KR102209497B1 - 산업용 로봇의 보정값 산출 방법 - Google Patents

산업용 로봇의 보정값 산출 방법 Download PDF

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Publication number
KR102209497B1
KR102209497B1 KR1020190015399A KR20190015399A KR102209497B1 KR 102209497 B1 KR102209497 B1 KR 102209497B1 KR 1020190015399 A KR1020190015399 A KR 1020190015399A KR 20190015399 A KR20190015399 A KR 20190015399A KR 102209497 B1 KR102209497 B1 KR 102209497B1
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KR
South Korea
Prior art keywords
arm
hand
correction value
chamber
reference position
Prior art date
Application number
KR1020190015399A
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English (en)
Korean (ko)
Other versions
KR20190099127A (ko
Inventor
다카유키 야자와
겐토 나가무네
가즈키 이토
Original Assignee
니혼 덴산 산쿄 가부시키가이샤
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.)
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Application filed by 니혼 덴산 산쿄 가부시키가이샤 filed Critical 니혼 덴산 산쿄 가부시키가이샤
Publication of KR20190099127A publication Critical patent/KR20190099127A/ko
Application granted granted Critical
Publication of KR102209497B1 publication Critical patent/KR102209497B1/ko

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Classifications

    • 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)
KR1020190015399A 2018-02-16 2019-02-11 산업용 로봇의 보정값 산출 방법 KR102209497B1 (ko)

Applications Claiming Priority (2)

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
JPJP-P-2018-026281 2018-02-16

Publications (2)

Publication Number Publication Date
KR20190099127A KR20190099127A (ko) 2019-08-26
KR102209497B1 true KR102209497B1 (ko) 2021-02-01

Family

ID=67645373

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020190015399A KR102209497B1 (ko) 2018-02-16 2019-02-11 산업용 로봇의 보정값 산출 방법

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 (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Family Cites Families (7)

* 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
JP5571902B2 (ja) 2009-03-17 2014-08-13 川崎重工業株式会社 ロボット、及びオートゼロイング方法
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
JP6111065B2 (ja) 2012-12-28 2017-04-05 川崎重工業株式会社 自動教示システム及び教示方法
JP6499826B2 (ja) 2014-01-29 2019-04-10 日本電産サンキョー株式会社 産業用ロボット
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 (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

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
JP7129788B2 (ja) 2022-09-02

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