JP7512432B2 - ロボットシステム及び受動アーム - Google Patents

ロボットシステム及び受動アーム Download PDF

Info

Publication number
JP7512432B2
JP7512432B2 JP2022571407A JP2022571407A JP7512432B2 JP 7512432 B2 JP7512432 B2 JP 7512432B2 JP 2022571407 A JP2022571407 A JP 2022571407A JP 2022571407 A JP2022571407 A JP 2022571407A JP 7512432 B2 JP7512432 B2 JP 7512432B2
Authority
JP
Japan
Prior art keywords
arm
robot
passive
link
connector
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
JP2022571407A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2022138502A5 (https=
JPWO2022138502A1 (https=
Inventor
眞一 藤澤
順二 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.)
Kawasaki Motors Ltd
Original Assignee
Kawasaki Jukogyo KK
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 Kawasaki Jukogyo KK filed Critical Kawasaki Jukogyo KK
Publication of JPWO2022138502A1 publication Critical patent/JPWO2022138502A1/ja
Publication of JPWO2022138502A5 publication Critical patent/JPWO2022138502A5/ja
Application granted granted Critical
Publication of JP7512432B2 publication Critical patent/JP7512432B2/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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/0292—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work devices for holding several workpieces to be sprayed in a spaced relationship, e.g. vehicle doors spacers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
    • B05B13/0452—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles the objects being vehicle components, e.g. vehicle bodies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0075—Manipulators for painting or coating
    • 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
    • B25J19/0004—Braking devices
    • 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
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0084—Program-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087—Dual arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0084—Program-controlled manipulators comprising a plurality of manipulators
    • B25J9/009—Program-controlled manipulators comprising a plurality of manipulators being mechanically linked with one another at their distal ends
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39207—Manipulator is passive, gives operator only feedback of what is currently done
    • 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
    • G05B2219/45013—Spraying, coating, painting
    • 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
    • G05B2219/45065—Sealing, painting robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
JP2022571407A 2020-12-21 2021-12-17 ロボットシステム及び受動アーム Active JP7512432B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
JP2020211593 2020-12-21
JP2020211593 2020-12-21
JP2020211594 2020-12-21
JP2020211594 2020-12-21
PCT/JP2021/046801 WO2022138502A1 (ja) 2020-12-21 2021-12-17 ロボットシステム、制御方法及び受動アーム

Publications (3)

Publication Number Publication Date
JPWO2022138502A1 JPWO2022138502A1 (https=) 2022-06-30
JPWO2022138502A5 JPWO2022138502A5 (https=) 2023-08-15
JP7512432B2 true JP7512432B2 (ja) 2024-07-08

Family

ID=82157798

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022571407A Active JP7512432B2 (ja) 2020-12-21 2021-12-17 ロボットシステム及び受動アーム

Country Status (3)

Country Link
US (1) US20240066696A1 (https=)
JP (1) JP7512432B2 (https=)
WO (1) WO2022138502A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7764277B2 (ja) * 2022-02-28 2025-11-05 株式会社安川電機 ドア開閉ロボット、及び、ドア開閉システム
US12589501B2 (en) * 2023-03-03 2026-03-31 Kawasaki Jukogyo Kabushiki Kaisha Door opening and closing robot and method of opening and closing door using the same

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008108401A1 (ja) 2007-03-08 2008-09-12 Kabushiki Kaisha Yaskawa Denki 塗装システム
WO2010091722A1 (en) 2009-02-11 2010-08-19 Abb Research Ltd Dual arm robot
WO2011055766A1 (ja) 2009-11-06 2011-05-12 本田技研工業株式会社 塗装システム
JP2013031890A (ja) 2011-08-01 2013-02-14 Yaskawa Electric Corp 塗装システムおよびドア開閉用ロボットの開閉ハンド
JP2018122367A (ja) 2017-01-30 2018-08-09 川崎重工業株式会社 搬送システム及びその運転方法
JP2019048364A (ja) 2017-09-12 2019-03-28 Ckd株式会社 ワーク搬送装置

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2530261C2 (de) * 1974-10-22 1986-10-23 Asea S.p.A., Mailand/Milano Programmiereinrichtung für einen Manipulator
JPS60201845A (ja) * 1984-03-26 1985-10-12 Daikin Ind Ltd ドリル等の回転工具を用いた加工装置
JPS63267180A (ja) * 1987-04-24 1988-11-04 三菱重工業株式会社 ハンドリング方法及びその装置
JPH0655484A (ja) * 1992-08-05 1994-03-01 Hitachi Ltd ロボットを用いた組立装置
JPH0866889A (ja) * 1994-08-29 1996-03-12 Toransapooto:Kk 関節機構およびその機構を用いたユニバーサルアーム装置
JPH091492A (ja) * 1995-06-19 1997-01-07 Yaskawa Electric Corp 重量ワークを搬送する方法
US6757586B2 (en) * 2001-09-05 2004-06-29 Abb Automation Inc. Multiple arm robot arrangement
US7153454B2 (en) * 2003-01-21 2006-12-26 University Of Southern California Multi-nozzle assembly for extrusion of wall
US8239063B2 (en) * 2008-07-29 2012-08-07 Fanuc Robotics America, Inc. Servo motor monitoring and hood/deck exchange to enhance the interior coating process
FR2995227B1 (fr) * 2012-09-10 2014-10-03 Sames Technologies Installation de projection de produit de revetement
US20170356159A1 (en) * 2016-06-11 2017-12-14 Howard Bennett Dirt scooping, moving, and dumping apparatus for attachment to a tractor

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008108401A1 (ja) 2007-03-08 2008-09-12 Kabushiki Kaisha Yaskawa Denki 塗装システム
WO2010091722A1 (en) 2009-02-11 2010-08-19 Abb Research Ltd Dual arm robot
WO2011055766A1 (ja) 2009-11-06 2011-05-12 本田技研工業株式会社 塗装システム
JP2013031890A (ja) 2011-08-01 2013-02-14 Yaskawa Electric Corp 塗装システムおよびドア開閉用ロボットの開閉ハンド
JP2018122367A (ja) 2017-01-30 2018-08-09 川崎重工業株式会社 搬送システム及びその運転方法
JP2019048364A (ja) 2017-09-12 2019-03-28 Ckd株式会社 ワーク搬送装置

Also Published As

Publication number Publication date
JPWO2022138502A1 (https=) 2022-06-30
WO2022138502A1 (ja) 2022-06-30
US20240066696A1 (en) 2024-02-29

Similar Documents

Publication Publication Date Title
JP7512432B2 (ja) ロボットシステム及び受動アーム
US11426864B2 (en) Robot manipulator system and methods for providing supplemental securement of objects
Safeea et al. Kuka sunrise toolbox: Interfacing collaborative robots with matlab
Haviland et al. NEO: A novel expeditious optimisation algorithm for reactive motion control of manipulators
Marvel et al. Multi-robot assembly strategies and metrics
JP6734728B2 (ja) ロボットシステム及びピッキング方法
Pandilov et al. COMPARISON OF THE CHARACTERISTICS BETWEEN SERIAL AND PARALLEL ROBOTS.
CN109591014B (zh) 一种双臂协作机器人的双臂协调搬运方法
CA3046909C (en) Mobile fixture apparatuses and methods
Kazemi et al. Human-inspired force compliant grasping primitives
Thakar et al. Accounting for part pose estimation uncertainties during trajectory generation for part pick-up using mobile manipulators
WO2020010626A1 (zh) 机器人的运动控制方法、机器人及机器人运动控制系统
CN113858189B (zh) 机器人的控制方法及机器人系统
JP2021175595A (ja) シミュレータ、ロボット教示装置、ロボットシステム、シミュレーション方法、プログラム及び記録媒体
CN116635191A (zh) 机器人系统、控制方法及被动臂
Patil Robot manipulator control using PLC with position based and image based algorithm
CN118302275A (zh) 用于机器人化系统的在直接教学期间的安全控制的方法和相关的机器人化系统
Karacan et al. Tactile exploration using unified force-impedance control
Dobiš et al. The Comparison of Motion Planners for Robotic Arms
CN115196346A (zh) 工件搬运系统及其控制方法
KR20240120648A (ko) 로봇의 제어 방법 및 로봇 제어 장치
Hung et al. An Intelligent control method for redundant robotic manipulators with output constraints
US20250002268A1 (en) Apparatus and method for optimizing swap time
Jezierski et al. Impedance controllers for electri-driven robots
Thormann et al. Force-Control Capabilities for Lightweight Industrial Robots

Legal Events

Date Code Title Description
A524 Written submission of copy of amendment under article 19 pct

Free format text: JAPANESE INTERMEDIATE CODE: A527

Effective date: 20230529

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20230529

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20240206

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20240401

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20240625

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20240626