WO2016186060A1 - Système robotique et appareil robotique - Google Patents

Système robotique et appareil robotique Download PDF

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Publication number
WO2016186060A1
WO2016186060A1 PCT/JP2016/064401 JP2016064401W WO2016186060A1 WO 2016186060 A1 WO2016186060 A1 WO 2016186060A1 JP 2016064401 W JP2016064401 W JP 2016064401W WO 2016186060 A1 WO2016186060 A1 WO 2016186060A1
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WIPO (PCT)
Prior art keywords
work
robot
arm mechanism
articulated arm
respect
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Application number
PCT/JP2016/064401
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English (en)
Japanese (ja)
Inventor
光 佐野
尹　祐根
順央 川口
眞二 栗原
宗祐 ▲高▼▲瀬▼
Original Assignee
ライフロボティクス株式会社
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Application filed by ライフロボティクス株式会社 filed Critical ライフロボティクス株式会社
Publication of WO2016186060A1 publication Critical patent/WO2016186060A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators

Definitions

  • Embodiments described herein relate generally to a robot system and a robot apparatus.
  • the linear motion telescopic arm mechanism realized by the inventor does not have an elbow joint like the conventional vertical articulated arm mechanism, and there is no singular point. Is possible. For example, there is a situation in which a robot installed in the vicinity of a work area on a line by a belt conveyor that transports a workpiece and a worker in the vicinity complete one work. In such a situation, a situation in which the relative position of the worker with respect to the work area of the line or the robot is changed by the worker or dynamically due to the physique or physical constraints of the worker.
  • the purpose is to deal with changes in the relative positions of the work area and the robot in a short time.
  • the robot system includes a robot apparatus provided with a multi-joint arm mechanism disposed in the vicinity of a transfer apparatus or work table for transferring a workpiece.
  • a hand effector is attached to the arm tip of the articulated arm mechanism.
  • the relative position of the robot apparatus with respect to the transfer apparatus or the work table is detected by a position detection unit.
  • the storage unit stores a plurality of work programs that prescribe the operations of the articulated arm mechanism and the hand effector in association with a plurality of relative positions.
  • the robot control unit selectively reads out a work program associated with the relative position detected by the position detection unit from the storage unit, and performs operations of the articulated arm mechanism and the hand effector according to the read work program. Control.
  • FIG. 1 is an external perspective view of the robot system according to the present embodiment.
  • FIG. 2 is a plan view of the robot system of FIG.
  • FIG. 3 is a front view of the robot system of FIG. 4 is an external perspective view of the robot apparatus of FIG.
  • FIG. 5 is a block diagram of the robot system of FIG.
  • FIG. 6 is a diagram showing a file structure of a plurality of work programs stored in the storage unit of FIG.
  • FIG. 7 is a diagram showing a description example of the work program D10 of FIG.
  • FIG. 8 is a plan view showing a hand trajectory according to the work program D10 of FIG.
  • FIG. 9 is a plan view showing a hand trajectory according to the work program D3 of FIG. FIG.
  • FIG. 10 is a plan view showing a hand trajectory according to the work program D13 of FIG.
  • FIG. 11 is a block diagram of a robot system according to the first modification of the present embodiment.
  • 12 is a diagram showing a display example of a work program list displayed on the display unit of the pendant device of FIG.
  • FIG. 13 is a block diagram of a robot system according to the second modification of the present embodiment.
  • FIG. 14 is a diagram showing a display example of a work program list displayed on the display unit of the pendant device of FIG.
  • the robot system according to the present embodiment is a system for a robot apparatus and an operator arranged in the vicinity of a work area to collaborate and perform one work for a specific work in the work area.
  • the robot apparatus operates in accordance with a work program corresponding to the relative position among the three persons among the robot apparatus, the work area, and the worker.
  • a boxing operation of a work (tube) transported on a transport line is a system in which a robot apparatus and an operator arranged in the vicinity of the transport line cooperate with each other. . Therefore, in the present embodiment, the work area is set on the transfer line for transferring the workpiece.
  • the boxing operation is roughly divided into a first step for picking a workpiece conveyed on the conveyance line, a second step for boxing the picked workpiece, and a third step for returning the boxed workpiece to the conveyance line.
  • the second step is performed by an operator, and a robot apparatus is arranged to support the operator's work.
  • the robot apparatus is arranged in accordance with the relative positions among the robot apparatus, the transfer line, and the operator. Responsible for the process, the third process, or both processes.
  • components having substantially the same function and configuration are denoted by the same reference numerals, and redundant description will be given only when necessary.
  • FIG. 1 is an external perspective view of the robot system according to the present embodiment.
  • FIG. 2 is a plan view of the robot system of FIG.
  • FIG. 3 is a front view of the robot system of FIG.
  • the relative position of the worker with respect to the conveyor device 5 is defined by the relative position of the carry-out shooter 60 and the relative position of the carry-in shooter 70 with respect to the conveyor device 5. That is, the robot system according to the present embodiment includes the robot device 1, the conveyor device 5, the carry-out shooter 60, and the carry-in shooter 70.
  • the conveyor device 5 has a function of continuously conveying a plurality of first and second workpieces 300 and 400.
  • the first workpiece 300 is, for example, a liquid tube having flexibility.
  • the second workpiece 400 is a box or the like in which the first workpiece 300 is packed.
  • the conveyor device 5 is arranged in a straight line for conveying the first and second workpieces 300 and 400 having different attributes such as shape, size, weight, material, and flexibility along a straight line. It has a line 51.
  • the conveyance line 51 conveys the first and second workpieces 300 and 400 placed on the conveyance line 51 at a conveyance speed Vline set in advance by a user or the like.
  • the conveyor device 5 is provided with a plurality of, here three, docking stations 81, 82, 83 for fixing the robot device 1 to the conveyor device 5 at a predetermined position and orientation.
  • a plurality of, here, three photoelectric sensors 6-1 6-2, and 6 are provided on the frame side surface of the conveyor device 5 in order to detect a position where the carry-out shooter (carry-out tray) 60 is attached to the conveyor device 5.
  • the positions where the photoelectric sensors 6-1, 6-2, 6-3 are provided correspond to the relative positions B1, B2, B3 of the carry-out shooter 60 with respect to the conveyor device 5, respectively.
  • the photoelectric sensors 7-1, 7-2, 7-3 correspond to the relative positions C1, C2, C3 of the carry-in shooter 70 with respect to the conveyor device 5, respectively.
  • the photoelectric sensors 6-1, 6-2, 6-3, 7-1, 7-2, and 7-3 are arranged so that the optical axis is parallel to the width direction of the transport line 51 and outward. .
  • an operator is arranged on the opposite side of the robot apparatus 1 with the conveyor apparatus 5 interposed therebetween. It stands by at various positions in the vicinity of the conveyor device 5 according to personal circumstances such as the physique or life of the worker.
  • the combination of the attachment position of the carry-out shooter 60 with respect to the conveyor device 5 and the attachment position of the carry-in shooter 70 with respect to the conveyor device 5 changes so that the operator can easily work according to the standby position.
  • the combination of the mounting positions of the carry-out shooter 60 and the carry-in shooter 70 with respect to the conveyor device 5 corresponds to the worker's work position without the need for directly measuring the worker's work position, or the worker's work. It can be said that the position is estimated.
  • the docking stations 81, 82, and 83 are provided at predetermined intervals on one side surface of the frame of the conveyor device 5 with the conveyance line 51 interposed therebetween.
  • the photoelectric sensors 6-1, 6-2, and 6-3 are provided on the other side of the frame of the conveyor device 5 with a predetermined distance from each other with the conveyance line 51 interposed therebetween.
  • the photoelectric sensors 7-1, 7-2, and 7-3 are provided downstream of the photoelectric sensors 6-1, 6-2, and 6-3 with respect to the position along the transport line 51.
  • Docking stations 81, 82, 83 are jigs for fixing the robot apparatus 1 to a predetermined position with respect to the conveyor apparatus 5.
  • the docking stations 81, 82, 83 are provided so as to fix the robot apparatus 1 at relative positions A1, A2, A3 with respect to the conveyor apparatus 5.
  • the docking stations 81, 82, 83 include a fixing holder configured in an arc shape in order to fix the robot apparatus 1 at the cylindrical portion of the first support 11 a.
  • Fitting claws (hooks) are formed on both edges of the fixed holder.
  • the fitting claw has a shape that fits into a recessed portion that receives the fitting claw provided on the cylindrical portion of the first support 11 a of the robot apparatus 1.
  • the robot apparatus 1 is fixed to the docking stations 81, 82, and 83 by fitting the fitting claws of the docking stations 81, 82, and 83 into the fitting claw receiving portions of the first support 11a.
  • the three orthogonal axes (Xb, Yb, Zb) of the robot coordinate system ⁇ b of the robot apparatus 1 fixed to the docking stations 81, 82, 83 are always fixed to the conveyor apparatus 5.
  • the docking stations 81, 82, 83 have a function of supplying commercial power to the robot apparatus 1.
  • the docking stations 81, 82, 83 are provided with a power supply outlet (receptacle) in the center of the fixed holder, for example.
  • the receptacle is connected to an external commercial power source.
  • a connector (jack) for power supply is provided at a position corresponding to the receptacle in the cylindrical portion of the first support 11a of the robot apparatus 1.
  • the jack of the robot apparatus 1 is connected to the receptacle of the docking station 81.
  • the robot apparatus 1 and the docking station 81 are energized, and commercial power is supplied from the external power source via the receptacle.
  • a connector for connecting an external air pump or air compressor with an air tube is provided in the docking station 81.
  • an energization detection sensor that detects energization of the commercial power supply to the robot apparatus 1 respectively.
  • 8-1, 8-2, 8-3 are equipped.
  • an energization detection signal is output from the energization detection sensor corresponding to the docking station where the robot apparatus 1 is actually docked to the position information acquisition unit 105 described later. .
  • photoelectric sensors 6-1, 6-2, 6-3, 7-1, 7-2, 7-3 are arranged in a line parallel to the line on the side surface of the frame of the conveyor device 5.
  • the photoelectric sensors 6-1, 6-2, 6-3, 7-1, 7-2, 7-3 are, for example, a light projecting unit and a light projecting from the light projecting unit, here the conveyor device 5
  • the carry-out shooter 60 is formed in a plate shape having an L-shaped cross section, for example.
  • the carry-out shooter 60 is disposed so as to be inclined outward and outward from the conveyance line 51.
  • the carry-out shooter 60 has a function of transporting the first work (tube container product) 300 picked by the hand device 3 and released to the outside of the transport line 51 from the transport line 51 to the hand of the operator below.
  • the relative position where the carry-out shooter 60 is arranged with respect to the conveyor device 5 can be detected by alternative outputs of the photoelectric sensors 6-1, 6-2, 6-3.
  • an arrangement detection signal is output to the position information acquisition unit 105 described later from the photoelectric sensor corresponding to the position where the carry-out shooter 60 is actually arranged.
  • the carry-in shooter 70 is formed in a plate shape having an L-shaped cross section, for example.
  • the carry-in shooter 70 is arranged to be inclined outward and outward from the conveyance line 51.
  • the second work (the cosmetic box that stores the tube container product) 400 is loaded into the carry-in shooter 70. It descends to a predetermined loading position due to the inclination.
  • a rectangular opening 97 is opened at a position corresponding to the carry-in position on the bottom surface of the carry-in shooter 70.
  • a photoelectric sensor 95 is provided immediately below.
  • the relative position where the carry-in shooter 70 is arranged with respect to the conveyor device 5 can be detected by alternative outputs of the photoelectric sensors 7-1, 7-2, 7-3.
  • an arrangement detection signal is output to the position information acquisition unit 105 described later from the photoelectric sensor corresponding to the position where the carry-in shooter 70 is actually arranged.
  • a first workpiece transfer reference line and a second workpiece transfer reference line are previously provided in parallel with the line center line. It has been decided.
  • the first workpiece transfer reference line is set on the loading / unloading shooter 60, 70 side from the line center line
  • the second workpiece transfer reference line is set on the docking station 81, 82, 83 side from the line center line.
  • the first workpiece conveyance reference line is a target line on the conveyance line 51 on which the first workpiece 300 is placed
  • the second workpiece conveyance reference line is a target line on which the second workpiece 400 is placed.
  • the speed sensor 91 measures the transport speed of the transport line 51.
  • an arbitrary sensor such as a rotary / linear encoder is applied.
  • the passage detection sensor 93 is provided on the unloading / loading shooter 60, 70 side of the conveyor device 5 and upstream of the unloading shooter 60, and passes through a predetermined position of the first work 300 placed on the transfer line 51. Is detected.
  • a photoelectric sensor in which a light projecting unit and a light receiving unit that receives light projected from the light projecting unit and reflected from the work is integrated as the passage detection sensor 93.
  • the passage detection sensor 93 can detect a workpiece conveyed on the conveyance line 51 and has a sensitivity distance for not detecting an interference object outside the conveyance line 51.
  • the passage detection sensor 93 has a maximum sensitivity distance equivalent to the entire width of the transport line 51.
  • the passage detection sensor 93 when the first and second workpiece conveyance reference lines are provided on the conveyance line 51 and only the first workpiece 300 conveyed on the first workpiece conveyance reference line is to be detected, the passage detection sensor 93 has a sensitivity distance for detecting the first workpiece 300 conveyed on the first workpiece conveyance reference line and not detecting the second workpiece 400 conveyed on the second workpiece conveyance reference line.
  • the passage detection sensor 93 is set so that 1 ⁇ 2 of the entire width of the transport line 51 is the maximum sensitivity distance.
  • the robot apparatus 1 has an articulated arm mechanism 200.
  • one of the plurality of joints is configured with a linear motion extendable joint.
  • FIG. 4 is an external perspective view of the robot apparatus 1 of FIG.
  • the robot apparatus 1 includes a substantially cylindrical base portion 10 and an arm portion 2 connected to the base portion 10.
  • a wrist part 4 is attached to the tip of the arm part 2.
  • the wrist part 4 is provided with an adapter (not shown).
  • the adapter is provided in a rotating part of a sixth rotating shaft RA6 described later.
  • the hand device 3 is attached via the adapter of the wrist part 4.
  • the robot apparatus 1 has a plurality of joints, here six joints J1, J2, J3, J4, J5 and J6.
  • the plurality of joint portions J1, J2, J3, J4, J5, and J6 are sequentially arranged from the base portion 10.
  • the first, second, and third joint portions J1, J2, and J3 are referred to as the root three axes, and the fourth, fifth, and sixth joint portions J4, J5, and J6 change the posture of the hand device 3.
  • the wrist 4 has fourth, fifth, and sixth joints J4, J5, and J6.
  • At least one of the joint portions J1, J2, and J3 constituting the base three axes is a linear motion expansion / contraction joint.
  • the third joint portion J3 is configured as a linear motion expansion / contraction joint, particularly a joint portion having a relatively long expansion / contraction distance.
  • the arm part 2 is a main component constituting the third joint part J3.
  • the first joint portion J1 is a torsion joint centered on the first rotation axis RA1 supported, for example, perpendicularly to the base surface.
  • the second joint portion J2 is a bending joint centered on the second rotation axis RA2 arranged perpendicular to the first rotation axis RA1.
  • the third joint portion J3 is a joint in which the arm portion 2 expands and contracts linearly around a third axis (moving axis) RA3 arranged perpendicular to the second rotation axis RA2.
  • the fourth joint portion J4 is a torsion joint centered on the fourth rotation axis RA4 that coincides with the third movement axis RA3, and the fifth joint portion J5 is a fifth rotation axis RA5 orthogonal to the fourth rotation axis RA4. It is a bending joint centered around.
  • the sixth joint portion J6 is a bending joint centered on the sixth rotation axis RA6 that is perpendicular to the fourth rotation axis RA4 and perpendicular to the fifth rotation axis RA5.
  • the arm support (first support) 11a forming the base 10 has a cylindrical hollow structure formed around the first rotation axis RA1 of the first joint J1.
  • the first joint portion J1 is attached to a fixed base (not shown).
  • the first support 11 a rotates along with the turning of the arm portion 2.
  • the first support 11a may be fixed to the ground plane.
  • the arm part 2 is provided in a structure that turns independently of the first support 11a.
  • a second support part 11b is connected to the upper part of the first support 11a.
  • the second support portion 11b has a hollow structure that is continuous with the first support portion 11a.
  • One end of the second support portion 11b is attached to the rotating portion of the first joint portion J1.
  • the other end of the second support portion 11b is opened, and the third support portion 11c is fitted so as to be rotatable on the second rotation axis RA2 of the second joint portion J2.
  • the 3rd support part 11c has a hollow structure which consists of a scale-like exterior which is connected to the 1st support part 11a and the 2nd support part.
  • the third support portion 11c is accommodated in the second support portion 11b and sent out as the second joint portion J2 is bent and rotated.
  • the rear part of the arm part 2 constituting the linear joint part J3 (third joint part J3) of the robot apparatus 1 is housed in a hollow structure in which the first support part 11a and the second support part 11b are continuous by contraction thereof. .
  • the third support portion 11c is fitted to the lower end portion of the second support portion 11b so as to be rotatable about the second rotation axis RA2 at the lower end portion of the second support portion 11b.
  • a second joint portion J2 as a bending joint portion around the second rotation axis RA2 is configured.
  • the arm portion 2 rotates in a vertical direction around the second rotation axis RA2 of the second joint portion J2 together with the wrist portion 4 and the hand device 3, that is, performs a hoisting operation.
  • the fourth joint portion J4 is a torsional joint having a fourth rotation axis RA4 that typically coincides with the arm central axis along the expansion / contraction direction of the arm portion 2, that is, the third movement axis RA3 of the third joint portion J3. .
  • the fifth joint J5 is a bending joint having a fifth rotation axis RA5 orthogonal to the fourth rotation axis RA4 of the fourth joint J4.
  • the fifth joint portion J5 rotates, it rotates up and down together with the hand device 3 from the fifth joint portion J5 to the tip.
  • the sixth joint J6 is a bending joint having a sixth rotation axis RA6 perpendicular to the fourth rotation axis RA4 of the fourth joint J4 and perpendicular to the fifth rotation axis RA5 of the fifth joint J5.
  • the hand device 3 turns left and right.
  • the hand device 3 attached to the adapter of the wrist portion 4 includes the first, second, and third joint portions J1. J2. It is moved to an arbitrary position by J3, and is arranged in an arbitrary posture by the fourth, fifth, and sixth joint portions J4, J5, and J6.
  • the length of the linear motion expansion / contraction distance of the third joint portion J3 enables the hand device 3 to reach a wide range of objects from the proximity position of the base portion 10 to the remote position.
  • the third joint portion J3 is characterized by the length of the linear motion expansion / contraction distance realized by the linear motion expansion / contraction mechanism constituting the third joint portion J3.
  • the linear motion expansion / contraction mechanism has an arm part 2.
  • the arm unit 2 includes a first connection frame row 21 and a second connection frame row 22.
  • the first connected frame row 21 includes a plurality of first connected frames 23.
  • the 1st connection piece 23 is comprised by the substantially flat plate.
  • the front and rear first connecting pieces 23 are connected in a row so as to be freely bent by pins at the end portions of each other. Thereby, the 1st connection top row
  • the second linked frame row 22 includes a plurality of second linked frames 24.
  • the second connecting piece 24 is configured as a short groove having a U-shaped cross section.
  • the front and rear second connecting pieces 24 are connected in a row so as to be freely bent by pins at the bottom end portions of each other.
  • the second connecting piece row 22 can be bent inward, but cannot be bent outward.
  • the first first connected frame 23 in the first connected frame sequence 21 and the first second connected frame 24 in the second connected frame sequence 22 are connected by a connecting frame 27.
  • the connecting piece 27 has a shape obtained by combining the first connecting piece 23 and the second connecting piece 24.
  • the connecting piece 27 becomes the starting end, and the first and second connecting piece rows 21 and 22 are sent out from the opening of the third support portion 11c.
  • the first and second connection frame rows 21 and 22 are joined to each other near the opening of the third support 11c.
  • the joined state of the first and second connection frame rows 21 and 22 is maintained.
  • a columnar body having a certain rigidity is constituted by the first and second connecting piece rows 21 and 22 joined to each other and restrained from bending.
  • the columnar body refers to a columnar rod body in which the first connection frame row 21 is joined to the second connection frame row 22.
  • first and second connecting piece rows 21 and 22 are pulled back to the opening of the third support 11c.
  • the first and second connecting frame rows 21 and 22 constituting the columnar body are separated from each other inside the third support 11c.
  • the separated first and second connecting frame rows 21 and 22 are returned to a bendable state, bent inward in the same direction, and stored substantially in parallel inside the first support 11a.
  • the hand device 3 includes a hand main body 31, an air chuck 32, a gripping mechanism, and a suction mechanism.
  • the hand main body 31 has a prismatic shape, and an attachment portion is provided on an upper end surface thereof.
  • the hand device 3 is attached to the robot arm mechanism 200 via an attachment portion 30 of the hand main body 31 to an adapter provided on the wrist portion 4.
  • a parallel open / close type air chuck 32 is attached below the hand body 31.
  • the air chuck 32 includes a pair of movable parts (not shown).
  • the air chuck 32 is connected to a pressure pump (not shown) through two systems of air tubes.
  • a solenoid valve is interposed in each of the two air tubes.
  • the opening and closing of the electromagnetic valve is controlled by a robot control unit 106, which will be described later, so that the pair of movable units are moved in directions toward and away from each other.
  • a gripping mechanism and a suction mechanism are attached to the air chuck 32.
  • the gripping mechanism picks the first workpiece 300 by gripping.
  • the gripping mechanism includes a pair of gripping frames 34 attached to a pair of movable parts, a pair of gripping parts 35 that are opposed to grip the first workpiece 300 by the pair of gripping frames 34, and a pair of grips And a pair of bellows contact portions 36 attached to the portion 35.
  • the bellows contact portion 36 has a bellows shape formed of silicon rubber or the like, preferably a 1.5 step bellows shape.
  • the pair of movable parts When the pair of movable parts are moved in a direction approaching each other, the first workpiece 300 is sandwiched and grasped by the pair of grasping parts 35.
  • the contact surface of the bellows contact portion 36 attached to the pair of gripping portions 35 is in close contact with the surface of the first workpiece 300 due to the bellows structure.
  • the bellows contact portion 36 has a vacuum adsorption exhaust function.
  • Each of the pair of bellows contact portions 36 is connected to an air tube via an ejector structure.
  • Each air tube is connected to the above-described pressurizing pump.
  • a solenoid valve is interposed in each air tube.
  • the opening and closing of the electromagnetic valve is controlled by a robot control unit 106 described later.
  • the air in the space defined by the surface of the first workpiece 300 and the bellows contact portion 36 is opened by opening the electromagnetic valve in a state where the contact surfaces of the pair of bellows contact portions 36 are in close contact with the surface of the first workpiece 300. Suction is performed through the ejector structure, and negative pressure acts on the first workpiece 300.
  • the hand device 3 can adsorb while holding the first workpiece 300 by the bellows structure of the bellows contact portion 36 and the vacuum suction exhaust function. Thereby, even if it is the 1st workpiece
  • the gripping state of the first workpiece 300 is released by moving the pair of movable parts away from each other and turning off the vacuum suction / exhaust function.
  • the suction mechanism picks the second workpiece 400 by suction.
  • the suction mechanism includes a pair of suction frames 39 attached to the pair of movable parts, and a pair of suction parts 38 attached in a different direction from the pair of bellows contact parts 36 by the pair of suction frames 39.
  • the adsorbing portion 38 has a bellows shape molded by silicon rubber or the like, preferably a 1.5 step bellows shape.
  • the suction portion 38 is held by a pair of suction frames 39 such that the suction surfaces are on the same plane and the suction directions are parallel to each other.
  • the adsorption part 38 has a vacuum adsorption exhaust function.
  • Each of the pair of suction portions 38 is connected to the air tube via an ejector structure.
  • Each air tube is connected to the above-described pressurizing pump.
  • a solenoid valve is interposed in each air tube.
  • the opening and closing of the electromagnetic valve is controlled by a robot control unit 106 described later. Due to the movement of the robot arm mechanism 200, the suction surfaces of the pair of suction portions 38 are brought into close contact with the surface of the second workpiece 400.
  • the electromagnetic valve is opened in a state where the suction surface is in close contact with the surface of the second workpiece 400, the air in the space defined by the surface of the second workpiece 400 and the suction portion 38 is sucked through the ejector structure, Negative pressure acts on the second workpiece 400. Thereby, the second workpiece 400 is adsorbed by the adsorbing portion 38. Thereby, the hand apparatus 3 can pick the 2nd workpiece
  • the suction state of the second workpiece 400 is released by turning off the vacuum suction / exhaust function of the suction portion 38.
  • FIG. 5 is a block diagram of the robot system of FIG.
  • Each of the joint portions J1, J2, J3, J4, J5, and J6 of the robot arm mechanism 200 is provided with an arm joint actuator 201 including a stepping motor and a motor driver.
  • a rotary encoder 202 that outputs a pulse at every predetermined rotation angle is connected to the drive shaft of these stepping motors. The joint angle is measured by adding / subtracting the output pulses from the rotary encoder 202 with a counter.
  • the hand device 3 is provided with a hand actuator 301 including an air chuck 32 and an electromagnetic valve.
  • the operation control apparatus 100 includes a system control unit 101, a speed sensor interface (I / F) 102, a passage detection sensor interface (I / F) 103, a photoelectric sensor interface (I / F) 104, and a position information acquisition unit. 105, a robot control unit 106, a work program storage unit 107, and a work program selection unit 108.
  • the system control unit 101 includes a CPU (Central Processing Unit), a semiconductor memory, and the like, and controls the operation control apparatus 100 in an integrated manner.
  • CPU Central Processing Unit
  • semiconductor memory and the like
  • a speed sensor 91 is connected to the operation control apparatus 100 via a speed sensor interface 102.
  • the speed sensor 91 sequentially measures the speed of the transport line 51 and outputs the measured speed data to the operation control apparatus 100 in response to a predetermined interval or control of the system control unit 101.
  • a passage detection sensor 93 is connected to the motion control device 100 via a passage detection sensor interface 103.
  • the passage detection sensor 93 outputs a passage detection signal to the operation control device 100 when the first workpiece 300 passes through a predetermined position.
  • a photoelectric sensor 95 is connected to the operation control apparatus 100 via a photoelectric sensor interface 104. The photoelectric sensor 95 outputs an electrical signal corresponding to the amount of light reaching the light receiving unit.
  • the position information acquisition unit 105 acquires information on the relative position between the conveyor device 5 (work area), the robot device 1, and the worker.
  • the position information acquisition unit 105 includes a plurality of energization detection sensors 8-1, 8-2, 8-3, a plurality of photoelectric sensors 6-1, 6-2, 6-3, and a plurality of photoelectric sensors 7. -1, 7-2, 7-3 are electrically connected.
  • the position information acquisition unit 105 receives an energization detection signal alternatively from the plurality of energization detection sensors 8-1, 8-2 and 8-3.
  • an arrangement detection signal is alternatively input from the plurality of photoelectric sensors 6-1, 6-2, 6-3 to the position information acquisition unit 105.
  • an arrangement detection signal is alternatively input from the plurality of photoelectric sensors 7-1, 7-2, 7-3 to the position information acquisition unit 105. IDs are assigned to these sensors in advance.
  • the position information acquisition unit 105 identifies the docking station to which the robot apparatus 1 is docked based on the ID of the energization detection sensor from which the energization detection signal is output. Thereby, the position information acquisition unit 105 identifies the relative position of the robot apparatus 1 with respect to the conveyor apparatus 5.
  • the position information acquisition unit 105 identifies the relative position of the carry-out shooter 60 with respect to the conveyor device 5 based on the arrangement detection signals output from the plurality of photoelectric sensors 6-1, 6-2, 6-3.
  • the position information acquisition unit 105 specifies the relative position of the carry-in shooter 70 with respect to the conveyor device 5 based on the arrangement detection signals output from the plurality of photoelectric sensors 7-1, 7-2, and 7-3.
  • the combination of the attachment position of the carry-out shooter 60 to the conveyor device 5 and the attachment position of the carry-in shooter 70 to the conveyor device 5 is used as information representing the work position of the operator.
  • the energization detection sensor and the photoelectric sensor are used to detect the relative arrangement of the robot device 1 and the carry-out / load-in shooters 60 and 70 with respect to the conveyor device 5, but other sensors are provided in place of these sensors. May be.
  • a reader for reading a barcode or a two-dimensional code or an antenna for reading an RFID tag may be provided.
  • the robot device 1 and the carry-out / load-in shooters 60 and 70 are provided with barcodes, two-dimensional codes or RFID tags corresponding to these types.
  • a contact sensor may be provided.
  • the position information acquisition unit 105 determines whether the conveyor device 5, the robot device 1, and the worker are based on an image obtained by taking an overhead view of the transport line 51. The relative positional relationship between them can be acquired.
  • a switch is provided at each work position along the transfer line 51 of the conveyor device 5, and the position information acquisition unit 105 is configured so that the operator placed at the work position presses the corresponding switch to The relative position of the operator with respect to the device 5 may be acquired.
  • the work program storage unit 107 stores a plurality of work programs describing the hand trajectory, waypoints (work positions), and work contents at each work position.
  • FIG. 6 is a diagram showing a file structure of a plurality of work programs stored in the work program storage unit 107 of FIG.
  • the plurality of work programs are respectively associated with a plurality of relative positions regarding the three of the conveyor device 5, the robot device 1, and the worker.
  • the relative position of the worker with respect to the conveyor device 5 is the mounting position of the carry-out shooter 60 approached by the worker with respect to the conveyor device 5 and the conveyor of the carry-in shooter 70 similarly approached by the worker.
  • the combination with the attachment position with respect to the apparatus 5 is assumed.
  • the work program selection unit 108 refers to the work program storage unit 107 and refers to the relative position of the robot device 1 with respect to the conveyor device 5 acquired by the position information acquisition unit 105 from a plurality of work programs, and the unloading shooter for the conveyor device 5
  • the work program associated with the relative position of 60 and the relative position of the carry-in shooter 70 with respect to the conveyor device 5 is selected.
  • the relative position of the robot apparatus 1 with respect to the conveyor apparatus 5 acquired by the position information acquisition unit 105 is A2
  • the relative position of the carry-out shooter 60 with respect to the conveyor apparatus 5 is B3
  • the relative position of the carry-in shooter 70 with respect to the conveyor apparatus 5 When the position is C1, the work program selection unit 108 selects the work program D10 from a plurality of work programs.
  • FIG. 7 is a diagram showing a description example of the work program D10 of FIG.
  • the system control unit 101 starts operation control of the robot arm mechanism 200 and the hand device 3 according to the procedure when the passage detection signal is output three times.
  • “MOV” is a command for moving the hand reference point of the robot apparatus 1.
  • the hand reference point is set to an arbitrary position of interest of the hand device 3, for example, the midpoint of a straight line connecting the center positions of the contact surfaces of the pair of bellows contact portions 36.
  • the work content “picking operation (gripping)” in step 003 is a command for causing the hand device 3 to perform a picking operation by gripping.
  • the work content “release operation (gripping mechanism)” of step 004 is a command for causing the hand device 3 to release the gripping mechanism.
  • the work content “picking operation (suction)” in step 006 is a command for causing the hand device 3 to perform a picking operation by suction.
  • the work content “release operation (suction mechanism)” of the procedure 007 is a command for causing the hand device 3 to release the suction mechanism.
  • a basic operation program corresponding to each work content is stored in the work program storage unit 107.
  • the system control unit 101 includes the work program selected by the work program selection unit 108, the conveyance speed of the conveyance line 51 measured by the speed sensor 91, and the passage timing of the first workpiece 300 detected by the passage detection sensor 93.
  • a command value is output to the robot control unit 106 according to the electrical signal output from the photoelectric sensor 95.
  • the robot control unit 106 controls the operation of the robot arm mechanism 200 and the hand device 3 in accordance with the command value output from the system control unit 101. Specifically, the robot control unit 106 outputs a control signal corresponding to the command value output from the system control unit 101 to the arm joint actuator 201 and the hand actuator 301. For example, the robot control unit 106 transmits a control signal corresponding to a command value related to hand movement read by the system control unit 101 to each motor driver. Each motor driver supplies a pulse corresponding to the received command value to the stepping motor. Further, the robot control unit 106 transmits a control signal corresponding to the opening / closing command of the air chuck 32 read by the system control unit 101 to the electromagnetic valve. The electromagnetic valve is opened and closed according to the received opening / closing command.
  • FIG. 8 is a plan view showing a hand trajectory according to the work program D10 of FIG.
  • a plurality of via points are shown together with the conveyor device 5, the carry-out shooter 60, the carry-in shooter 70, and the robot device 1.
  • the robot apparatus 1 is disposed at A2 with respect to the conveyor apparatus 5, the carry-out shooter 60 is disposed at B3 with respect to the conveyor apparatus 5, and the carry-in shooter 70 is disposed at C1 with respect to the conveyor apparatus 5.
  • a plurality of via points of the hand device 3 are defined by the robot coordinate system ⁇ b.
  • the standby position of the hand device 3 is the standby position Pwait
  • the start position of the section in which the picking operation is performed by gripping the first work 300 by the hand device 3 is the grip start position Pp1s
  • the gripping section is the grip start position Pp1s
  • the end position is the grip end position Pp1e
  • the position at which the picked first work 300 is released is the release position Pr1
  • the position at which it is determined whether the second work 400 is at the carry-in position is the lowered position Pdown
  • the second work A position for picking 400 by suction is a suction position Pp2
  • a position for releasing the picked second workpiece 400 is a release position Pr2.
  • the standby position Pwait is a predetermined distance downstream from the passage detection position with respect to the position along the line center line, and is between the line center line and the first workpiece transfer reference line with respect to the position in the width direction of the transfer line 51.
  • the height (for example, the vertical distance from the surface of the transport line 51) is set to a position higher than the height of the grip start position Pp1s.
  • the hand device 3 is held in a hand posture in which the gripping direction is parallel to the line center line.
  • the grip start position Pp1s and the grip end position Pp1s are both set on the first workpiece transport reference line with respect to the position in the width direction of the transport line 51. Regarding the position along the line center line, the grip end position Pp1e is set upstream of the grip start position Pp1s.
  • the grip start position Pp1s and the grip end position Pp1s are both adjusted to the same height, for example, a height necessary for gripping the upper portion of the tube-shaped first workpiece 300 placed on the transfer line 51. Yes.
  • the hand device 3 is moved from the standby position Pwait to the grip start position Pp1s while maintaining the hand posture.
  • the hand device 3 starts a picking operation by gripping at the gripping start position Pp1s, and is moved to the gripping end position Pp1e while performing the picking operation.
  • the moving speed of the hand device 3 at this time is controlled so that the component parallel to the line center line of the moving speed is substantially equivalent to the transport speed Vline of the transport line 51. Accordingly, the hand device 3 can pick the first workpiece 300 by gripping at the grip end position Pp1e.
  • the release position Pr1 is set on a carry-out shooter 60 installed outside the transfer line 51 and higher than the grip end position Pp1s.
  • the hand device 3 is moved up to the release position Pr1 while slightly rising from the grip end position Pp1e, and performs the release operation of the gripping mechanism at the release position Pr1.
  • the first workpiece 300 is conveyed to a predetermined position by the carry-out shooter 60.
  • the lowering position Pdown is set above the loading position of the loading shooter 70.
  • the suction position Pp2 is set just below the lowered position Pdown.
  • the hand device 3 is moved from the release position Pr1 to the lowered position Pdown while the posture of the hand device 3 is changed to a hand posture capable of sucking the second workpiece 400.
  • the hand device 3 descends vertically from the lowered position Pdown to the suction position Pp2 while maintaining the hand posture.
  • the system control unit 101 determines whether the second workpiece 400 is loaded at the loading position based on the output of the photoelectric sensor 95. .
  • the hand device 3 When it is determined that there is no second workpiece 400 at the carry-in position, the hand device 3 is returned to the standby position Pwait. On the other hand, when it is determined that the second workpiece 400 is present at the carry-in position, the hand device 3 performs a picking operation by suction at the suction position Pp2. Thereby, the hand device 3 can pick the second workpiece 400 by suction at the suction position Pp2.
  • the release position Pr2 is set downstream of the suction position Pp2 with respect to the position along the line center line, and is set on the second workpiece transfer reference line with respect to the position in the width direction of the transfer line 51.
  • the release position Pr2 is adjusted to a height that prevents the second workpiece 400 picked from the transport line 51 from coming into contact.
  • the hand device 3 is moved from the suction position Pp2 to the release position Pr2 after changing the hand posture so that the longitudinal direction of the picked second workpiece 400 is orthogonal to the line center line, and the release mechanism Pr is released at the release position Pr2. Perform the action. As a result, the second workpiece 400 is placed on the transfer line 51. After performing the release operation of the suction mechanism, the hand device 3 is returned from the release position Pr2 to the standby position Pwait.
  • the hand device 3 is defined according to the work program D10 in the order of the standby position Pwait, the grip start position Pp1s, the grip end position Pp1e , the release position Pr1, the lowered position Pdown, the suction position Pp2, and the release position Pr2.
  • the specified operation is performed at each waypoint while moving at the specified tact time.
  • the hand device 3 picks the first work 300 conveyed on the conveyance line 51 by gripping, releases the picked first work 300 to the carry-out shooter 60, and is carried into the carry-in position of the carry-in shooter 70.
  • the second work 400 is picked by suction, and the picked second work 400 is released onto the transfer line 51.
  • the robot apparatus 1 has a relative position A2 with respect to the conveyor apparatus 5, the carry-out shooter 60 has a relative position B3 with respect to the conveyor apparatus 5, and the carry-in shooter 70 has a relative position with respect to the conveyor apparatus 5.
  • the robot apparatus 1 is provided with the step of picking the first workpiece 300 conveyed on the conveyance line and the boxed first workpiece 300 (second workpiece 400) in the boxing operation of the first workpiece 300.
  • the process of returning to the transfer line can be assigned.
  • the operator can complete the boxing work in cooperation with the robot apparatus 1 by taking charge of the boxing process of the first workpiece 300.
  • FIG. 9 is a plan view showing a hand trajectory according to the work program D3 of FIG.
  • the hand device 3 moves in accordance with the work program D3 while moving at the specified tact time in the order of the standby position Pwait, the grip start position Pp1s, the grip end position Pp1e , and the release position Pr1. Perform the action specified by the point. Accordingly, the hand device 3 picks the first work 300 conveyed on the conveyance line 51 by gripping, and releases the picked first work 300 to the carry-out shooter 60.
  • the robot system arranges the robot apparatus 1 at the relative position A1 with respect to the conveyor apparatus 5 and the unloading shooter 60 at the relative position B3 with respect to the conveyor apparatus 5, thereby In the boxing operation of one work 300, a process of picking the first work 300 conveyed on the conveyance line 51 can be assigned.
  • the worker is in charge of the boxing operation of the first workpiece 300 and the step of returning the boxed first workpiece 300 (second workpiece 400) to the transfer line 51, thereby cooperating with the robot apparatus 1. Can be completed.
  • FIG. 10 is a plan view showing a hand trajectory according to the work program D13 of FIG.
  • the hand device 3 moves in accordance with the work program D13 in the order of the standby position Pwait, the descending position Pdown, the suction position Pp2, and the release position Pr2 at the specified tact time. Perform the specified operation.
  • the hand device 3 picks the second work 400 carried into the carry-in position of the carry-in shooter 70 by suction, and releases the picked second work 400 onto the transport line 51.
  • the robot system arranges the robot apparatus 1 at the relative position A3 with respect to the conveyor apparatus 5 and the carry-in shooter 70 at the relative position C1 with respect to the conveyor apparatus 5, thereby
  • the process of returning the boxed first workpiece 300 (second workpiece 400) to the transfer line 51 in the boxing operation of one workpiece 300 can be performed.
  • the operator can complete the boxing operation in cooperation with the robot apparatus 1 by taking charge of the step of picking the first workpiece 300 transferred on the transfer line 51 and the boxing step of the first workpiece 300. .
  • the robot apparatus 1 has the relative relationship between the conveyor apparatus 5 (work area), the robot apparatus 1, and the carry-in / load-in shooters 60 and 70 (workers). Based on the positional relationship, one work program is selected from a plurality of work programs prepared in advance, and operates according to the selected work program. Therefore, the robot system according to the present embodiment can dynamically change the operation program of the robot apparatus 1 according to a change in the relative positions of the three of the work area, the robot apparatus 1 and the worker. . For example, the worker may not be able to complete one task with a predetermined tact time due to physique or physical constraints.
  • the robot apparatus 1 can support an operator who is physically or physically restricted.
  • the robot device 1 By simply placing the robot device 1 at a predetermined position with respect to the conveyor device 5 and the worker, the robot device 1 is provided with work programs corresponding to several steps among a plurality of steps of one work. It can be executed automatically. Which of the plurality of processes is assigned to the robot apparatus 1 can be changed according to the relative position of the robot apparatus 1 with respect to the conveyor apparatus 5 and the operator.
  • the robot apparatus 1 when the robot apparatus 1 is arranged on behalf of an operator having insufficient production lines or when the robot apparatus 1 is to be collaborated with the worker, the robot apparatus 1 must be arranged close to the worker. Don't be.
  • the robot apparatus 1 of the robot system according to the present embodiment has no elbow joint and no singularity like the conventional vertical articulated arm mechanism, it does not care about the positions of other workers, and the worker Can be placed close to. Therefore, the robot system according to the present embodiment can flexibly cope with changes in the relative positions of the three persons (work area, robot apparatus 1, and worker).
  • Modification 1 In the robot system according to the present embodiment described above, the work program corresponding to the relative position among the three of the conveyor device 5, the robot device 1, and the worker (the carry-out shooter 60 / the carry-in shooter 70) is automatically set. Selected. However, the user may manually select an arbitrary work program from a plurality of stored work programs based on his / her own judgment. Modifications 1 and 2 relate to a function for supporting selection work by the user.
  • FIG. 11 is a block diagram of a robot system according to the first modification of the present embodiment.
  • the motion control apparatus 100 includes a system control unit 101, a speed sensor interface (I / F) 102, a passage detection sensor interface (I / F) 103, and a photoelectric sensor. It has an interface (I / F) 104, a robot control unit 106, a work program storage unit 107, a work program selection unit 108, an installation sensor 110, and a pendant device 111.
  • the work program storage unit 107 stores a plurality of work programs.
  • Each of the plurality of work programs is associated with a relative position among three persons (the conveyor device 5, the robot device 1, the carry-out shooter 60 / the carry-in shooter 70 (worker)).
  • each of the plurality of work programs is simply characterized by the work as information for the user to clearly identify the work by the work program from the work of other work programs and easily select the required work program.
  • a work summary that is directly expressed is associated. The work summary of each work program is created manually in advance.
  • the installation sensor 110 detects that the robot apparatus 1 is installed in any of the docking stations 8-1, 8-2, and 8-3, and outputs an installation detection signal.
  • the installation sensor 110 may be any type of sensor such as a pressure sensor, a contact sensor, or a photoelectric sensor.
  • the pendant device 111 includes a display unit and an operation unit, and is typically provided by a touch screen.
  • the system control unit 101 When the installation detection signal is output from the installation sensor 110, that is, when the robot apparatus 1 is installed at any of a plurality of installation positions, the system control unit 101 automatically generates a work program selection support program code in response thereto. To start. As a result, a list relating to a plurality of work programs stored in the work program storage unit 107 is created, and the list is displayed on the display unit of the pendant device 111. The system control unit 101 loads a work program selected from the list through the operation unit by the user from the work program storage unit 107 to the robot control unit 106.
  • FIG. 12 shows a display example of the work program list displayed on the display unit of the pendant device 111 of FIG.
  • the work program selection screen the relative positions and work outlines among the three parties respectively corresponding to the plurality of work programs stored in the work program storage unit 107 are displayed together with the work program ID.
  • Modification 2 On the work program selection screen illustrated in the first modification, a list of information on all work programs stored in the work program storage unit 107 is displayed. However, two or more work programs associated with the relative positions of the three members among the conveyor device 5, the robot device 1, the carry-out shooter 60 / the carry-in shooter 70 (worker) are stored in the work program storage unit 107. The relative positions and the work outlines among the three parties relating to the two or more work programs may be listed together with the work program ID.
  • FIG. 13 is a block diagram of a robot system according to the second modification of the present embodiment.
  • the work program selection unit 108 of the robot system according to the second modification of the present embodiment includes the conveyor device 5, the robot device 1, the carry-out shooter 60 / the carry-in shooter 70 (worker) acquired by the position information acquisition unit 105.
  • a work program corresponding to the relative positions of the three parties is selected from the work program storage unit 107.
  • the system control unit 101 creates a work program selection screen including a list of the selected work programs, and the list is displayed on the display unit of the pendant device 111. Display.
  • the system control unit 101 loads a work program selected from the list through the operation unit by the user from the work program storage unit 107 to the robot control unit 106.
  • FIG. 14 shows a display example of the work program list displayed on the display unit of the pendant device 111 of FIG.
  • FIG. 14 shows a work program selection screen displayed on the display unit when the relative position of the robot apparatus 1 with respect to the conveyor apparatus 5 is A1 and the relative position of the carry-out shooter 60 with respect to the conveyor apparatus 5 is B1.
  • the work program selection screen displays the relative position of the robot apparatus 1 with respect to the conveyor apparatus 5 and the relative position of the carry-out shooter 60 with respect to the conveyor apparatus 5.
  • a work summary of two or more work programs associated with the target position and a list of work program IDs are included.
  • two work programs (ID: D1-1, D1-2) in which the relative position of the robot apparatus 1 with respect to the conveyor apparatus 5 is associated with A1 and the relative position of the carry-out shooter 60 with respect to the conveyor apparatus 5 are associated with B1. ) Is the target of list display. Thereby, since the choice of the work program which a user selects can be decreased, work efficiency can be improved.
  • DESCRIPTION OF SYMBOLS 1 ... Robot apparatus, 2 ... Arm part, 3 ... Hand apparatus, 4 ... Wrist part, 5 ... Conveyor apparatus, 6-1 to 6-3 ... Photoelectric sensor (unloading shooter 60), 7-1 to 7-3 ... Photoelectric Sensor (loading shooter), 8-1 to 8-3... Energization detection sensor (robot device 1), 91... Speed sensor, 93... Energization detection sensor, 95.
  • DESCRIPTION OF SYMBOLS 102 ... Speed sensor interface 103 ... Passage detection sensor interface 104 ... Photoelectric sensor interface 105 ... Position information acquisition part 106 ... Robot control part 107 ... Work program memory

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne des changements de la position relative entre une zone de travail et un robot en une courte période de temps. Le système robotique comprend un appareil robotique (1). L'appareil robotique (1) peut être disposé à proximité d'un dispositif de transport qui transporte une pièce à travailler ou une table de travail pour la pièce à travailler, et comporte un mécanisme de bras à articulations multiples (200). Un dispositif à effet de travail de main (3) est monté sur l'extrémité d'un bras du mécanisme de bras à articulations multiples (200). Il est prévu une unité de détection de position (105, 8-1 à 8-3) pour la détection de la position relative de l'appareil robotique (1) par rapport au dispositif de transport ou à la table de travail. De multiples programmes de travail associés à de multiples positions relatives et décrivant des opérations du mécanisme de bras à articulations multiples (200) et du dispositif à effet de travail de main (3) sont stockés dans une unité de stockage (107). Un programme de travail associé à une position relative détectée par l'unité de détection de position est lu de manière sélective à partir de l'unité de stockage. Une unité de commande (106) commande des opérations du dispositif à effet de travail de main et du mécanisme de bras à articulations multiples en fonction de programmes de travail qui ont été lus.
PCT/JP2016/064401 2015-05-20 2016-05-15 Système robotique et appareil robotique WO2016186060A1 (fr)

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JP2015102983A JP2016215319A (ja) 2015-05-20 2015-05-20 ロボットシステム及びロボット装置

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CN109346981A (zh) * 2018-10-29 2019-02-15 国网浙江平湖市供电有限公司 一种智能局部放电巡检机器人
EP3800007A1 (fr) * 2019-10-03 2021-04-07 Nidek Co., Ltd. Système et programme de traitement de bord périphérique de lentille de lunettes
US11345026B2 (en) * 2018-07-06 2022-05-31 Fanuc Corporation Robot program generation apparatus

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JP7114603B2 (ja) * 2017-08-31 2022-08-08 川崎重工業株式会社 把持装置
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
JP7078901B2 (ja) * 2018-10-12 2022-06-01 オムロン株式会社 制御システムおよび制御方法
CN111038975A (zh) * 2019-12-16 2020-04-21 广州晶绘实业有限公司 一种负压传送平台定位方法及系统

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CN109346981A (zh) * 2018-10-29 2019-02-15 国网浙江平湖市供电有限公司 一种智能局部放电巡检机器人
EP3800007A1 (fr) * 2019-10-03 2021-04-07 Nidek Co., Ltd. Système et programme de traitement de bord périphérique de lentille de lunettes

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