JP2019072822A5 - - Google Patents
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- JP2019072822A5 JP2019072822A5 JP2017202137A JP2017202137A JP2019072822A5 JP 2019072822 A5 JP2019072822 A5 JP 2019072822A5 JP 2017202137 A JP2017202137 A JP 2017202137A JP 2017202137 A JP2017202137 A JP 2017202137A JP 2019072822 A5 JP2019072822 A5 JP 2019072822A5
- Authority
- JP
- Japan
- Prior art keywords
- tool
- robot system
- contact portion
- replacement
- stocker
- 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
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- 238000004519 manufacturing process Methods 0.000 claims 2
Description
上述の課題を解決するために本発明によれば、ロボットアームに着脱可能に装着される交換ツールと、前記交換ツールを保管するためのツールストッカーからなるロボットシステムであって、前記交換ツールは、接触部を備え、前記ツールストッカーは、前記交換ツールが保管された際、前記接触部を所定位置へ位置させる第1機構を備えていることを特徴とするロボットシステムを採用した。 In order to solve the above-mentioned problems, according to the present invention, the robot system comprises a replacement tool detachably attached to a robot arm and a tool stocker for storing the replacement tool, and the replacement tool is a robot system. The tool stocker employs a robot system including a contact portion, the tool stocker including a first mechanism for positioning the contact portion in a predetermined position when the replacement tool is stored.
Claims (18)
前記交換ツールは、接触部を備え、
前記ツールストッカーは、
前記交換ツールが保管された際、前記接触部を所定位置へ位置させる第1機構を備えていることを特徴とするロボットシステム。 A robot system consisting of a replacement tool that is detachably attached to a robot arm and a tool stocker for storing the replacement tool.
The replacement tool has a contact and
The tool stocker
A robot system including a first mechanism for positioning the contact portion at a predetermined position when the replacement tool is stored.
前記接触部は、前記第1機構と接触する第2機構を備え、
前記第1機構は、
回動軸を回動中心として回動可能なレバー部材と、
前記レバー部材を弾性付勢する弾性部材と、を備え、
前記弾性部材により弾性付勢された前記レバー部材が、前記第2機構を押圧することで前記接触部を前記所定位置へ位置させることを特徴とするロボットシステム。 In the robot system according to claim 1,
The contact portion includes a second mechanism that contacts the first mechanism.
The first mechanism is
A lever member that can rotate around the rotation axis and
An elastic member that elastically biases the lever member and
A robot system characterized in that the lever member elastically urged by the elastic member presses the second mechanism to position the contact portion at the predetermined position.
前記接触部は、前記第1機構と接触する第2機構を備え、
前記第1機構はテーパ部により構成され、
前記第2機構が前記テーパ部と接触することで前記接触部を前記所定位置へ位置させることを特徴とするロボットシステム。 In the robot system according to claim 1,
The contact portion includes a second mechanism that contacts the first mechanism.
The first mechanism is composed of a tapered portion.
A robot system characterized in that the contact portion is positioned at a predetermined position by contacting the second mechanism with the tapered portion.
前記第2機構は、前記レバー部材と接触する突出部であることを特徴とするロボットシステム。 In the robot system according to claim 2.
The second mechanism is a robot system characterized by being a protruding portion that comes into contact with the lever member.
前記交換ツールは、前記接触部が通る開口部を備えており、
前記第1機構が、前記接触部を前記開口部の縁部に突き当てることで前記所定位置に前記接触部を前記所定位置に位置させることを特徴とするロボットシステム。 In the robot system according to any one of claims 1 to 4.
The replacement tool is provided with an opening through which the contact portion passes.
A robot system in which the first mechanism abuts the contact portion against an edge portion of the opening to position the contact portion at the predetermined position.
前記接触部は、ガイドレールとガイドブロックで構成されたスライドガイドにより動作可能となっていることを特徴とするロボットシステム。 In the robot system according to any one of claims 1 to 5,
The robot system is characterized in that the contact portion can be operated by a slide guide composed of a guide rail and a guide block.
接触部と、
前記接触部に設けられた第2機構と、を備え、
前記第2機構は、前記交換ツールが前記ツールストッカーに保管された状態において、前記ツールストッカーが備える第1機構と接触することで前記接触部を所定位置に位置させることを特徴とする交換ツール。 A replacement tool stored in the tool stocker
With the contact part
A second mechanism provided in the contact portion is provided.
The second mechanism is a replacement tool characterized in that, in a state where the replacement tool is stored in the tool stocker, the contact portion is positioned at a predetermined position by contacting with the first mechanism included in the tool stocker.
前記交換ツールが保管された際、前記接触部を所定位置へ位置させる第1機構を備えていることを特徴とするツールストッカー。 A tool stocker that stores replacement tools with contacts
A tool stocker including a first mechanism for positioning the contact portion in a predetermined position when the replacement tool is stored.
前記第1機構は、
回動軸を回動中心として回動可能なレバー部材と、
前記レバー部材を弾性付勢する弾性部材と、を備えている、ことを特徴とするツールストッカー。 In the tool stocker according to claim 11,
The first mechanism is
A lever member that can rotate around the rotation axis and
A tool stocker including an elastic member that elastically biases the lever member.
前記交換ツールは、接触部を備え、
前記ツールストッカーは、前記交換ツールが保管された際、前記接触部を所定位置へ位置させる第1機構を備え、
前記制御装置が、
前記ロボットアームにより、前記交換ツールの前記接触部を前記第1機構に接触させながら前記交換ツールを移動させ、前記第1機構により前記接触部を前記所定位置へ位置させる、ことを特徴とする制御方法。 A control method for a robot system including a replacement tool detachably attached to the robot arm, a tool stocker for storing the replacement tool, and a control device for controlling the robot arm.
The replacement tool has a contact and
The tool stocker includes a first mechanism for positioning the contact portion in a predetermined position when the replacement tool is stored.
The control device
A control characterized in that the robot arm moves the exchange tool while bringing the contact portion of the exchange tool into contact with the first mechanism, and the first mechanism positions the contact portion at the predetermined position. Method.
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017202137A JP2019072822A (en) | 2017-10-18 | 2017-10-18 | Exchange tool, tool stocker, robot system, and robot system control method |
US16/160,908 US20190111575A1 (en) | 2017-10-18 | 2018-10-15 | Tool stocker, interchangeable tool, robot apparatus, robot system, control method of robot system, and storage medium |
CN201811213955.XA CN109676638B (en) | 2017-10-18 | 2018-10-18 | Tool storage, tool, robot system, control method, and storage medium |
US17/492,041 US20220016789A1 (en) | 2017-10-18 | 2021-10-01 | Tool stocker, interchangeable tool, robot apparatus, robot system, control method of robot system, and storage medium |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017202137A JP2019072822A (en) | 2017-10-18 | 2017-10-18 | Exchange tool, tool stocker, robot system, and robot system control method |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019072822A JP2019072822A (en) | 2019-05-16 |
JP2019072822A5 true JP2019072822A5 (en) | 2020-11-26 |
Family
ID=66544488
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017202137A Pending JP2019072822A (en) | 2017-10-18 | 2017-10-18 | Exchange tool, tool stocker, robot system, and robot system control method |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP2019072822A (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114283855A (en) * | 2020-09-27 | 2022-04-05 | 上海强然数码科技有限公司 | Storage system |
WO2022231159A1 (en) * | 2021-04-27 | 2022-11-03 | 네이버랩스 주식회사 | Tool changer |
KR102485908B1 (en) * | 2021-06-11 | 2023-01-06 | 네이버랩스 주식회사 | Tool changer |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH03109784U (en) * | 1990-02-26 | 1991-11-11 | ||
JPH09155492A (en) * | 1995-12-06 | 1997-06-17 | Mitsubishi Nagasaki Mach Co Ltd | Device for attaching and detaching attachment for manipulator and system therefor |
US20010046929A1 (en) * | 2000-04-06 | 2001-11-29 | Derby Stephen J. | Universal robotic end effectors and method for use |
JP6561310B2 (en) * | 2015-09-07 | 2019-08-21 | パナソニックIpマネジメント株式会社 | Component mounting apparatus and component mounting method in component mounting apparatus |
JP6502878B2 (en) * | 2016-03-01 | 2019-04-17 | 株式会社スギノマシン | Hand stocker and hand |
JP6708340B2 (en) * | 2016-04-05 | 2020-06-10 | 国立研究開発法人産業技術総合研究所 | Claw part exchange mechanism of robot hand and claw part exchange method using this claw part exchange mechanism |
-
2017
- 2017-10-18 JP JP2017202137A patent/JP2019072822A/en active Pending
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