TW202315730A - 機器人系統 - Google Patents

機器人系統 Download PDF

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Publication number
TW202315730A
TW202315730A TW111126929A TW111126929A TW202315730A TW 202315730 A TW202315730 A TW 202315730A TW 111126929 A TW111126929 A TW 111126929A TW 111126929 A TW111126929 A TW 111126929A TW 202315730 A TW202315730 A TW 202315730A
Authority
TW
Taiwan
Prior art keywords
torque
time
series data
robot system
reducer
Prior art date
Application number
TW111126929A
Other languages
English (en)
Chinese (zh)
Inventor
藤岡直幹
若林一貴
巣山慶太
Original Assignee
日商發那科股份有限公司
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 日商發那科股份有限公司 filed Critical 日商發那科股份有限公司
Publication of TW202315730A publication Critical patent/TW202315730A/zh

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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—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • 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
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/163—Program controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1653—Program controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G01M13/02—Gearings; Transmission mechanisms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/06—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with parallel axes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/01—Monitoring wear or stress of gearing elements, e.g. for triggering maintenance
    • F16H2057/018—Detection of mechanical transmission failures
    • 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
    • G05B2219/40599—Force, torque sensor integrated in joint

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
TW111126929A 2021-07-28 2022-07-18 機器人系統 TW202315730A (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
WOPCT/JP2021/027965 2021-07-28
PCT/JP2021/027965 WO2023007634A1 (ja) 2021-07-28 2021-07-28 ロボットシステム

Publications (1)

Publication Number Publication Date
TW202315730A true TW202315730A (zh) 2023-04-16

Family

ID=85087700

Family Applications (1)

Application Number Title Priority Date Filing Date
TW111126929A TW202315730A (zh) 2021-07-28 2022-07-18 機器人系統

Country Status (6)

Country Link
US (1) US20240278428A1 (https=)
JP (1) JP7772797B2 (https=)
CN (1) CN117651632A (https=)
DE (1) DE112021007501T5 (https=)
TW (1) TW202315730A (https=)
WO (1) WO2023007634A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2025025084A (ja) * 2023-08-08 2025-02-21 ニデックドライブテクノロジー株式会社 制御ユニット、駆動装置、および制御方法

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* Cited by examiner, † Cited by third party
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JPS5927440U (ja) 1982-08-12 1984-02-20 株式会社明電舎 シヤシダイナモメ−タ
JP2001341092A (ja) * 2000-06-02 2001-12-11 Sharp Corp 多関節ロボットおよび多関節ロボットの位置教示方法
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JP2006077980A (ja) * 2004-08-11 2006-03-23 Nabtesco Corp 産業ロボットの関節部に取り付けられる減速機
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CN112805536A (zh) * 2018-09-24 2021-05-14 株式会社尼康 编码器、驱动装置、机器人装置、控制系统及其控制方法
JP2020053550A (ja) * 2018-09-27 2020-04-02 株式会社荏原製作所 研磨装置、研磨方法、及び機械学習装置
JP7353755B2 (ja) * 2018-12-17 2023-10-02 キヤノン株式会社 ロボットシステム、ロボットシステムの制御方法、ロボットシステムを用いた物品の製造方法、検出装置、検出装置の制御方法、駆動装置、駆動装置の制御方法、制御プログラム及び記録媒体
JP7358049B2 (ja) * 2019-01-11 2023-10-10 キヤノン株式会社 制御方法、プログラム、記録媒体、ロボットシステム、および物品の製造方法
JP7391523B2 (ja) * 2019-03-22 2023-12-05 キヤノン株式会社 制御装置、ロボットシステム、制御方法、物品の製造方法、プログラム、及び記録媒体
JP7268722B2 (ja) * 2019-03-27 2023-05-08 日産自動車株式会社 異常検知装置、及び異常検知方法
WO2020246005A1 (ja) * 2019-06-06 2020-12-10 三菱電機株式会社 パラメータ算出装置、ロボット制御システム、ロボットシステム
JP7443013B2 (ja) * 2019-10-04 2024-03-05 株式会社ダイヘン ロボット制御装置

Also Published As

Publication number Publication date
WO2023007634A1 (ja) 2023-02-02
CN117651632A (zh) 2024-03-05
US20240278428A1 (en) 2024-08-22
JPWO2023007634A1 (https=) 2023-02-02
JP7772797B2 (ja) 2025-11-18
DE112021007501T5 (de) 2024-04-04

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