JP2021019071A - 産業用ロボットおよび産業用ロボットの制御方法 - Google Patents

産業用ロボットおよび産業用ロボットの制御方法 Download PDF

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Publication number
JP2021019071A
JP2021019071A JP2019133478A JP2019133478A JP2021019071A JP 2021019071 A JP2021019071 A JP 2021019071A JP 2019133478 A JP2019133478 A JP 2019133478A JP 2019133478 A JP2019133478 A JP 2019133478A JP 2021019071 A JP2021019071 A JP 2021019071A
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JP
Japan
Prior art keywords
arm
hand
industrial robot
transported
main body
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
JP2019133478A
Other languages
English (en)
Japanese (ja)
Inventor
矢澤　隆之
Takayuki Yazawa
隆之 矢澤
智樹 田辺
Tomoki Tanabe
智樹 田辺
一樹 伊藤
Kazuki Ito
一樹 伊藤
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.)
Nidec Sankyo Corp
Original Assignee
Nidec Sankyo 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 Nidec Sankyo Corp filed Critical Nidec Sankyo Corp
Priority to JP2019133478A priority Critical patent/JP2021019071A/ja
Priority to KR1020200079795A priority patent/KR102360481B1/ko
Priority to CN202010646050.2A priority patent/CN112239082A/zh
Publication of JP2021019071A publication Critical patent/JP2021019071A/ja
Pending legal-status Critical Current

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Classifications

    • 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
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/067—Sheet handling, means, e.g. manipulators, devices for turning or tilting sheet glass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • 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
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
JP2019133478A 2019-07-19 2019-07-19 産業用ロボットおよび産業用ロボットの制御方法 Pending JP2021019071A (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2019133478A JP2021019071A (ja) 2019-07-19 2019-07-19 産業用ロボットおよび産業用ロボットの制御方法
KR1020200079795A KR102360481B1 (ko) 2019-07-19 2020-06-30 산업용 로봇 및 산업용 로봇의 제어 방법
CN202010646050.2A CN112239082A (zh) 2019-07-19 2020-07-07 工业用机器人及工业用机器人的控制方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2019133478A JP2021019071A (ja) 2019-07-19 2019-07-19 産業用ロボットおよび産業用ロボットの制御方法

Publications (1)

Publication Number Publication Date
JP2021019071A true JP2021019071A (ja) 2021-02-15

Family

ID=74170546

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2019133478A Pending JP2021019071A (ja) 2019-07-19 2019-07-19 産業用ロボットおよび産業用ロボットの制御方法

Country Status (3)

Country Link
JP (1) JP2021019071A (ko)
KR (1) KR102360481B1 (ko)
CN (1) CN112239082A (ko)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01305533A (ja) * 1988-06-03 1989-12-08 Toshiba Corp 搬送装置
JPH07314367A (ja) * 1994-05-25 1995-12-05 Yaskawa Electric Corp 多関節ロボットの精度補正方法
WO2015037701A1 (ja) * 2013-09-13 2015-03-19 日本電産サンキョー株式会社 産業用ロボット
JP2015082532A (ja) * 2013-10-21 2015-04-27 株式会社アルバック 基板搬送装置
JP2015089583A (ja) * 2013-11-05 2015-05-11 キヤノン株式会社 ロボット装置
JP6528913B1 (ja) * 2018-02-26 2019-06-12 三菱電機株式会社 補正関数生成装置、ロボット制御システム及びロボットシステム

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3814617A1 (de) * 1988-04-29 1989-11-09 Fraunhofer Ges Forschung Greifvorrichtung
JP4617278B2 (ja) * 2006-06-29 2011-01-19 日本電産サンキョー株式会社 産業用ロボット
JP6313963B2 (ja) 2013-01-07 2018-04-18 日本電産サンキョー株式会社 産業用ロボット
KR101878585B1 (ko) * 2013-01-07 2018-07-13 니혼 덴산 산쿄 가부시키가이샤 산업용 로봇
JP2017024096A (ja) * 2015-07-17 2017-02-02 日本電産サンキョー株式会社 産業用ロボットおよび産業用ロボットの制御方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01305533A (ja) * 1988-06-03 1989-12-08 Toshiba Corp 搬送装置
JPH07314367A (ja) * 1994-05-25 1995-12-05 Yaskawa Electric Corp 多関節ロボットの精度補正方法
WO2015037701A1 (ja) * 2013-09-13 2015-03-19 日本電産サンキョー株式会社 産業用ロボット
JP2015082532A (ja) * 2013-10-21 2015-04-27 株式会社アルバック 基板搬送装置
JP2015089583A (ja) * 2013-11-05 2015-05-11 キヤノン株式会社 ロボット装置
JP6528913B1 (ja) * 2018-02-26 2019-06-12 三菱電機株式会社 補正関数生成装置、ロボット制御システム及びロボットシステム

Also Published As

Publication number Publication date
CN112239082A (zh) 2021-01-19
KR102360481B1 (ko) 2022-02-10
KR20210010331A (ko) 2021-01-27

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