TWI701116B - 機械人系統及連接方法 - Google Patents

機械人系統及連接方法 Download PDF

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Publication number
TWI701116B
TWI701116B TW108144053A TW108144053A TWI701116B TW I701116 B TWI701116 B TW I701116B TW 108144053 A TW108144053 A TW 108144053A TW 108144053 A TW108144053 A TW 108144053A TW I701116 B TWI701116 B TW I701116B
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TW
Taiwan
Prior art keywords
cable
connector
action
force
robot
Prior art date
Application number
TW108144053A
Other languages
English (en)
Chinese (zh)
Other versions
TW202021757A (zh
Inventor
上田淳也
Original Assignee
日商精工愛普生股份有限公司
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Application filed by 日商精工愛普生股份有限公司 filed Critical 日商精工愛普生股份有限公司
Publication of TW202021757A publication Critical patent/TW202021757A/zh
Application granted granted Critical
Publication of TWI701116B publication Critical patent/TWI701116B/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
    • B25J9/16—Program controls
    • B25J9/1679—Program 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
    • B25J9/00—Program-controlled manipulators
    • B25J9/0081—Program-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
    • 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—Program-controlled manipulators
    • B25J9/08—Program-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—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Program-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/1015—Program-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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1602—Program 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program 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—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
    • 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)
TW108144053A 2018-12-07 2019-12-03 機械人系統及連接方法 TWI701116B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018-230437 2018-12-07
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 (2)

Publication Number Publication Date
TW202021757A TW202021757A (zh) 2020-06-16
TWI701116B true TWI701116B (zh) 2020-08-11

Family

ID=70970604

Family Applications (1)

Application Number Title Priority Date Filing Date
TW108144053A TWI701116B (zh) 2018-12-07 2019-12-03 機械人系統及連接方法

Country Status (4)

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

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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
JP7579668B2 (ja) * 2020-10-07 2024-11-08 川崎重工業株式会社 ロボットシステム及びその制御方法
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
TWI911378B (zh) * 2021-02-18 2026-01-11 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
DE112022007229T5 (de) * 2022-07-06 2025-03-20 Fanuc Corporation Robotersystem und Robotersteuervorrichtung
US12409551B2 (en) * 2022-12-12 2025-09-09 Southeast University Cable force control method applicable to time-varying configuration
CN121374654B (zh) * 2025-12-25 2026-03-24 山东大学 一种机械臂线缆装配方法及系统

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JP2016133902A (ja) * 2015-01-16 2016-07-25 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
WO2018186134A1 (ja) * 2017-04-03 2018-10-11 ソニー株式会社 ロボット装置、電子機器の製造装置及び製造方法
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

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CN104602873B (zh) * 2012-09-04 2016-07-06 株式会社安川电机 机器人的控制参数调整方法、机器人系统及机器人控制装置
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
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
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JP2016133902A (ja) * 2015-01-16 2016-07-25 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
WO2018186134A1 (ja) * 2017-04-03 2018-10-11 ソニー株式会社 ロボット装置、電子機器の製造装置及び製造方法
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

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Publication number Publication date
TW202021757A (zh) 2020-06-16
JP7167681B2 (ja) 2022-11-09
CN111283660A (zh) 2020-06-16
CN111283660B (zh) 2023-06-13
US20200180157A1 (en) 2020-06-11
JP2020089961A (ja) 2020-06-11
US11230010B2 (en) 2022-01-25

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