WO2017085928A1 - ロボット - Google Patents
ロボット Download PDFInfo
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- WO2017085928A1 WO2017085928A1 PCT/JP2016/004886 JP2016004886W WO2017085928A1 WO 2017085928 A1 WO2017085928 A1 WO 2017085928A1 JP 2016004886 W JP2016004886 W JP 2016004886W WO 2017085928 A1 WO2017085928 A1 WO 2017085928A1
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- Prior art keywords
- work
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- workpiece
- tool
- control device
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
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- 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
- B25J9/043—Cylindrical coordinate type comprising an articulated arm double selective compliance articulated robot arms [SCARA]
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
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- 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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- 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
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
Definitions
- the present invention relates to a robot.
- Patent Document 1 discloses a robot that performs an operation of grasping an object, moving the grasped object, or combining a plurality of objects.
- Patent Document 2 discloses a robot that performs work (bin picking) for handling a workpiece using a 3D camera.
- Patent Document 3 discloses a robot that performs a work changing work using a hand-work contact sensor.
- Patent Document 4 discloses a robot that performs assembly work (such as fitting) of a flexible object using a camera and a force sensor.
- the present invention has been made to solve the above-described problems, and an object thereof is to realize a robot capable of performing a specific work on a moving workpiece with a relatively simple configuration.
- a robot is a robot that performs a work on a moving workpiece, and includes a first robot arm provided with a guide tool for supporting the workpiece at a tip.
- a second robot arm provided with a work tool for performing a specific work on a workpiece at a tip thereof, and a control device for controlling operations of the first and second robot arms, and the control device.
- the timing information when the work arrives at the work area of the robot, the work that is in the work area is guided into the area by the guide tool, and the work is guided to the work guided in the area.
- the operations of the first and second robot arms are controlled so as to perform a specific work by the tool for use.
- the work in the work area is guided into the work area by the guide tool provided at the tip of the first robot arm, Work is performed on the work guided into the area by the work tool provided at the tip of the second robot arm.
- the timing information when the moving work arrives at the work area of the robot, the work in the work area is guided into the work area by the guide tool provided at the tip of the first robot arm, Work is performed on the work guided into the area by the work tool provided at the tip of the second robot arm.
- the robot may further include detection means for detecting a timing at which the workpiece arrives at a work area of the robot and outputting a detection signal to the control device.
- the timing at which the workpiece arrives may be detected by a photoelectric sensor provided in the vicinity of the conveyor that conveys the workpiece, or the timing information may be calculated by analyzing an image of a fixed camera.
- the robot further includes a contact sensor that detects that the guide tool has contacted the workpiece and outputs a detection signal to the control device, and the control device receives the detection signal from the contact sensor.
- the operation of the second robot arm may be controlled so that a specific work is performed on the work by the work tool.
- the first robot arm moves the workpiece in the conveyor conveyance direction by performing an operation of guiding the workpiece conveyed on the conveyor in a predetermined direction in the width direction of the conveyor by the guide tool. Regulate and maintain the workpiece in a predetermined posture,
- the second robot arm may be configured to perform an operation of supplying a predetermined object to the workpiece in the predetermined posture.
- the robot further includes a regulating member that holds the work in the work area in the work area, and the first robot arm is provided on one side surface of the work in the work area by the guide tool. The other side surface of the workpiece may be guided to the regulating member side while supporting.
- the present invention can realize a robot capable of performing a specific work on a moving workpiece with a relatively simple configuration.
- FIG. 1 is a schematic front view showing an example of the configuration of the robot according to the first embodiment.
- FIG. 2 is a schematic plan view of the robot of FIG.
- FIG. 3 is a block diagram showing a schematic configuration of the robot control apparatus of FIG.
- FIG. 4 is a diagram illustrating an overall configuration of a robot that performs a specific operation.
- FIG. 5 is a flowchart showing an example of the operation of the robot of FIG.
- FIG. 6 is a diagram illustrating an example of the timing information detection unit.
- FIG. 7 is a diagram illustrating an example of an operation performed by the robot.
- FIG. 8 is a block diagram illustrating a schematic configuration of the robot control apparatus according to the second embodiment.
- FIG. 9 is a diagram illustrating an example of an operation performed by the robot.
- the robot according to the first embodiment is used in, for example, a food factory that produces lunch boxes and the like. Further, in this embodiment, a case where a horizontal articulated double-arm robot is used as an example of a robot will be described. However, a multi-arm equipped with two or more robot arms regardless of whether it is a horizontal articulated type or a vertical articulated type. An articulated robot can be used.
- FIG. 1 is a front view showing an overall configuration of an example of a robot according to the first embodiment
- FIG. 2 is a schematic plan view thereof.
- the robot 1 includes a carriage 17, a pair of robot arms supported by the carriage 17 (hereinafter simply referred to as “arms”) 10 and 10, and a carriage 17. And a control device 6 housed therein.
- This robot 1 is a double-arm robot having left and right arms 10 and 10.
- the left and right arms 10 and 10 can operate independently or operate in association with each other.
- Each arm 10 is a horizontal articulated robot arm, and includes an arm portion 11, a wrist portion 13, and a hand portion 15.
- the arm part 11 is comprised by the 1st link 12a and the 2nd link 12b.
- the hand unit 15 is composed of the tool 5, and the wrist unit 13 has a mechanical interface to which the tool 5 is attached.
- the left and right arms 10 and 10 have substantially the same structure except for the hand portion 15, and the tools 5 and 5 of the left and right hand portions 15 and 15 may have the same configuration or different configurations. Good.
- the first link 12 a of the arm portion 11 is connected to a base shaft 16 fixed to the upper surface of the carriage 17 by a rotary joint.
- the first link 12 a is rotatable around a vertical rotation axis L ⁇ b> 1 passing through the axis of the base shaft 16.
- the second link 12b is connected to the tip of the first link 12a by a rotary joint.
- the second link 12b is rotatable around a vertical rotation axis L2 defined at the tip of the first link 12a.
- the wrist unit 13 is connected to the tip of the second link 12b by a linear motion joint, and can move up and down with respect to the second link 12b.
- the tool 5 of the hand unit 15 is connected to the wrist unit 13 by a rotary joint, and can rotate around a vertical rotation axis.
- Each arm 10 having the above configuration has joint axes J1 to J4 corresponding to each joint.
- the arm 10 includes a drive servo motor (not shown) and an encoder (not shown) for detecting the rotation angle of the servo motor so as to correspond to the joint axes J1 to J4. Is provided.
- the rotational axes L1 of the first links 12a and 12a of the two arms 10 and 10 having the above configuration are on the same straight line, and the first link 12a of one arm 10 and the first link 12a of the other arm 10 are vertically Are arranged with a height difference.
- the origin of the basic coordinate system of the robot 1 is defined on the rotation axis L1 of the first link 12a.
- FIG. 3 is a block diagram illustrating a schematic configuration of the control device 6.
- the control device 6 includes a calculation unit 601 such as a CPU, a storage unit 602 such as a ROM and a RAM, a servo control unit 603, and an interface unit 604.
- the control device 6 is a robot controller including a computer such as a microcontroller. Note that the control device 6 may be configured by a single control device that performs centralized control, or may be configured by a plurality of control devices that perform distributed control in cooperation with each other.
- the storage unit 602 stores information such as a basic program as a robot controller and various fixed data.
- the calculation unit 601 controls various operations of the robot 1 by reading and executing software such as a basic program stored in the storage unit 602. That is, the calculation unit 601 generates a control command for the robot 1 and outputs it to the servo control unit 603.
- the servo control unit 603 is configured to control the driving of the servo motors corresponding to the joint axes J1 to J4 of each arm 10 of the robot 1 based on the control command generated by the calculation unit 601.
- the interface unit 604 is communicably connected to the timing information detection unit 7 and outputs a detection signal acquired from the timing information detection unit 7 to the calculation unit 601.
- the control device 6 controls the operation of the entire robot 1.
- the hand part 15 shall be comprised by the tool 5 and another tool.
- the tool 5 can be exchanged.
- FIG. 4 is a diagram showing an overall configuration of a robot that performs a specific operation.
- the direction in which the pair of arms are spread is referred to as the left-right direction
- the direction parallel to the axis of the base shaft is referred to as the up-down direction
- the direction orthogonal to the left-right direction and the up-down direction is referred to as the front-rear direction.
- a conveyor 71 is disposed in front of the robot 1.
- the workpiece 72 is conveyed in the direction of the arrow 75 by the conveyor 71.
- the robot 1 performs a specific operation on the work 72 moved by the conveyor 71.
- the “working area” of the robot 1 is an area around the robot 1 and covers the conveyor 71.
- a pair of side walls 71a and 71b for defining the flow of the conveyed product are provided on both sides of the belt of the conveyor 71.
- Photoelectric sensors as timing information detecting means 7 are provided on these side walls.
- a regulating member 8 is provided on the side wall 71a on the downstream side of the light projecting portion 7a of the photoelectric sensor.
- the regulating member 8 has a flat plate shape, and the main surface thereof is arranged facing the conveyor 71 side.
- the photoelectric sensor has a light projecting unit 7a provided on one side wall 71a on the robot 1 side and a light receiving unit 7b provided on the other side wall 71b.
- This photoelectric sensor is configured to emit visible light, infrared light, or the like from the light projecting unit 7a, and to detect a change in the amount of light blocked by the detected object on the conveyor 71 by the light receiving unit 7b to generate a detection signal. Is done. In this way, the photoelectric sensor detects the work 72 conveyed by the conveyor 71. This detection signal is input to the control device 6 of the robot 1 (see FIG. 3).
- the hand unit 15 (15A) of the first robot arm 10A (hereinafter may be referred to as “first arm 10A”) of the robot 1 is provided with a work tool 73 for performing a specific work on the work 72.
- a guide tool for supporting the work 72 and guiding it in a predetermined direction is provided on the hand portion 15 (15B) of the second robot arm 10B (hereinafter sometimes referred to as “second arm 10B”).
- the control device 6 (see FIG. 3) guides the work 72 existing in the work area to the area by the guide tool 74 in accordance with the timing information when the work 72 arrives at the work area of the robot 1.
- the operation of the first arm 10 ⁇ / b> A and the second arm 10 ⁇ / b> B is controlled so that the work 72 is operated with the work tool 73.
- the work 72 is a lunch box containing rice and a plurality of types of side dishes.
- the “specific work” of the robot 1 is a work to put a sauce on a specific side dish (for example, hamburger) in the lunch box.
- the working tool 73 is a source discharge device
- the guide tool 74 is a guide member for guiding the lunch box.
- the guide tool 74 has a shape that bends in a substantially L shape in plan view.
- first and second arms 10A and 10B include the hand portions 15A and 15B, respectively, as described above, the operation of the hand portions 15A and 15B by the tool is also performed by the first and second arms 10A and 10B. It may be described as an operation.
- FIG. 5 is a flowchart showing an example of the operation of the robot 1 that performs the specific work.
- the control device 6 obtains a detection signal from the timing information detection means 7, and generates timing information when the work 72 arrives at the work area of the robot 1 (step S1 in FIG. 5).
- FIG. 6 is a diagram illustrating an example of an operation of detecting timing information by the timing information detection unit 7 (photoelectric sensor). As shown in FIG. 6, the photoelectric sensor emits light such as visible light or infrared light from the light projecting unit 7 a and receives a change in the amount of light blocked by the work (lunch box) 72 conveyed by the conveyor 71. It is detected by the unit 7b and a detection signal is generated.
- the workpiece (lunch box) 72 conveyed by the conveyor 71 is not in a specific posture, but the workpiece (lunch box) 72 conveyed by the conveyor 71 is detected by a photoelectric sensor.
- This detection signal is input to the control device 6 of the robot 1 (see FIG. 3).
- the control device 6 generates timing information when the work 72 arrives at the work area of the robot 1 based on the acquired detection signal.
- the time during which the work 72 is detected by the photoelectric sensor and conveyed to the work area of the robot 1 by the conveyor 71 is stored in the storage unit 602 in advance. By adding the above time to the detection timing of the photoelectric sensor, the timing of arrival at the work area of the robot 1 can be accurately calculated.
- the control device 6 guides the work 72 that is arriving at the work area of the robot 1 into the work area by the guide tool 74 (step S2 in FIG. 5), and the work 72 guided into the work area.
- the operation of the first and second arms 10A and 10B is controlled so that the work tool 73 performs the work (step S3 in FIG. 5).
- FIG. 7 is a diagram illustrating an example of operations in steps S2 and S3.
- the guide tool 74 is formed in a shape that is bent in an approximately L shape in plan view, and the second arm 10B moves the guide tool 74 in the direction of the arrow 76 as shown in FIG.
- the work (lunch box) 72 is guided to one end side in the width direction of the conveyor 71 along the guide tool 74.
- the other side surface of the work (lunch box) 72 is guided to the regulating member 8 side while supporting one side surface of the work (lunch box) 72 present in the work area by the guide tool 74.
- the first arm 10A performs an operation of supplying a predetermined object to the work (lunch box) 72 in a predetermined posture.
- the first arm 10A operates so that the hand portion 15A repeats reciprocating movement in the direction of the arrow 77 (width direction of the conveyor 71), and the source arm 10A To discharge.
- a sauce can be put on the side dish (for example, hamburger) in the specific location of the work (lunch box) 72. Since the work 72 is sequentially conveyed by the conveyor 71, the robot 1 returns to step S1 when continuing the work (step S4) until the control device 6 acquires the next detection signal (the next work 72). Wait until it is transported.
- the work 72 existing in the work area is moved by the guide tool 74 provided at the tip of the arm 10 ⁇ / b> B.
- the work 72 is guided into the region by the work tool 73 provided at the tip of the arm 10A.
- a robot capable of performing a specific work on the moving work 72 can be realized with a relatively simple configuration.
- the robot 1 since the robot 1 includes the timing information detection means 7, the timing at which the work 72 arrives at the work area of the robot 1 can be accurately calculated.
- the workpiece 72 is detected by a transmissive photoelectric sensor provided in the vicinity of the conveyor 71 that conveys the workpiece.
- the present invention is not limited to the transmissive photoelectric sensor, and is a so-called reflective or regressive photoelectric sensor. May be detected.
- timing information at which the work 72 arrives may be calculated by analyzing an image of a fixed camera.
- the posture of the workpiece 72 can be easily maintained by guiding the other side surface of the workpiece 72 to the regulating member 8 side while supporting one side surface of the workpiece 72 existing in the work area by the guide tool 74.
- the description of the structure common to 1st Embodiment is abbreviate
- FIG. 8 is a block diagram showing a schematic configuration of the control device of the robot 1 according to the second embodiment.
- the robot 1 according to the present embodiment is different in that the robot 1 further includes a contact sensor 9 that detects that the guide tool 74 has contacted the work 72 and outputs a detection signal to the control device 6A.
- the contact sensor 9 uses a distributed pressure sensor, but other types of contact sensors may be used as long as they detect contact with an object.
- FIG. 9 is a diagram illustrating an example of an operation performed by the robot 1.
- the guide tool 74 is formed in a shape that is bent in a substantially L shape in plan view, and has a long portion 74a and a short portion 74b.
- the contact sensor 9 is provided on the inner surface of the short portion 74b. The contact sensor 9 detects that the work (lunch box) 72 has contacted the inner surface of the short portion 74 b of the guide tool 74.
- the control device 6 ⁇ / b> A moves the guide tool 74 of the second arm 10 ⁇ / b> B in the direction of the arrow 76 from the outside of the conveyor 71 according to the timing information.
- the control device 6A receives a detection signal from the contact sensor 9 that detects that the work (lunch box) 72 is in contact with the inner surface of the short portion 74b of the guide tool 74, the control tool 74 For the guide to follow the movement of the work (lunch box) 72 conveyed by the conveyor 71 while supporting the tip and side surfaces of the work (lunch box) 72 in the work area by the short part 74b and the long part 74a
- the tool 74 is controlled.
- the first arm 10A performs an operation of supplying a predetermined object to the work (lunch box) 72 in a predetermined posture by the guide tool 74. While the first arm 10A follows the movement of the workpiece (lunch box) 72 conveyed by the conveyor 71, while the hand portion 15A operates to reciprocate in the direction of the arrow 77 (width direction of the conveyor 71), The source is discharged to the source discharge device which is the work tool 73. Thereby, a sauce can be put on the side dish (for example, hamburger) in the specific location of the work (lunch box) 72.
- the control device 6A performs a specific work on the work 72 with the work tool 73 when the contact sensor 9 detects that the guide tool 74 is in contact with the work 72. The operation of the first arm 10A is controlled.
- the contact sensor 9 is provided on the inner surface of the short portion 74b of the guide tool 74, and a specific operation is performed while following the movement of the work 72 conveyed by the conveyor 71.
- a specific operation may be performed after the contact sensor 9 is provided on the inner surface of the longitudinal portion 74a and the motion of the work 72 on the conveyor 71 is completely stopped by the longitudinal portion 74a of the guide tool 74.
- the contact sensor 9 detects that the work (lunch box) 72 has contacted the inner surface of the longitudinal portion 74a of the guide tool 74, and outputs a detection signal to the control device 6A.
- the control device 6A guides the other side surface of the work (lunch box) 72 to the regulating member 8 side while supporting one side surface of the work (lunch box) 72 existing in the work area by the longitudinal portion 74a of the guide tool 74.
- the operation of the second arm 10B is controlled. Thereby, the movement of the work (lunch box) 72 in the conveyor conveyance direction is restricted, and the work (lunch box) 72 is maintained in a predetermined posture. After completely stopping the movement of the work 72 on the conveyor 71 as described above, a sauce may be applied to a side dish (for example, a hamburger) at a specific location of the work (lunch box) 72.
- the operation was to apply the sauce to the contents in the lunch box.
- the operation may be to apply soy sauce, dressing, etc., and the operation to pack the contents such as side dishes into the lunch box. But you can.
- the sauce is applied while the lunch box is being transported. Also good.
- the present invention is useful for a robot that performs the same work as that conventionally performed by humans.
- Robot 6A Control device 7
- Timing information detection means photoelectric sensor
- Restricting member 9
- Contact sensor 10 Robot arm 10A First robot arm 10B Second robot arm 15, 15A, 15B Hand part
- Workpiece workpiece (lunch box)
- Work tools source dispenser
- Guide tool L-shaped guide member
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- Manipulator (AREA)
Abstract
Description
前記第2のロボットアームは、前記所定の姿勢になった前記ワークに所定物を供給するという作業を行うよう構成されてもよい。
第1実施形態に係るロボットは、例えば、弁当等を生産する食品工場等で利用される。また、本実施形態では、ロボットの一例として水平多関節型双腕ロボットを用いた場合について説明するが、水平多関節型・垂直多関節型を問わず、2本以上のロボットアームを備えた多関節ロボットを用いることができる。
図1は、第1実施形態に係るロボットの一例の全体的な構成を示す正面図であり、図2はその模式的平面図である。図1及び2に示すように、ロボット1は、台車17と、台車17に支持された一対のロボットアーム(以下、単に「アーム」と記載する場合がある)10,10と、台車17内に収納された制御装置6とを備えている。
次に、上記構成のロボット1の動作について説明する。図5は、特定作業を行うロボット1の動作の一例を示すフローチャートである。
(第2実施形態)
次に、第2実施形態について説明する。以下では、第1実施形態と共通する構成の説明は省略し、相違する構成についてのみ説明する。
6,6A 制御装置
7 タイミング情報検知手段(光電センサ)
8 規制部材
9 接触センサ
10 ロボットアーム
10A 第1のロボットアーム
10B 第2のロボットアーム
15,15A,15B ハンド部
72 ワーク(弁当箱)
73 作業用ツール(ソース吐出装置)
74 ガイド用ツール(L字型の案内部材)
Claims (5)
- 移動するワークに対して作業を行うロボットであって、
ワークを支えるガイド用ツールが先端に設けられた第1のロボットアームと、
ワークに対して特定の作業を行う作業用ツールが先端に設けられた第2のロボットアームと、
前記第1及び第2のロボットアームの動作を制御する制御装置と、を備え、
前記制御装置は、前記ワークがロボットの作業領域に到着するタイミング情報に従って、前記ガイド用ツールにより前記作業領域内に在る前記ワークを当該領域内に導き、当該領域内に導かれたワークに対して前記作業用ツールにより特定の作業を行うように前記第1及び第2のロボットアームの動作を制御する、ロボット。 - 前記ワークがロボットの作業領域に到着するタイミングを検知し、前記制御装置に検知信号を出力する検知手段を更に備える、請求項1に記載のロボット。
- 前記ガイド用ツールが前記ワークに接触したことを検知し、前記制御装置に検知信号を出力する接触センサを更に備え、
前記制御装置は、前記接触センサから前記検知信号を受信した場合に前記ワークに対して前記作業用ツールにより特定の作業を行うように前記第2のロボットアームの動作を制御する、請求項1又は2に記載のロボット。 - 前記第1のロボットアームは、前記ガイド用ツールにより、コンベア上を搬送される前記ワークを前記コンベアの幅方向における所定方向へ案内する動作を行うことによって、前記ワークのコンベア搬送方向への移動を規制し、かつ前記ワークを所定の姿勢に維持し、
前記第2のロボットアームは、前記所定の姿勢になった前記ワークに所定物を供給するという作業を行うよう構成される、請求項1乃至3のいずれか一項に記載のロボット。 - 前記作業領域内に在る前記ワークを当該領域内に留める規制部材を更に備え、
前記第1のロボットアームは、前記ガイド用ツールにより前記作業領域内に在る前記ワークの一側面を支えつつ当該ワークの他の側面を前記規制部材側に導く、請求項1乃至4のいずれか一項に記載のロボット。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017551533A JP6757328B2 (ja) | 2015-11-16 | 2016-11-15 | ロボット |
DE112016005250.2T DE112016005250B4 (de) | 2015-11-16 | 2016-11-15 | Roboter |
CN201680066774.1A CN108349087A (zh) | 2015-11-16 | 2016-11-15 | 机器人 |
US15/776,441 US10625953B2 (en) | 2015-11-16 | 2016-11-15 | Robot |
KR1020187016970A KR102162311B1 (ko) | 2015-11-16 | 2016-11-15 | 로봇 |
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KR20180098548A (ko) | 2018-09-04 |
US20180339867A1 (en) | 2018-11-29 |
US10625953B2 (en) | 2020-04-21 |
JP6757328B2 (ja) | 2020-09-16 |
TW201722660A (zh) | 2017-07-01 |
CN108349087A (zh) | 2018-07-31 |
JPWO2017085928A1 (ja) | 2018-09-13 |
KR102162311B1 (ko) | 2020-10-06 |
DE112016005250T5 (de) | 2018-08-16 |
TWI698310B (zh) | 2020-07-11 |
DE112016005250B4 (de) | 2019-05-09 |
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