JP7167681B2 - ロボットシステムおよび接続方法 - Google Patents

ロボットシステムおよび接続方法 Download PDF

Info

Publication number
JP7167681B2
JP7167681B2 JP2018230437A JP2018230437A JP7167681B2 JP 7167681 B2 JP7167681 B2 JP 7167681B2 JP 2018230437 A JP2018230437 A JP 2018230437A JP 2018230437 A JP2018230437 A JP 2018230437A JP 7167681 B2 JP7167681 B2 JP 7167681B2
Authority
JP
Japan
Prior art keywords
cable
connector
robot
unit
force
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.)
Active
Application number
JP2018230437A
Other languages
English (en)
Japanese (ja)
Other versions
JP2020089961A5 (enExample
JP2020089961A (ja
Inventor
淳也 上田
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 JP2018230437A priority Critical patent/JP7167681B2/ja
Priority to TW108144053A priority patent/TWI701116B/zh
Priority to CN201911244868.5A priority patent/CN111283660B/zh
Priority to US16/705,315 priority patent/US11230010B2/en
Publication of JP2020089961A publication Critical patent/JP2020089961A/ja
Publication of JP2020089961A5 publication Critical patent/JP2020089961A5/ja
Application granted granted Critical
Publication of JP7167681B2 publication Critical patent/JP7167681B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • B25J9/0081—Programme-controlled manipulators with leader teach-in means
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • 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
    • B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/1015—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. microadjustment of the end effector
    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • 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
    • B25J9/1697—Vision controlled systems
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40028—Insert flexible rod, beam into hole
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40584—Camera, non-contact sensor mounted on wrist, indep from gripper
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45033—Wire bonding, wire wrap
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45097—Cable harnessing robot
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R12/00—Structural associations of a plurality of mutually-insulated electrical connecting elements, specially adapted for printed circuits, e.g. printed circuit boards [PCB], flat or ribbon cables, or like generally planar structures, e.g. terminal strips, terminal blocks; Coupling devices specially adapted for printed circuits, flat or ribbon cables, or like generally planar structures; Terminals specially adapted for contact with, or insertion into, printed circuits, flat or ribbon cables, or like generally planar structures
    • H01R12/50—Fixed connections
    • H01R12/59—Fixed connections for flexible printed circuits, flat or ribbon cables or like structures
    • H01R12/592—Fixed connections for flexible printed circuits, flat or ribbon cables or like structures connections to contact elements
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • H01R43/28—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for wire processing before connecting to contact members, not provided for in groups H01R43/02 - H01R43/26

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
JP2018230437A 2018-12-07 2018-12-07 ロボットシステムおよび接続方法 Active JP7167681B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2018230437A JP7167681B2 (ja) 2018-12-07 2018-12-07 ロボットシステムおよび接続方法
TW108144053A TWI701116B (zh) 2018-12-07 2019-12-03 機械人系統及連接方法
CN201911244868.5A CN111283660B (zh) 2018-12-07 2019-12-06 机器人系统及连接方法
US16/705,315 US11230010B2 (en) 2018-12-07 2019-12-06 Robot system and coupling method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2018230437A JP7167681B2 (ja) 2018-12-07 2018-12-07 ロボットシステムおよび接続方法

Publications (3)

Publication Number Publication Date
JP2020089961A JP2020089961A (ja) 2020-06-11
JP2020089961A5 JP2020089961A5 (enExample) 2022-01-11
JP7167681B2 true JP7167681B2 (ja) 2022-11-09

Family

ID=70970604

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018230437A Active JP7167681B2 (ja) 2018-12-07 2018-12-07 ロボットシステムおよび接続方法

Country Status (4)

Country Link
US (1) US11230010B2 (enExample)
JP (1) JP7167681B2 (enExample)
CN (1) CN111283660B (enExample)
TW (1) TWI701116B (enExample)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7024579B2 (ja) * 2018-04-25 2022-02-24 セイコーエプソン株式会社 ロボット制御装置、ロボットシステムおよびロボット制御方法
US11426874B2 (en) * 2019-04-30 2022-08-30 Flexiv Ltd. Robot-based insertion mounting of workpieces
US11670894B2 (en) * 2020-06-19 2023-06-06 The Boeing Company Method and system for error correction in automated wire contact insertion within a connector
JP7552384B2 (ja) * 2021-01-28 2024-09-18 セイコーエプソン株式会社 ケーブル終端検出方法
TW202233368A (zh) * 2021-02-18 2022-09-01 日商發那科股份有限公司 教示裝置
JP7613198B2 (ja) * 2021-03-26 2025-01-15 セイコーエプソン株式会社 ロボットシステムの制御方法、ロボットシステムおよびプログラム
US12191619B2 (en) * 2022-04-22 2025-01-07 The Boeing Company Method, system, and computer program product for wire connector assembly
US12409551B2 (en) * 2022-12-12 2025-09-09 Southeast University Cable force control method applicable to time-varying configuration

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011021375A1 (ja) 2009-08-21 2011-02-24 パナソニック株式会社 ロボットアームの制御装置及び制御方法、組立ロボット、ロボットアームの制御プログラム、及び、ロボットアームの制御用集積電子回路
WO2014037999A1 (ja) 2012-09-04 2014-03-13 株式会社安川電機 ロボットの制御パラメータ調整方法、ロボットシステム、及びロボット制御装置
JP2014151377A (ja) 2013-02-06 2014-08-25 Seiko Epson Corp ロボット制御方法、ロボット制御装置、ロボットシステム、ロボット及びプログラム

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7753642B2 (en) * 2007-09-06 2010-07-13 Ohio University Apparatus and method associated with cable robot system
JP5293039B2 (ja) 2008-09-19 2013-09-18 株式会社安川電機 ロボットシステムおよびロボットの制御方法
JP5849993B2 (ja) * 2013-06-07 2016-02-03 株式会社安川電機 パラレルリンクロボット及びロボットシステム並びに搬送設備の構築方法
JP6164970B2 (ja) * 2013-08-07 2017-07-19 キヤノン株式会社 ロボット制御方法、ロボットシステム、プログラム、記録媒体及び部品の製造方法
JP6465289B2 (ja) * 2015-01-16 2019-02-06 国立大学法人 筑波大学 柔軟物の状態計算方法、ロボット軌道生成装置、ロボット装置、プログラム及び記録媒体
JP6791150B2 (ja) * 2015-09-18 2020-11-25 ソニー株式会社 取付装置、取付方法、及びハンド機構
JP6816364B2 (ja) * 2016-02-25 2021-01-20 セイコーエプソン株式会社 制御装置、ロボット、及びロボットシステム
JP2017159426A (ja) * 2016-03-11 2017-09-14 セイコーエプソン株式会社 ロボット制御装置、ロボット、及びロボットシステム
JP2017196705A (ja) * 2016-04-28 2017-11-02 セイコーエプソン株式会社 ロボット、及びロボットシステム
US10363661B2 (en) * 2016-07-27 2019-07-30 Seiko Epson Corporation Control device, robot, and robot system
CN107962563B (zh) * 2016-10-20 2022-10-04 精工爱普生株式会社 控制装置、机器人以及机器人系统
JP2018089747A (ja) * 2016-12-05 2018-06-14 セイコーエプソン株式会社 制御装置、ロボットおよびロボットシステム
US11413765B2 (en) * 2017-04-03 2022-08-16 Sony Corporation Robotic device, production device for electronic apparatus, and production method
WO2018207552A1 (ja) * 2017-05-09 2018-11-15 ソニー株式会社 ロボット装置および電子機器の製造方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011021375A1 (ja) 2009-08-21 2011-02-24 パナソニック株式会社 ロボットアームの制御装置及び制御方法、組立ロボット、ロボットアームの制御プログラム、及び、ロボットアームの制御用集積電子回路
WO2014037999A1 (ja) 2012-09-04 2014-03-13 株式会社安川電機 ロボットの制御パラメータ調整方法、ロボットシステム、及びロボット制御装置
JP2014151377A (ja) 2013-02-06 2014-08-25 Seiko Epson Corp ロボット制御方法、ロボット制御装置、ロボットシステム、ロボット及びプログラム

Also Published As

Publication number Publication date
US11230010B2 (en) 2022-01-25
CN111283660B (zh) 2023-06-13
TW202021757A (zh) 2020-06-16
TWI701116B (zh) 2020-08-11
JP2020089961A (ja) 2020-06-11
US20200180157A1 (en) 2020-06-11
CN111283660A (zh) 2020-06-16

Similar Documents

Publication Publication Date Title
JP7167681B2 (ja) ロボットシステムおよび接続方法
CN102398269B (zh) 机器人
JP7024579B2 (ja) ロボット制御装置、ロボットシステムおよびロボット制御方法
JP7529855B2 (ja) 制御装置、ロボット装置、制御方法、およびプログラム
US11413758B2 (en) Operation tool for grasping workpiece including connector and robot apparatus including operation tool
CN111971151B (zh) 连接装置和连接方法
JP7225725B2 (ja) ロボットシステムおよび挿入方法
CN110573311B (zh) 机器人设备和电子设备制造方法
JP2015085455A (ja) ロボット、ロボットシステム、ロボット制御装置
WO2013190648A1 (ja) ロボットシステムおよび部品の製造方法
JP2013132726A (ja) ロボットの制御方法、及びロボット
JP2020138292A (ja) ロボットシステムおよび制御方法
JP2019209458A (ja) エンドエフェクタ及び装置
JP2020138293A (ja) ロボットシステムおよび制御方法
CN111417496B (zh) 控制装置、工件作业装置、工件作业系统以及控制方法
JP2007237394A (ja) ワーク位置決め装置
JP2012228757A (ja) ロボット教示方法、ロボット教示装置およびプログラム
JP6928316B2 (ja) 押さえ機能を備える部品実装機
TWI804444B (zh) 線材穿針裝置及穿針方法
WO2023120476A1 (ja) ロボット制御装置、ロボットシステム、ロボット制御プログラム
JP2015119114A (ja) 電子部品の実装方法及び電子部品の実装装置
CN117283596A (zh) 把持位置设定方法以及机器人系统
JP6314431B2 (ja) ロボットシステム、制御装置、ロボット、及び駆動方法
US20250100155A1 (en) Robot device, robot device controlling method, article manufacturing method, and recording medium

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20211206

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20211206

TRDD Decision of grant or rejection written
A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20220921

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20220927

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20221010

R150 Certificate of patent or registration of utility model

Ref document number: 7167681

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150