WO2017014220A1 - Dispositif robot - Google Patents

Dispositif robot Download PDF

Info

Publication number
WO2017014220A1
WO2017014220A1 PCT/JP2016/071170 JP2016071170W WO2017014220A1 WO 2017014220 A1 WO2017014220 A1 WO 2017014220A1 JP 2016071170 W JP2016071170 W JP 2016071170W WO 2017014220 A1 WO2017014220 A1 WO 2017014220A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot apparatus
holding
joint
workpiece
printed circuit
Prior art date
Application number
PCT/JP2016/071170
Other languages
English (en)
Japanese (ja)
Inventor
順央 川口
尹　祐根
一輝 飯田
宗祐 ▲高▼▲瀬▼
眞二 栗原
光 佐野
Original Assignee
ライフロボティクス株式会社
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 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 WO2017014220A1 publication Critical patent/WO2017014220A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible

Definitions

  • the robot apparatus includes an articulated arm mechanism that is disposed in the vicinity of an external apparatus that is provided with a manual operation unit and that is responsible for work on the work, and that conveys the work between the external apparatus and the work place.
  • the multi-joint arm mechanism is equipped with a wrist joint at the tip of an arm part that is provided with linear motion stretchability that can be swung and raised and lowered, and a holding part that holds a work is attached to the wrist joint.
  • the holding part has at least one vacuum suction part made of an elastic body for holding the work and operating the manual operation part of the external device.
  • the manual operation unit is provided on the right side of the upper surface of the portion protruding forward of the housing 51.
  • the manual operation unit has a start switch 54 that triggers the start of visual inspection of the printed circuit board 80 by the printed circuit board inspection apparatus 50.
  • the manual operation unit has mode selection switches 55 and 56 for determining a mode of appearance inspection by the printed circuit board inspection apparatus 50.
  • the start switch 54 and the mode selection switches 55 and 56 are constituted by pushbutton switches. For example, when one mode selection switch 55 is pressed, the appearance inspection by the printed circuit board inspection apparatus 50 is performed with high resolution. On the other hand, when the other start switch 5456 is pressed, the appearance inspection by the printed circuit board inspection apparatus 50 is performed at a low resolution.
  • 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 suction section 34 and the air pump are connected by two piping paths, a negative pressure path and a positive pressure path.
  • a negative pressure valve and an ejector device are interposed in the negative pressure path.
  • a positive pressure valve is interposed in the positive pressure path.
  • the negative pressure valve and the positive pressure valve are electromagnetic valves.
  • the solenoid valve driver 310 controls the opening and closing of the negative pressure valve and the opening and closing of the positive pressure valve in opposite phases.
  • a negative pressure path is secured when the negative pressure valve is open and the positive pressure valve is closed. When the negative pressure path is secured, the inside of the suction portion 34 is introduced to the negative pressure.
  • a positive pressure path is secured when the positive pressure valve is open and the negative pressure valve is closed. When the positive pressure path is secured, the inside of the suction portion 34 is introduced to the positive pressure.
  • the length from the tip of the wrist part 4 to the tip of the wrist part 4 can be defined as a substantially fan-shaped region with the rotation angle (turning angle) operable on mounting of the first joint part J1 as the central angle.
  • the region WS (L) swept by the wrist part 4 extends from the first rotation axis RA1 to the wrist part 4 when the arm part 2 is provided in the longest state by extending the linear motion expansion / contraction joint part J3 most.
  • the length from the first rotation axis RA1 to the tip of the wrist part 4 when the arm part 2 is provided in the shortest state by contracting the linear expansion / contraction joint part J3 to the minimum is the inner diameter, It can be defined as an annular region with the turning angle of one joint J1 as the central angle.
  • the robot apparatus 1 can be arranged at a wall or the like where it is difficult to arrange a robot apparatus including a multi-joint arm mechanism having a conventional elbow joint.
  • 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 camera 330 is connected to the operation control apparatus 100 via a camera I / F 103.
  • the camera 330 is attached to the tip and front of the wrist 4 of the robot apparatus 1.
  • the camera 330 captures the indicator lamp 53 according to the control of the sequence controller 105 and sends the captured image data to the operation control apparatus 100.
  • the sequence controller 105 extracts the color of the indicator lamp 53 by performing color image processing on the transmitted captured image data, and determines the next processing in the task program according to the extracted color type.
  • Step S13 The start switch 54 of the printed circuit board inspection apparatus 50 is operated.
  • the hand device 3 is moved from the work position P2 to the work position P3. Compressed air is supplied to the suction portion 34 of the hand device 3 at the work position P3. In this state, the hand device 3 is lowered.
  • the descending distance is set to a necessary stroke for the suction unit 34 to press the start switch 54.
  • the suction part 34 comes into contact with the start switch 54
  • the inside of the suction part 34 is introduced to a positive pressure. Since the positive pressure is generated in the suction portion 34, the shape change of the suction portion 34 due to being pressed against the start switch 54 is suppressed, and the suction portion 34 and the start switch 54 of the hand device 3 are buffered.

Landscapes

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

Abstract

La présente invention permet d'élargir la gamme à travers laquelle un dispositif robot est applicable. Selon un mode de réalisation, un dispositif robot 1 est équipé d'un mécanisme de bras articulé 200 qui transporte une pièce 80 entre un dispositif externe 50 et des espaces 60, 70 de stockage de pièce, et est positionné à proximité du dispositif externe 50, qui est pourvu d'unités de commande manuelle et gère une tâche à effectuer sur la pièce 80. Le mécanisme de bras articulé 200 comprend une partie d'articulation de poignet 4 montée sur la pointe d'une section de bras 2 apte à se dilater et à se contracter linéairement et apte en outre à tourner et à monter/descendre. La partie d'articulation de poignet 4 comprend une partie de support 3 fixée à celle-ci pour supporter la pièce 80, et le dispositif robot est caractérisé en ce qu'afin de supporter la pièce 80 et de commander les unités de commande manuelle 54, 55, 56 du dispositif externe 50, la partie de support 3 comprend au moins une partie d'aspiration sous vide 34 conçue à partir de corps élastiques.
PCT/JP2016/071170 2015-07-20 2016-07-19 Dispositif robot WO2017014220A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015143543A JP2018140445A (ja) 2015-07-20 2015-07-20 ロボット装置
JP2015-143543 2015-07-20

Publications (1)

Publication Number Publication Date
WO2017014220A1 true WO2017014220A1 (fr) 2017-01-26

Family

ID=57834392

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2016/071170 WO2017014220A1 (fr) 2015-07-20 2016-07-19 Dispositif robot

Country Status (3)

Country Link
JP (1) JP2018140445A (fr)
TW (1) TW201703950A (fr)
WO (1) WO2017014220A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108772829A (zh) * 2018-08-10 2018-11-09 河北科技师范学院 七自由度机械臂
CN113548471A (zh) * 2021-06-26 2021-10-26 山东省智能机器人应用技术研究院 用于抓取链轨节的工业机器人实现链轨节上下料的方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11239990A (ja) * 1986-09-19 1999-09-07 Texas Instr Inc <Ti> ロボットの制御方法
WO2010070915A1 (fr) * 2008-12-19 2010-06-24 株式会社川渕機械技術研究所 Mécanisme extensible se déplaçant de manière linéaire et bras de robot équipé d'un mécanisme extensible se déplaçant de manière linéaire

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11239990A (ja) * 1986-09-19 1999-09-07 Texas Instr Inc <Ti> ロボットの制御方法
WO2010070915A1 (fr) * 2008-12-19 2010-06-24 株式会社川渕機械技術研究所 Mécanisme extensible se déplaçant de manière linéaire et bras de robot équipé d'un mécanisme extensible se déplaçant de manière linéaire

Also Published As

Publication number Publication date
TW201703950A (zh) 2017-02-01
JP2018140445A (ja) 2018-09-13

Similar Documents

Publication Publication Date Title
JP5304469B2 (ja) ビンピッキングシステム
JP6667548B2 (ja) エンドエフェクタ、ロボット、及びロボットの作業方法
JP6560752B2 (ja) ロボットおよびその制御方法
JP4708464B2 (ja) ワーク把持装置
JP5522298B2 (ja) ビンピッキングシステム
JP6454960B2 (ja) ロボット、ロボットシステム、ロボット制御装置
JP6585375B2 (ja) ロボットシステム
JP6585376B2 (ja) ロボットシステム
GB2454721A (en) Controlling the translation and orientation of a moveable platform with six-degrees-of--freedom
US20190248030A1 (en) Robot arm mechanism
JP2015168021A (ja) ワーク位置決め機能を有するロボットハンド、ロボットシステム、及びワークの位置決め把持方法
GB2547200B (en) Tool center point setting method for articulated robot
WO2017014220A1 (fr) Dispositif robot
TW201731647A (zh) 握持機器人及機器人手部的控制方法
JP5917380B2 (ja) 多関節型ロボットによるワーク位置決め方法およびそのワーク位置決め方法を用いた多関節型ロボットによるワーク装着方法
WO2017002589A1 (fr) Système robotique
US10207413B2 (en) End effector, robot, and robot control apparatus
US20200068719A1 (en) Component mounting device and method of controlling the same
Premkumar¹ et al. Design and implementation of multi handling pick and place robotic arm
JP2016101632A (ja) ロボット装置、ロボット制御装置、ロボット制御方法及びロボット手先効果器
TWI791355B (zh) 晶圓治具、機器人系統、通信方法及機器人教示方法
JP2019111614A (ja) ワーク反転装置、及びワーク反転方法
TWI765085B (zh) 機器人手部、機器人裝置、及電子機器的製造方法
US10403539B2 (en) Robot diagnosing method
JP2020007131A (ja) 姿勢変換装置および作業装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16827780

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

NENP Non-entry into the national phase

Ref country code: JP

122 Ep: pct application non-entry in european phase

Ref document number: 16827780

Country of ref document: EP

Kind code of ref document: A1