JP2021079519A - ロボットシステムおよびツール交換方法 - Google Patents

ロボットシステムおよびツール交換方法 Download PDF

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Publication number
JP2021079519A
JP2021079519A JP2019211684A JP2019211684A JP2021079519A JP 2021079519 A JP2021079519 A JP 2021079519A JP 2019211684 A JP2019211684 A JP 2019211684A JP 2019211684 A JP2019211684 A JP 2019211684A JP 2021079519 A JP2021079519 A JP 2021079519A
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JP
Japan
Prior art keywords
tool
fitting
fitted
robot
robot arm
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.)
Withdrawn
Application number
JP2019211684A
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English (en)
Japanese (ja)
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JP2021079519A5 (enExample
Inventor
嗣久馬 飯島
Shiguma Iijima
嗣久馬 飯島
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.)
Seiko Epson Corp
Original Assignee
Seiko Epson 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 Seiko Epson Corp filed Critical Seiko Epson Corp
Priority to JP2019211684A priority Critical patent/JP2021079519A/ja
Priority to CN202011302155.2A priority patent/CN112828917A/zh
Priority to US16/953,346 priority patent/US20210154859A1/en
Publication of JP2021079519A publication Critical patent/JP2021079519A/ja
Publication of JP2021079519A5 publication Critical patent/JP2021079519A5/ja
Withdrawn legal-status Critical Current

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Classifications

    • 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
    • B25J13/088—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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • 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
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0408—Connections means
    • B25J15/0441—Connections means having vacuum or magnetic means
    • 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
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0491—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof comprising end-effector racks
    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
JP2019211684A 2019-11-22 2019-11-22 ロボットシステムおよびツール交換方法 Withdrawn JP2021079519A (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2019211684A JP2021079519A (ja) 2019-11-22 2019-11-22 ロボットシステムおよびツール交換方法
CN202011302155.2A CN112828917A (zh) 2019-11-22 2020-11-19 机器人系统以及工具更换方法
US16/953,346 US20210154859A1 (en) 2019-11-22 2020-11-20 Robot system and tool replacement method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2019211684A JP2021079519A (ja) 2019-11-22 2019-11-22 ロボットシステムおよびツール交換方法

Publications (2)

Publication Number Publication Date
JP2021079519A true JP2021079519A (ja) 2021-05-27
JP2021079519A5 JP2021079519A5 (enExample) 2022-10-11

Family

ID=75923156

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2019211684A Withdrawn JP2021079519A (ja) 2019-11-22 2019-11-22 ロボットシステムおよびツール交換方法

Country Status (3)

Country Link
US (1) US20210154859A1 (enExample)
JP (1) JP2021079519A (enExample)
CN (1) CN112828917A (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7560182B2 (ja) 2022-09-29 2024-10-02 コネクテッドロボティクス株式会社 把持システム、及び動作制御方法

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230131624A1 (en) * 2021-10-25 2023-04-27 Wichita State University Surface analyst end effector for industrial robot
US12318916B2 (en) * 2021-10-25 2025-06-03 Wichita State University Surface preparation end effector for industrial robot system and inspection and repair processes
CN114178836B (zh) * 2021-12-22 2024-03-22 广州睿松自动化设备有限公司 一种螺丝自动锁付机
JP2024111683A (ja) * 2023-02-06 2024-08-19 株式会社日立製作所 ロボットの制御方法及びシステム

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4867595A (en) * 1986-10-28 1989-09-19 Megamation, Incorporated Coupling method and apparatus for use with robotic devices and the like
JPH03294195A (ja) * 1990-04-12 1991-12-25 Canon Inc フインガ交換方法及びハンド装置
JPH04141386A (ja) * 1990-09-28 1992-05-14 Hitachi Ltd 凸嵌合部と凹嵌合部の嵌合方法および装置、ボルト，ナットの嵌合，締結方法
JPH06143174A (ja) * 1992-11-02 1994-05-24 Furukawa Electric Co Ltd:The 高所作業用自動工具交換装置
JPH06179190A (ja) * 1992-12-16 1994-06-28 Fukai Seisakusho:Kk 工業用ロボットのツール自動交換装置
JPH07328869A (ja) * 1994-06-01 1995-12-19 Victor Co Of Japan Ltd 部品組付け装置
JPH07328967A (ja) * 1994-06-10 1995-12-19 Tokyo Electric Power Co Inc:The マニピュレータ
JP2010120140A (ja) * 2008-11-21 2010-06-03 Ihi Corp ロボット装置
US20130020820A1 (en) * 2011-07-21 2013-01-24 Bieler Tino Gripper Claw with Replaceable Gripper Fingers
JP2016030320A (ja) * 2014-07-30 2016-03-07 キヤノン株式会社 ロボットシステム、ツール交換装置及びロボット装置
JP2019084610A (ja) * 2017-11-06 2019-06-06 株式会社ダイシン ロボットシステム

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TW200633823A (en) * 2005-03-29 2006-10-01 Qi-Cheng Ye Robotic arm with a changeable jaw
ATE533566T1 (de) * 2007-02-06 2011-12-15 Abb Kk Beschichtungssystem
CN105189052A (zh) * 2013-03-29 2015-12-23 必爱路自动化设备 工具更换装置用的主装置
CN104608113B (zh) * 2013-11-01 2018-07-17 精工爱普生株式会社 机器人、机器人系统以及机器人控制装置
JP6592969B2 (ja) * 2015-06-02 2019-10-23 セイコーエプソン株式会社 嵌合方法
DE102016004087A1 (de) * 2016-02-15 2017-08-17 Kastanienbaum GmbH Effektoreinheit für einen Roboter, Arbeitsvorrichtung mit einem Roboter und Verfahren zum Wechseln eines Effektors bei Robotern
JP6514275B2 (ja) * 2017-06-28 2019-05-15 ファナック株式会社 ツール切替保持装置およびロボットシステム

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4867595A (en) * 1986-10-28 1989-09-19 Megamation, Incorporated Coupling method and apparatus for use with robotic devices and the like
JPH03294195A (ja) * 1990-04-12 1991-12-25 Canon Inc フインガ交換方法及びハンド装置
JPH04141386A (ja) * 1990-09-28 1992-05-14 Hitachi Ltd 凸嵌合部と凹嵌合部の嵌合方法および装置、ボルト，ナットの嵌合，締結方法
JPH06143174A (ja) * 1992-11-02 1994-05-24 Furukawa Electric Co Ltd:The 高所作業用自動工具交換装置
JPH06179190A (ja) * 1992-12-16 1994-06-28 Fukai Seisakusho:Kk 工業用ロボットのツール自動交換装置
JPH07328869A (ja) * 1994-06-01 1995-12-19 Victor Co Of Japan Ltd 部品組付け装置
JPH07328967A (ja) * 1994-06-10 1995-12-19 Tokyo Electric Power Co Inc:The マニピュレータ
JP2010120140A (ja) * 2008-11-21 2010-06-03 Ihi Corp ロボット装置
US20130020820A1 (en) * 2011-07-21 2013-01-24 Bieler Tino Gripper Claw with Replaceable Gripper Fingers
JP2016030320A (ja) * 2014-07-30 2016-03-07 キヤノン株式会社 ロボットシステム、ツール交換装置及びロボット装置
JP2019084610A (ja) * 2017-11-06 2019-06-06 株式会社ダイシン ロボットシステム

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7560182B2 (ja) 2022-09-29 2024-10-02 コネクテッドロボティクス株式会社 把持システム、及び動作制御方法

Also Published As

Publication number Publication date
US20210154859A1 (en) 2021-05-27
CN112828917A (zh) 2021-05-25

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