JP7640411B2 - ロボットシステムおよびロボット - Google Patents

ロボットシステムおよびロボット Download PDF

Info

Publication number
JP7640411B2
JP7640411B2 JP2021140738A JP2021140738A JP7640411B2 JP 7640411 B2 JP7640411 B2 JP 7640411B2 JP 2021140738 A JP2021140738 A JP 2021140738A JP 2021140738 A JP2021140738 A JP 2021140738A JP 7640411 B2 JP7640411 B2 JP 7640411B2
Authority
JP
Japan
Prior art keywords
unit
workpiece
relative movement
work
signal output
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
JP2021140738A
Other languages
English (en)
Japanese (ja)
Other versions
JP2023034483A5 (enExample
JP2023034483A (ja
Inventor
覚 山角
勝人 福嶋
理史 大西
雅隆 小山
康弘 大倉
哲 伊地知
佳史樹 三東
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
Priority to JP2021140738A priority Critical patent/JP7640411B2/ja
Priority to EP22864590.9A priority patent/EP4397452A4/en
Priority to CN202280056668.0A priority patent/CN117836098A/zh
Priority to US18/687,915 priority patent/US20240424672A1/en
Priority to PCT/JP2022/032679 priority patent/WO2023033008A1/ja
Priority to KR1020247010469A priority patent/KR20240052813A/ko
Publication of JP2023034483A publication Critical patent/JP2023034483A/ja
Publication of JP2023034483A5 publication Critical patent/JP2023034483A5/ja
Priority to JP2025024878A priority patent/JP2025071194A/ja
Priority to JP2025024871A priority patent/JP2025075067A/ja
Priority to JP2025024873A priority patent/JP2025071193A/ja
Application granted granted Critical
Publication of JP7640411B2 publication Critical patent/JP7640411B2/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
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1684—Tracking a line or surface by means of sensors
    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • 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
    • G05B2219/45066—Inspection robot
    • 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
    • G05B2219/45104—Lasrobot, welding robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
JP2021140738A 2021-08-31 2021-08-31 ロボットシステムおよびロボット Active JP7640411B2 (ja)

Priority Applications (9)

Application Number Priority Date Filing Date Title
JP2021140738A JP7640411B2 (ja) 2021-08-31 2021-08-31 ロボットシステムおよびロボット
EP22864590.9A EP4397452A4 (en) 2021-08-31 2022-08-30 ROBOTIC SYSTEM AND ROBOT
CN202280056668.0A CN117836098A (zh) 2021-08-31 2022-08-30 机器人系统及机器人
US18/687,915 US20240424672A1 (en) 2021-08-31 2022-08-30 Robot system and robot
PCT/JP2022/032679 WO2023033008A1 (ja) 2021-08-31 2022-08-30 ロボットシステムおよびロボット
KR1020247010469A KR20240052813A (ko) 2021-08-31 2022-08-30 로봇 시스템 및 로봇
JP2025024873A JP2025071193A (ja) 2021-08-31 2025-02-19 ロボットの動作方法およびプログラム
JP2025024878A JP2025071194A (ja) 2021-08-31 2025-02-19 ロボットシステム、ロボットおよびロボットの動作方法
JP2025024871A JP2025075067A (ja) 2021-08-31 2025-02-19 ロボットシステム、ロボットおよびロボットの動作方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2021140738A JP7640411B2 (ja) 2021-08-31 2021-08-31 ロボットシステムおよびロボット

Related Child Applications (3)

Application Number Title Priority Date Filing Date
JP2025024871A Division JP2025075067A (ja) 2021-08-31 2025-02-19 ロボットシステム、ロボットおよびロボットの動作方法
JP2025024878A Division JP2025071194A (ja) 2021-08-31 2025-02-19 ロボットシステム、ロボットおよびロボットの動作方法
JP2025024873A Division JP2025071193A (ja) 2021-08-31 2025-02-19 ロボットの動作方法およびプログラム

Publications (3)

Publication Number Publication Date
JP2023034483A JP2023034483A (ja) 2023-03-13
JP2023034483A5 JP2023034483A5 (enExample) 2024-09-17
JP7640411B2 true JP7640411B2 (ja) 2025-03-05

Family

ID=85411267

Family Applications (4)

Application Number Title Priority Date Filing Date
JP2021140738A Active JP7640411B2 (ja) 2021-08-31 2021-08-31 ロボットシステムおよびロボット
JP2025024871A Pending JP2025075067A (ja) 2021-08-31 2025-02-19 ロボットシステム、ロボットおよびロボットの動作方法
JP2025024873A Pending JP2025071193A (ja) 2021-08-31 2025-02-19 ロボットの動作方法およびプログラム
JP2025024878A Pending JP2025071194A (ja) 2021-08-31 2025-02-19 ロボットシステム、ロボットおよびロボットの動作方法

Family Applications After (3)

Application Number Title Priority Date Filing Date
JP2025024871A Pending JP2025075067A (ja) 2021-08-31 2025-02-19 ロボットシステム、ロボットおよびロボットの動作方法
JP2025024873A Pending JP2025071193A (ja) 2021-08-31 2025-02-19 ロボットの動作方法およびプログラム
JP2025024878A Pending JP2025071194A (ja) 2021-08-31 2025-02-19 ロボットシステム、ロボットおよびロボットの動作方法

Country Status (6)

Country Link
US (1) US20240424672A1 (enExample)
EP (1) EP4397452A4 (enExample)
JP (4) JP7640411B2 (enExample)
KR (1) KR20240052813A (enExample)
CN (1) CN117836098A (enExample)
WO (1) WO2023033008A1 (enExample)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2025053255A1 (ja) * 2023-09-06 2025-03-13 川崎重工業株式会社 検査システム、検査方法およびロボットシステム
JP7654733B2 (ja) * 2023-09-06 2025-04-01 川崎重工業株式会社 検査システムおよび検査方法
JP7707249B2 (ja) * 2023-09-06 2025-07-14 川崎重工業株式会社 検査システムおよび検査方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017019214A (ja) 2015-07-13 2017-01-26 横浜ゴム株式会社 印刷装置
JP2019049509A (ja) 2017-09-12 2019-03-28 日立オートモティブシステムズ株式会社 表面検査装置及び表面検査方法

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3172287B2 (ja) * 1992-11-09 2001-06-04 マツダ株式会社 塗膜欠陥検出装置
JP3320858B2 (ja) * 1993-10-15 2002-09-03 マツダ株式会社 表面検査における撮像範囲検出方法
JP2007054759A (ja) * 2005-08-25 2007-03-08 Sharp Corp 液滴吐出方法および液滴吐出装置
JP5912627B2 (ja) 2012-02-14 2016-04-27 川崎重工業株式会社 撮像検査装置ならびにその制御装置および制御方法

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017019214A (ja) 2015-07-13 2017-01-26 横浜ゴム株式会社 印刷装置
JP2019049509A (ja) 2017-09-12 2019-03-28 日立オートモティブシステムズ株式会社 表面検査装置及び表面検査方法

Also Published As

Publication number Publication date
JP2025071193A (ja) 2025-05-02
JP2025071194A (ja) 2025-05-02
EP4397452A4 (en) 2025-09-10
US20240424672A1 (en) 2024-12-26
JP2025075067A (ja) 2025-05-14
CN117836098A (zh) 2024-04-05
KR20240052813A (ko) 2024-04-23
WO2023033008A1 (ja) 2023-03-09
EP4397452A1 (en) 2024-07-10
JP2023034483A (ja) 2023-03-13

Similar Documents

Publication Publication Date Title
JP2025071194A (ja) ロボットシステム、ロボットおよびロボットの動作方法
US5887122A (en) Tracking control method for robot with weaving action
JP6622775B2 (ja) 計測システム
JP6622772B2 (ja) 計測システム
JP7333821B2 (ja) 改善されたツーリング経路生成を伴う産業ロボット装置、及び改善されたツーリング経路に従って産業ロボット装置を動作させる方法
US11059172B2 (en) Control apparatus and robot system
US20210107135A1 (en) Teaching Method
JP6939104B2 (ja) 制御装置、ロボットシステムおよびロボット制御方法
JP7414851B2 (ja) ロボットの制御装置、ロボットシステム、制御方法、及びコンピュータプログラム
JP2018111155A (ja) ロボット制御装置、ロボット、及びロボットシステム
CN107790313A (zh) 控制装置、机器人及机器人系统
JPH10264060A (ja) 塗装ロボットのティーチング装置
JP7249242B2 (ja) シーリングロボット
CN110962137A (zh) 控制装置、机器人系统及机器人
JP2023034483A5 (enExample)
CN110962136B (zh) 控制装置以及机器人系统
US12263604B2 (en) Control method for robot system and robot system
CN116897099B (zh) 根据传感器的输出生成示教点的示教点生成装置以及示教点生成方法
JP2770570B2 (ja) 溶接用ロボット
JP2654206B2 (ja) タッチアップ方法
JPH0889859A (ja) 塗装用ロボットの動作教示方法及び装置
CN113400300B (zh) 用于机器人末端的伺服系统及其控制方法
JP7464224B2 (ja) レシプロ塗装装置
JP7311971B2 (ja) ロボット制御装置及びロボット制御方法
WO2024157608A1 (ja) ウィービング制御方法、溶接制御装置、溶接システム、プログラムおよび溶接方法

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20240612

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20240906

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20241008

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20241125

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: 20250121

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20250220

R150 Certificate of patent or registration of utility model

Ref document number: 7640411

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150