前記固定工程では、前記ロボットアームの基端を、接着剤を用いて前記支持体に固定することを特徴とする請求項１乃至６のいずれか１項に記載のロボットの固定方法。 The robot fixing method according to claim 1, wherein in the fixing step, a base end of the robot arm is fixed to the support using an adhesive. 前記固定工程では、前記ロボットアームの基端を、磁石を用いて前記支持体に固定することを特徴とする請求項１乃至６のいずれか１項に記載のロボットの固定方法。 The robot fixing method according to claim 1, wherein in the fixing step, a base end of the robot arm is fixed to the support using a magnet. 前記固定工程では、前記ロボットアームの基端と前記支持体との間に調整部材を挿入することを特徴とする請求項１乃至９のいずれか１項に記載のロボットの固定方法。 Wherein in the fixing step, the robot fixing method according to any one of claims 1 to 9, wherein the insert to Rukoto the adjustment member between the support and the base end of the robot arm.
JP2013241574A 2013-11-22 2013-11-22 Teaching method for robot Pending JP2015100863A (en)

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JP6647308B2 (en) * 2015-09-22 2020-02-14 株式会社Ｆｕｊｉ Teaching system of articulated robot
CN106945034B (en) * 2016-01-07 2021-09-03 鸿富锦精密电子(郑州)有限公司 Robot point location adjusting method and system

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JPS6154489U (en) * 1984-09-13 1986-04-12
JPH0295586A (en) * 1988-09-30 1990-04-06 Pentel Kk Installation of plane moving type robot
JPH08171410A (en) * 1994-12-19 1996-07-02 Fanuc Ltd Robot mastering method
JPH0976179A (en) * 1995-09-11 1997-03-25 Nissan Motor Co Ltd Jig adjustment supporting method
JPH1034572A (en) * 1996-07-17 1998-02-10 Fanuc Ltd Reference attitude determining device for industrial robot
JP4029578B2 (en) * 2001-03-06 2008-01-09 株式会社安川電機 robot
JP4287788B2 (en) * 2004-05-25 2009-07-01 富士フイルム株式会社 Self-propelled robotic hand
JP5157815B2 (en) * 2008-10-21 2013-03-06 株式会社Ｉｈｉ Robot apparatus and robot apparatus teaching method
JP5521148B2 (en) * 2010-02-24 2014-06-11 株式会社Ｉｈｉ Robot apparatus and control method of robot apparatus

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