JP2017013209A5 - - Google Patents
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- JP2017013209A5 JP2017013209A5 JP2015135029A JP2015135029A JP2017013209A5 JP 2017013209 A5 JP2017013209 A5 JP 2017013209A5 JP 2015135029 A JP2015135029 A JP 2015135029A JP 2015135029 A JP2015135029 A JP 2015135029A JP 2017013209 A5 JP2017013209 A5 JP 2017013209A5
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- JP
- Japan
- Prior art keywords
- arm
- robot arm
- joint part
- workpiece
- 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.)
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Claims (7)
第２本体部に回転可能に接続された第２関節部と、前記第２関節部に接続された第２腕部と、前記第２腕部に接続され第２ワークを把持する第２把持部と、を有する第２アームと、を備え、
前記第１関節部及び前記第２関節部の位置は、前記第１アームと前記第２アームとを移動させることにより前記第１ワークと前記第２ワークとが接触可能な位置であり、かつ、前記第１関節部及び前記第２関節部の位置は、鉛直方向における位置が異なることを特徴とするロボットアームシステム。 A first joint part rotatably connected to the first body part, a first arm part connected to the first joint part, and a first grip part connected to the first arm part and gripping a first workpiece and the first arm to be closed and, the,
A second joint part rotatably connected to the second body part, a second arm part connected to the second joint part, and a second grip part connected to the second arm part and gripping a second workpiece and a second arm for chromatic when the,
The positions of the first joint part and the second joint part are positions where the first work and the second work can be contacted by moving the first arm and the second arm , and The position of the said 1st joint part and the said 2nd joint part differs in the position in a perpendicular direction, The robot arm system characterized by the above-mentioned.
前記第１把持部が移動する範囲を示す第１移動範囲は前記第２把持部が移動する範囲を示す第２移動範囲より広い範囲であり、前記第１アームは前記第２ワークに複数の前記第１ワークを設置することを特徴とするロボットアームシステム。 The robot arm system according to claim 1,
The first movement range indicating the range in which the first gripping part moves is wider than the second movement range in which the second gripping part moves, and the first arm has a plurality of the second workpieces A robot arm system characterized by installing a first workpiece.
前記第１アームの動作及び前記第２アームの動作を制御する制御部を備え、
前記制御部は前記第１把持部の移動と前記第２把持部の移動とを並行して行うことを特徴とするロボットアームシステム。 The robot arm system according to claim 2,
A control unit for controlling the operation of the first arm and the operation of the second arm;
The robot arm system according to claim 1, wherein the control unit performs the movement of the first holding unit and the movement of the second holding unit in parallel.
前記第１移動範囲と前記第２移動範囲とが重なる重複範囲を前記第１アーム及び前記第２アームの一方が移動するとき、他方は前記重複範囲に入らないように前記制御部が前記第１アームの動作及び前記第２アームの動作を制御することを特徴とするロボットアームシステム。 The robot arm system according to claim 3,
When one of the first arm and the second arm moves in an overlapping range where the first moving range and the second moving range overlap, the control unit controls the first so that the other does not enter the overlapping range. A robot arm system for controlling an operation of an arm and an operation of the second arm.
前記重複範囲を前記第１アーム及び前記第２アームが位置するとき、一方のアームを移動するように前記制御部が前記第１アームの動作及び前記第２アームの動作を制御することを特徴とするロボットアームシステム。 The robot arm system according to claim 4,
When the said overlapping range first arm and said second arm are located, and wherein the control unit to move one of the arms to control the operation and the operation of the second arm of said first arm Robot arm system.
前記第１アームまたは前記第２アームは、前記第１ワークと前記第２ワークとが合体した第３ワークを次工程の給材場所に移動することを特徴とするロボットアームシステム。 The robot arm system according to any one of claims 1 to 5,
It said first arm or said second arm, the robot arm system, characterized by moving the third workpiece and the first workpiece and the second workpiece has been incorporated into the sheet material where the next step.
前記第１関節部と前記第２関節部とを結ぶ線と水平線とがなす角度が０度を超えて９０度以下であることを特徴とするロボットアームシステム。 The robot arm system according to any one of claims 1 to 6,
The robot arm system, wherein an angle formed between a line connecting the first joint part and the second joint part and a horizontal line is more than 0 degree and 90 degrees or less.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015135029A JP6641746B2 (en) | 2015-07-06 | 2015-07-06 | Robot arm system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015135029A JP6641746B2 (en) | 2015-07-06 | 2015-07-06 | Robot arm system |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2017013209A JP2017013209A (en) | 2017-01-19 |
| JP2017013209A5 true JP2017013209A5 (en) | 2018-08-09 |
| JP6641746B2 JP6641746B2 (en) | 2020-02-05 |
Family
ID=57827625
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2015135029A Active JP6641746B2 (en) | 2015-07-06 | 2015-07-06 | Robot arm system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP6641746B2 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2019171507A (en) * | 2018-03-28 | 2019-10-10 | Ntn株式会社 | Complex working device |
| WO2019189198A1 (en) * | 2018-03-28 | 2019-10-03 | Ntn株式会社 | Combined work apparatus using linked operation devices |
| JP7227745B2 (en) * | 2018-11-16 | 2023-02-22 | 花王株式会社 | Palletizing device |
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2015
- 2015-07-06 JP JP2015135029A patent/JP6641746B2/en active Active
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