JP4996102B2 - ロボット装置 - Google Patents
ロボット装置 Download PDFInfo
- Publication number
- JP4996102B2 JP4996102B2 JP2006028293A JP2006028293A JP4996102B2 JP 4996102 B2 JP4996102 B2 JP 4996102B2 JP 2006028293 A JP2006028293 A JP 2006028293A JP 2006028293 A JP2006028293 A JP 2006028293A JP 4996102 B2 JP4996102 B2 JP 4996102B2
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- JP
- Japan
- Prior art keywords
- arm
- length
- predetermined
- movement
- coordinate position
- 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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Classifications
-
- 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
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- 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
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- 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
-
- 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
- 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
- B65G49/068—Stacking or destacking devices; Means for preventing damage to stacked sheets, e.g. spaces
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67739—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber
- H01L21/67748—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber horizontal transfer of a single workpiece
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/68—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for positioning, orientation or alignment
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/683—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping
- H01L21/687—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping using mechanical means, e.g. chucks, clamps or pinches
- H01L21/68707—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping using mechanical means, e.g. chucks, clamps or pinches the wafers being placed on a robot blade, or gripped by a gripper for conveyance
Landscapes
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
Description
2 アーム部
4 レール部材
10 ワーク保持部
11 第1アーム
12 第2アーム
13 ベース部材
14 上下動部材
15 基台
30 カセット
31 ガラス基板
P0,P1,P2,P3,P4 座標位置
R アームの移動距離
R1 第1アームの移動長さ
R2 第2アームの移動長さ
L1 第1アームの移動可能長さ
L2 第2アームの移動可能長さ
R2L 指定移動長さ
Claims (6)
- ワークを保持するワーク保持部を有して往復運動する第1アーム、該第1アームを連結して前記第1アームと同じ方向に往復運動する第2アームとで少なくとも構成されたアーム部、及び、前記アーム部を始点座標P0から所定の座標位置Pまで移動させる制御装置を備え、
前記制御装置は、前記第1アームを前記所定の座標位置Pに向かって移動させる第1アーム移動ステップと、前記第1アームを所定の長さR1移動させた後に前記第2アームを所定の長さR2移動させる第2アーム移動ステップとにより教示する教示手段を含み、
前記教示手段は、前記所定の座標Pまでの距離Rが前記第1アームの所定の移動可能長さL1の範囲内である場合には、前記第1アームのみを移動させる前記第1アーム移動ステップにより教示し、
前記所定の座標Pまでの距離Rが前記第1アームの所定の移動可能長さL1を超える場合には、前記第1アームを該移動可能長さL1と同じ長さR1移動させた後に、前記第2アームをR=R1+R2を満たす長さR2移動させる前記第2アーム移動ステップにより教示することを特徴とするロボット装置。 - 前記制御装置は、ロボット座標系としてR軸を設け、前記始点座標P0から前記所定の座標位置Pまでの距離RをR=R1+R2(但し、R1は前記第1アームの移動距離であり、R2は前記第2アームの移動距離である。)の順機構解を定義し、RからR1,R2への割付を逆機構解として定義することを特徴とする請求項1に記載のロボット装置。
- 前記教示手段は、前記所定の座標位置Pを指定する操作部を有することを特徴とする請求項1に記載のロボット装置。
- 前記制御装置は、前記所定の座標位置Pまでの距離Rが前記第1アームの所定の移動可能長さL1の範囲内である場合には、前記第1アームのみを移動させ、前記所定の座標位置Pまでの距離Rが前記第1アームの所定の移動可能長さL1を超える場合には、該移動可能長さL1と同じ長さR1移動する第1アームの動作と、距離Rから前記移動長さR1を差し引いた長さR2移動する第2アームの動作とを同時に行う第1制御手段を含むことを特徴とする請求項1に記載のロボット装置。
- 前記制御装置は、前記第2アームの移動長さR2Lが指定された場合において、前記所定の座標位置Pまでの距離Rが前記第1アームの所定の移動可能長さL1と前記第2アームの指定移動長さR2Lとの和(L1+R2L)の範囲内である場合には、前記第1アームの移動長さR1はR×L1/(L1+R2L)となり、前記第2アームの移動長さR2は距離Rから前記移動長さR1を差し引いた長さとなる関係で、前記第1アームの動作と前記第2アームの動作とを同時に行う第2制御手段を含むことを特徴とする請求項1に記載のロボット装置。
- 前記始点座標P0は、前記アームを縮め切ったアームの座標位置であり、前記所定の座標位置Pは、前記ワークがアームに載置し及び/又はアームから移載する位置であることを特徴とする請求項1から5のいずれかに記載のロボット装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006028293A JP4996102B2 (ja) | 2006-02-06 | 2006-02-06 | ロボット装置 |
CN2007800001623A CN101309782B (zh) | 2006-02-06 | 2007-02-05 | 机器人装置 |
PCT/JP2007/051891 WO2007091503A1 (ja) | 2006-02-06 | 2007-02-05 | ロボット装置 |
KR1020077019116A KR101323884B1 (ko) | 2006-02-06 | 2007-02-05 | 로봇 장치 |
TW096104290A TWI404611B (zh) | 2006-02-06 | 2007-02-06 | Robot device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006028293A JP4996102B2 (ja) | 2006-02-06 | 2006-02-06 | ロボット装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2007203434A JP2007203434A (ja) | 2007-08-16 |
JP4996102B2 true JP4996102B2 (ja) | 2012-08-08 |
Family
ID=38345103
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006028293A Active JP4996102B2 (ja) | 2006-02-06 | 2006-02-06 | ロボット装置 |
Country Status (5)
Country | Link |
---|---|
JP (1) | JP4996102B2 (ja) |
KR (1) | KR101323884B1 (ja) |
CN (1) | CN101309782B (ja) |
TW (1) | TWI404611B (ja) |
WO (1) | WO2007091503A1 (ja) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5272647B2 (ja) * | 2008-10-24 | 2013-08-28 | 株式会社デンソーウェーブ | ロボット |
DE102008062153A1 (de) | 2008-12-17 | 2010-12-30 | Grenzebach Maschinenbau Gmbh | Verfahren und Vorrichtung zum Schnelltransport von Glasplatten |
KR101211911B1 (ko) * | 2010-11-02 | 2012-12-13 | 주식회사 로보스타 | 표시장치용 패널의 반전로봇 |
CN102380868B (zh) * | 2011-11-09 | 2014-04-16 | 广东工业大学 | 具有两维平动和一维转动的三自由度机械手 |
CN103600590B (zh) * | 2013-11-06 | 2016-03-16 | 青岛中科英泰商用系统股份有限公司 | 带有印泥补充装置和旋转机构的盖章机 |
CN103617520B (zh) * | 2013-11-11 | 2016-07-06 | 青岛中科英泰商用系统股份有限公司 | 具有双导轨机构、文件输送和视频通话功能的盖章机 |
JP5785284B2 (ja) | 2014-02-17 | 2015-09-24 | ファナック株式会社 | 搬送対象物の落下事故を防止するロボットシステム |
KR102189275B1 (ko) * | 2019-07-08 | 2020-12-09 | 세메스 주식회사 | 이송 로봇 및 이를 포함하는 이송 장치 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01252382A (ja) * | 1988-03-31 | 1989-10-09 | Yokogawa Electric Corp | ロボットの制御装置 |
JP2599618B2 (ja) * | 1988-08-01 | 1997-04-09 | 株式会社フジタ | 塔内作業ロボットシステム |
JP3099988B2 (ja) * | 1992-02-17 | 2000-10-16 | 横河電機株式会社 | ロボット制御装置 |
JPH0661487U (ja) * | 1993-01-29 | 1994-08-30 | 株式会社工研 | キャリヤロボット |
JPH08295492A (ja) * | 1995-04-27 | 1996-11-12 | Tokiyoshi Kuroda | 多段伸縮アーム装置 |
JPH09128026A (ja) * | 1995-11-06 | 1997-05-16 | Matsushita Electric Ind Co Ltd | ロボット動作プログラム変換方式とその実行装置 |
JPH09323276A (ja) * | 1996-06-03 | 1997-12-16 | Toyota Autom Loom Works Ltd | 搬送装置及びロボットアーム |
JPH1110578A (ja) * | 1997-06-18 | 1999-01-19 | Kokuho:Kk | 吊下装置 |
JP2003229466A (ja) * | 2002-02-04 | 2003-08-15 | Seiko Instruments Inc | 真空処理装置 |
JP2004165579A (ja) * | 2002-09-18 | 2004-06-10 | Seiko Instruments Inc | 真空処理装置 |
CN100342519C (zh) * | 2003-07-16 | 2007-10-10 | 东京毅力科创株式会社 | 搬送装置及驱动机构 |
JP5011507B2 (ja) * | 2007-03-14 | 2012-08-29 | 日本電産サンキョー株式会社 | ロボット教示システム及びロボット教示方法 |
-
2006
- 2006-02-06 JP JP2006028293A patent/JP4996102B2/ja active Active
-
2007
- 2007-02-05 KR KR1020077019116A patent/KR101323884B1/ko active IP Right Grant
- 2007-02-05 CN CN2007800001623A patent/CN101309782B/zh active Active
- 2007-02-05 WO PCT/JP2007/051891 patent/WO2007091503A1/ja active Application Filing
- 2007-02-06 TW TW096104290A patent/TWI404611B/zh active
Also Published As
Publication number | Publication date |
---|---|
CN101309782B (zh) | 2012-01-25 |
TW200744809A (en) | 2007-12-16 |
KR20080089145A (ko) | 2008-10-06 |
CN101309782A (zh) | 2008-11-19 |
WO2007091503A1 (ja) | 2007-08-16 |
JP2007203434A (ja) | 2007-08-16 |
TWI404611B (zh) | 2013-08-11 |
KR101323884B1 (ko) | 2013-10-30 |
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