JP2017177238A - ロボットおよびエンコーダー - Google Patents
ロボットおよびエンコーダー Download PDFInfo
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- JP2017177238A JP2017177238A JP2016063906A JP2016063906A JP2017177238A JP 2017177238 A JP2017177238 A JP 2017177238A JP 2016063906 A JP2016063906 A JP 2016063906A JP 2016063906 A JP2016063906 A JP 2016063906A JP 2017177238 A JP2017177238 A JP 2017177238A
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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
- 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
- B25J13/089—Determining the position of the robot with reference to its environment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
- B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/34707—Scales; Discs, e.g. fixation, fabrication, compensation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/3473—Circular or rotary encoders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/34776—Absolute encoders with analogue or digital scales
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/12—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using record carriers
- G05B19/124—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using record carriers using tapes, cards or discs with optically sensed marks or codes
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Human Computer Interaction (AREA)
- Automation & Control Theory (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
- Optical Transform (AREA)
Abstract
Description
本発明のロボットは、第1部材と、
前記第1部材に対して回動軸まわりの回動が可能に設けられている第2部材と、
前記第2部材の表面に配置されているマークと、を備えることを特徴とする。
前記判断部は、前記撮像素子の撮像結果に基づいて前記マークを画像認識し、その画像認識の結果を用いて前記回動状態を判断することが好ましい。
前記判断部は、前記受光素子の受光強度に基づいて前記回動状態を判断することが好ましい。
前記基部に対して回動軸まわりに回動可能に設けられている回動部と、
前記回動部に前記回動軸まわりに沿って配置されているマークと、
前記基部に配置されている撮像素子と、
前記撮像素子の撮像結果に基づいて前記マークを画像認識し、その画像認識の結果を用いて前記基部に対する前記回動部の回動状態を判断する判断部と、を備えることを特徴とする。
(ロボット)
図1は、本発明の第1実施形態に係るロボットを示す側面図である。なお、以下では、説明の便宜上、図1中の上側を「上」、下側を「下」と言う。また、図1中の基台側を「基端」、その反対側(ハンド側)を「先端」と言う。また、図1の上下方向を「鉛直方向」とし、左右方向を「水平方向」とする。
図2は、図1に示すロボットが備えるエンコーダーを説明する断面図である。図3は、図2に示すエンコーダーが備えるマークを説明する図である。図4は、図2に示すエンコーダーが備えるマークの変形例を説明する図である。
図5は、本発明の第2実施形態に係るロボットが備えるエンコーダーを説明する断面図である。
本実施形態は、マークの構成が異なる以外は、前述した第1実施形態と同様である。
以上説明したような第2実施形態によっても、部品点数を低減することができる。
図6は、本発明の第3実施形態に係るロボットが備えるエンコーダーを説明する断面図である。図7は、図6に示すエンコーダーが備えるマークを説明する図である。
以上説明したような第3実施形態によっても、部品点数を低減することができる。
図8は、本発明の第4実施形態に係るロボットが備えるエンコーダーを説明する断面図である。
以上説明したような第4実施形態によっても、部品点数を低減することができる。
Claims (11)
- 第1部材と、
前記第1部材に対して回動軸まわりの回動が可能に設けられている第2部材と、
前記第2部材の表面に配置されているマークと、を備えることを特徴とするロボット。 - 前記第1部材に配置され、前記マークを検出するマーク検出部を備える請求項1に記載のロボット。
- 前記第1部材に設けられ、前記第2部材を前記第1部材に対して回動させる駆動装置を備える請求項2に記載のロボット。
- 前記マーク検出部の検出結果に基づいて、前記第2部材の前記第1部材に対する回動状態を判断する判断部を備える請求項2または3に記載のロボット。
- 前記マーク検出部は、前記マークを撮像する撮像素子を有し、
前記判断部は、前記撮像素子の撮像結果に基づいて前記マークを画像認識し、その画像認識の結果を用いて前記回動状態を判断する請求項4に記載のロボット。 - 前記判断部は、前記画像認識にテンプレートマッチングを用いる請求項5に記載のロボット。
- 前記マーク検出部は、前記マークに向けて光を出射する発光素子と、前記マークで反射した前記光が入射する受光素子と、を有し、
前記判断部は、前記受光素子の受光強度に基づいて前記回動状態を判断する請求項4に記載のロボット。 - 前記マークと前記マーク検出部とが並ぶ方向が前記回動軸に沿った方向である請求項2ないし7のいずれか1項に記載のロボット。
- 前記マークと前記マーク検出部とが並ぶ方向が前記回動軸に交差する方向である請求項2ないし7のいずれか1項に記載のロボット。
- 前記マークは、凹部と凸部の少なくとも一方を含んで構成されているか、または、付着物を用いて構成されている請求項1ないし9のいずれか1項に記載のロボット。
- 基部と、
前記基部に対して回動軸まわりに回動可能に設けられている回動部と、
前記回動部に前記回動軸まわりに沿って配置されているマークと、
前記基部に配置されている撮像素子と、
前記撮像素子の撮像結果に基づいて前記マークを画像認識し、その画像認識の結果を用いて前記基部に対する前記回動部の回動状態を判断する判断部と、を備えることを特徴とするエンコーダー。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016063906A JP6838278B2 (ja) | 2016-03-28 | 2016-03-28 | ロボット |
CN201710183539.9A CN107234637B (zh) | 2016-03-28 | 2017-03-24 | 机器人以及编码器 |
US15/470,049 US10252425B2 (en) | 2016-03-28 | 2017-03-27 | System for determining robot position having an imaging element to image the mark on a rotatable arm |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016063906A JP6838278B2 (ja) | 2016-03-28 | 2016-03-28 | ロボット |
Publications (3)
Publication Number | Publication Date |
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JP2017177238A true JP2017177238A (ja) | 2017-10-05 |
JP2017177238A5 JP2017177238A5 (ja) | 2019-04-25 |
JP6838278B2 JP6838278B2 (ja) | 2021-03-03 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2016063906A Active JP6838278B2 (ja) | 2016-03-28 | 2016-03-28 | ロボット |
Country Status (3)
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US (1) | US10252425B2 (ja) |
JP (1) | JP6838278B2 (ja) |
CN (1) | CN107234637B (ja) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10252414B2 (en) | 2017-04-27 | 2019-04-09 | Seiko Epson Corporation | Robot and printer including a telecentric optical system between an imaging element and a mark of an encoder |
CN110160566A (zh) * | 2018-02-15 | 2019-08-23 | 精工爱普生株式会社 | 编码器单元、角度检测方法及机器人 |
JP2019143980A (ja) * | 2018-02-15 | 2019-08-29 | セイコーエプソン株式会社 | エンコーダー、角度検出方法、ロボットおよびプリンター |
JP2020051940A (ja) * | 2018-09-27 | 2020-04-02 | セイコーエプソン株式会社 | エンコーダー、エンコーダーの製造方法、ロボットおよびプリンター |
US10788814B2 (en) | 2017-10-24 | 2020-09-29 | Seiko Epson Corporation | Encoder, robot, and printer |
US10845218B2 (en) | 2017-01-23 | 2020-11-24 | Seiko Epson Corporation | Encoder, robot, and printer |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
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JP6506324B2 (ja) * | 2017-02-16 | 2019-04-24 | ファナック株式会社 | 水平多関節型ロボットとその設置反転方法 |
JP1599484S (ja) * | 2017-03-23 | 2018-03-12 | ||
JP2019066213A (ja) * | 2017-09-29 | 2019-04-25 | セイコーエプソン株式会社 | エンコーダー、ロボットおよびプリンター |
US10155309B1 (en) * | 2017-11-16 | 2018-12-18 | Lam Research Corporation | Wafer handling robots with rotational joint encoders |
JP1605623S (ja) * | 2017-11-29 | 2018-06-04 | ||
CN108237521A (zh) * | 2017-12-19 | 2018-07-03 | 珠海格力智能装备有限公司 | 主动臂结构及具有其的机器人 |
JP7381204B2 (ja) * | 2019-01-29 | 2023-11-15 | ファナック株式会社 | ロボット |
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US10845218B2 (en) | 2017-01-23 | 2020-11-24 | Seiko Epson Corporation | Encoder, robot, and printer |
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JP2019143980A (ja) * | 2018-02-15 | 2019-08-29 | セイコーエプソン株式会社 | エンコーダー、角度検出方法、ロボットおよびプリンター |
US10775204B2 (en) | 2018-02-15 | 2020-09-15 | Seiko Epson Corporation | Encoder unit, angle measuring method, and robot |
CN110160566B (zh) * | 2018-02-15 | 2022-09-23 | 精工爱普生株式会社 | 编码器单元、角度检测方法及机器人 |
JP2020051940A (ja) * | 2018-09-27 | 2020-04-02 | セイコーエプソン株式会社 | エンコーダー、エンコーダーの製造方法、ロボットおよびプリンター |
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US20170274537A1 (en) | 2017-09-28 |
JP6838278B2 (ja) | 2021-03-03 |
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US10252425B2 (en) | 2019-04-09 |
CN107234637A (zh) | 2017-10-10 |
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