JP7129788B2 - 産業用ロボットの補正値算出方法 - Google Patents

産業用ロボットの補正値算出方法 Download PDF

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Publication number
JP7129788B2
JP7129788B2 JP2018026281A JP2018026281A JP7129788B2 JP 7129788 B2 JP7129788 B2 JP 7129788B2 JP 2018026281 A JP2018026281 A JP 2018026281A JP 2018026281 A JP2018026281 A JP 2018026281A JP 7129788 B2 JP7129788 B2 JP 7129788B2
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Japan
Prior art keywords
hand
correction value
chamber
arm portion
arm
Prior art date
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Active
Application number
JP2018026281A
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English (en)
Japanese (ja)
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JP2019145585A (ja
Inventor
隆之 矢澤
研人 長棟
一樹 伊藤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nidec Sankyo Corp
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Nidec Sankyo Corp
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Publication date
Application filed by Nidec Sankyo Corp filed Critical Nidec Sankyo Corp
Priority to JP2018026281A priority Critical patent/JP7129788B2/ja
Priority to KR1020190015399A priority patent/KR102209497B1/ko
Priority to CN201910116333.3A priority patent/CN110153995B/zh
Publication of JP2019145585A publication Critical patent/JP2019145585A/ja
Application granted granted Critical
Publication of JP7129788B2 publication Critical patent/JP7129788B2/ja
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/063—Transporting devices for sheet glass
    • B65G49/064—Transporting devices for sheet glass in a horizontal position
    • 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
    • B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
    • 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
    • B25J9/16—Programme controls
    • B25J9/1602—Programme 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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/905—Control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0214—Articles of special size, shape or weigh
    • B65G2201/022—Flat

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
JP2018026281A 2018-02-16 2018-02-16 産業用ロボットの補正値算出方法 Active JP7129788B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2018026281A JP7129788B2 (ja) 2018-02-16 2018-02-16 産業用ロボットの補正値算出方法
KR1020190015399A KR102209497B1 (ko) 2018-02-16 2019-02-11 산업용 로봇의 보정값 산출 방법
CN201910116333.3A CN110153995B (zh) 2018-02-16 2019-02-15 工业用机器人的修正值计算方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2018026281A JP7129788B2 (ja) 2018-02-16 2018-02-16 産業用ロボットの補正値算出方法

Publications (2)

Publication Number Publication Date
JP2019145585A JP2019145585A (ja) 2019-08-29
JP7129788B2 true JP7129788B2 (ja) 2022-09-02

Family

ID=67645373

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018026281A Active JP7129788B2 (ja) 2018-02-16 2018-02-16 産業用ロボットの補正値算出方法

Country Status (3)

Country Link
JP (1) JP7129788B2 (zh)
KR (1) KR102209497B1 (zh)
CN (1) CN110153995B (zh)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7395967B2 (ja) * 2019-11-05 2023-12-12 オムロン株式会社 自走式搬送装置
CN114029961B (zh) * 2021-12-16 2022-05-24 滁州学院 一种机械臂高精度传动的机器人控制方法及***

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010214533A (ja) 2009-03-17 2010-09-30 Kawasaki Heavy Ind Ltd ロボット、及びオートゼロイング方法
JP2014128855A (ja) 2012-12-28 2014-07-10 Kawasaki Heavy Ind Ltd 自動教示システム及び教示方法
JP2014233773A (ja) 2013-05-31 2014-12-15 シンフォニアテクノロジー株式会社 多関節ロボット
JP2015032617A (ja) 2013-07-31 2015-02-16 株式会社ダイヘン 搬送ロボットの教示データ補正方法、および搬送システム
JP2015139854A (ja) 2014-01-29 2015-08-03 日本電産サンキョー株式会社 産業用ロボット

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8260461B2 (en) * 2007-08-30 2012-09-04 Applied Materials, Inc. Method and system for robot calibrations with a camera
US8459922B2 (en) * 2009-11-13 2013-06-11 Brooks Automation, Inc. Manipulator auto-teach and position correction system
JP5848173B2 (ja) * 2012-03-16 2016-01-27 日本発條株式会社 ハンガ・ラインのワーク引掛け制御装置及び方法
JP2015178161A (ja) * 2014-03-19 2015-10-08 株式会社安川電機 搬送ロボットおよび搬送システム

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010214533A (ja) 2009-03-17 2010-09-30 Kawasaki Heavy Ind Ltd ロボット、及びオートゼロイング方法
JP2014128855A (ja) 2012-12-28 2014-07-10 Kawasaki Heavy Ind Ltd 自動教示システム及び教示方法
JP2014233773A (ja) 2013-05-31 2014-12-15 シンフォニアテクノロジー株式会社 多関節ロボット
JP2015032617A (ja) 2013-07-31 2015-02-16 株式会社ダイヘン 搬送ロボットの教示データ補正方法、および搬送システム
JP2015139854A (ja) 2014-01-29 2015-08-03 日本電産サンキョー株式会社 産業用ロボット

Also Published As

Publication number Publication date
JP2019145585A (ja) 2019-08-29
KR20190099127A (ko) 2019-08-26
CN110153995A (zh) 2019-08-23
CN110153995B (zh) 2022-09-27
KR102209497B1 (ko) 2021-02-01

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