JP7658071B2 - ロボットの制御方法およびロボットシステム - Google Patents

ロボットの制御方法およびロボットシステム Download PDF

Info

Publication number
JP7658071B2
JP7658071B2 JP2020159559A JP2020159559A JP7658071B2 JP 7658071 B2 JP7658071 B2 JP 7658071B2 JP 2020159559 A JP2020159559 A JP 2020159559A JP 2020159559 A JP2020159559 A JP 2020159559A JP 7658071 B2 JP7658071 B2 JP 7658071B2
Authority
JP
Japan
Prior art keywords
belt
distance
robot
imaging device
workpiece
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
JP2020159559A
Other languages
English (en)
Japanese (ja)
Other versions
JP2022052995A (ja
JP2022052995A5 (https=
Inventor
雅人 横田
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 JP2020159559A priority Critical patent/JP7658071B2/ja
Priority to US17/482,546 priority patent/US11969905B2/en
Priority to CN202111113813.8A priority patent/CN114249084B/zh
Publication of JP2022052995A publication Critical patent/JP2022052995A/ja
Publication of JP2022052995A5 publication Critical patent/JP2022052995A5/ja
Application granted granted Critical
Publication of JP7658071B2 publication Critical patent/JP7658071B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0093—Program-controlled manipulators co-operating with conveyor means
    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program 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
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/905—Control arrangements
    • 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—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/4182—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0233—Position of the article
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0283—Position of the load carrier
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/041—Camera
    • 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
    • G05B2219/39102—Manipulator cooperating with conveyor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)
JP2020159559A 2020-09-24 2020-09-24 ロボットの制御方法およびロボットシステム Active JP7658071B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2020159559A JP7658071B2 (ja) 2020-09-24 2020-09-24 ロボットの制御方法およびロボットシステム
US17/482,546 US11969905B2 (en) 2020-09-24 2021-09-23 Control method for robot, and robot system
CN202111113813.8A CN114249084B (zh) 2020-09-24 2021-09-23 机器人的控制方法及机器人系统

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2020159559A JP7658071B2 (ja) 2020-09-24 2020-09-24 ロボットの制御方法およびロボットシステム

Publications (3)

Publication Number Publication Date
JP2022052995A JP2022052995A (ja) 2022-04-05
JP2022052995A5 JP2022052995A5 (https=) 2023-08-30
JP7658071B2 true JP7658071B2 (ja) 2025-04-08

Family

ID=80739815

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2020159559A Active JP7658071B2 (ja) 2020-09-24 2020-09-24 ロボットの制御方法およびロボットシステム

Country Status (3)

Country Link
US (1) US11969905B2 (https=)
JP (1) JP7658071B2 (https=)
CN (1) CN114249084B (https=)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011140084A (ja) 2010-01-06 2011-07-21 Seiko Epson Corp 制御装置、ロボット、ロボットシステム及びロボットの追従方法
WO2015079740A1 (ja) 2013-11-28 2015-06-04 三菱電機株式会社 ロボットシステムおよびロボットシステムの制御方法

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62100306A (ja) 1985-10-25 1987-05-09 Kobe Steel Ltd ベルトコンベアの蛇行制御装置
JP3278952B2 (ja) * 1993-01-29 2002-04-30 ソニー株式会社 電子部品の取り出し方法
JP2007183368A (ja) * 2006-01-05 2007-07-19 Noritsu Koki Co Ltd 写真処理装置
CN201438107U (zh) * 2009-06-03 2010-04-14 北京斯凯尔工业科技有限公司 皮带跑偏监测装置
CN204689038U (zh) * 2015-05-05 2015-10-07 中国矿业大学(北京) 基于视觉的皮带跑偏检测装置
JP6793179B2 (ja) * 2016-02-24 2020-12-02 芝浦メカトロニクス株式会社 錠剤印刷装置及び錠剤印刷方法
JP6701042B2 (ja) * 2016-09-20 2020-05-27 株式会社ブリヂストン コンベヤベルトの伸び測定装置およびコンベヤベルトの伸び測定方法
JP6903922B2 (ja) * 2017-01-18 2021-07-14 横浜ゴム株式会社 コンベヤベルトのモニタリングシステム
JP6659744B2 (ja) * 2018-01-25 2020-03-04 ファナック株式会社 ロボットシステム
EP3520971A1 (en) * 2018-02-06 2019-08-07 ABB Schweiz AG Assembling parts in an assembly line
JP6859967B2 (ja) * 2018-02-16 2021-04-14 オムロン株式会社 コンベアトラッキングシステムおよびキャリブレーション方法
JP7093255B2 (ja) * 2018-07-09 2022-06-29 Juki株式会社 実装装置及び実装方法
CN110733034B (zh) * 2018-07-20 2022-10-21 台达电子工业股份有限公司 机械手臂校正方法、机械手臂校正系统以及输送系统

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011140084A (ja) 2010-01-06 2011-07-21 Seiko Epson Corp 制御装置、ロボット、ロボットシステム及びロボットの追従方法
WO2015079740A1 (ja) 2013-11-28 2015-06-04 三菱電機株式会社 ロボットシステムおよびロボットシステムの制御方法

Also Published As

Publication number Publication date
US20220088790A1 (en) 2022-03-24
JP2022052995A (ja) 2022-04-05
CN114249084B (zh) 2024-08-09
US11969905B2 (en) 2024-04-30
CN114249084A (zh) 2022-03-29

Similar Documents

Publication Publication Date Title
US8306660B2 (en) Device and a method for restoring positional information of robot
JP2000071190A (ja) ワーク搬送システム
JP4303411B2 (ja) トラッキング方法、及びトラッキングシステム
JP7658071B2 (ja) ロボットの制御方法およびロボットシステム
JP2002280440A (ja) 検査装置における回転ステージ自動位置補正制御方法
JP2011018828A (ja) 位置認識装置及び位置認識方法並びに位置決め装置
JP3511551B2 (ja) ロボットアームの状態検出方法および検出システム
JP2001300875A (ja) ロボットシステム
JP7600600B2 (ja) ベルトコンベアキャリブレーション方法、ロボット制御方法、ロボットシステム、プログラム
CN115803584A (zh) 取得工件表面的三维信息及工件的二维图像的拍摄装置
JPH09222913A (ja) ロボットの教示位置補正装置
TW202221439A (zh) 機器人系統及滑動判定方法
KR100573471B1 (ko) 디지털 이미지를 이용한 웨이퍼 얼라인 방법
JPH1011146A (ja) 移動体の停止姿勢補正装置
WO2021084772A1 (ja) 位置測定方法
JP7682444B2 (ja) 走行車システム、及びマーカのズレ量検出方法
JP5353718B2 (ja) 制御装置、ロボット、ロボットシステム及びロボットの追従制御方法
JP2008260599A (ja) 半導体ウェハ搬送システムの搬送面調整方法及びそれを使った半導体ウェハ搬送システム及び半導体製造装置
JP5118896B2 (ja) 搬送ロボットシステム
JPH1177562A (ja) 移動ロボット
JPH01303737A (ja) 位置決め装置
JP3779118B2 (ja) 撮像装置におけるカメラの位置ずれ検出方法、撮像装置におけるカメラの傾き検出方法、および、撮像装置におけるカメラの移動量補正方法
JP7578973B2 (ja) 搬送システム検査装置
KR102948637B1 (ko) 캘리브레이션 타겟 조준 제어 시스템 및 방법
JP2001232584A (ja) 移動ロボット

Legal Events

Date Code Title Description
RD04 Notification of resignation of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7424

Effective date: 20210916

RD03 Notification of appointment of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7423

Effective date: 20211108

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20230822

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20230822

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20240327

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20240402

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20240528

A02 Decision of refusal

Free format text: JAPANESE INTERMEDIATE CODE: A02

Effective date: 20240820

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20241118

A911 Transfer to examiner for re-examination before appeal (zenchi)

Free format text: JAPANESE INTERMEDIATE CODE: A911

Effective date: 20241126

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: 20250225

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20250310

R150 Certificate of patent or registration of utility model

Ref document number: 7658071

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150