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Robot, control device, robot system and robot control method

A robot system and control device technology, applied in control/adjustment systems, robots, program-controlled manipulators, etc., can solve problems such as broken parts, inability to fasten screws, and undisclosed pressing parts.

Inactive Publication Date: 2015-05-13
SEIKO EPSON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, Patent Document 1 does not disclose how (for example, in which direction) to press the member
For example, if the overlapped components cannot be properly pressed during screw fastening, the holes of the overlapped components may be misaligned, screwing may not be possible, or the components may be damaged.

Method used

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  • Robot, control device, robot system and robot control method
  • Robot, control device, robot system and robot control method
  • Robot, control device, robot system and robot control method

Examples

Experimental program
Comparison scheme
Effect test

no. 2 approach ＞

[0188] Hereinafter, a second embodiment will be described. In addition, the same code|symbol is used for the same part as 1st Embodiment, and description is abbreviate|omitted.

[0189] Figure 13 It is a figure explaining the 1st work example performed by a robot. In the first work example, the snap ring A200 is fitted (assembled) into the rod-shaped shaft portion A150 of the workpiece A100.

[0190] The workpiece A100 has a rectangular parallelepiped main body A110 and a rod-shaped shaft A150 substantially perpendicular to one surface of the main body A110. A groove (not shown) into which the snap ring A200 fits is formed on the outer periphery (side surface) of the shaft portion A150.

[0191] The retaining ring A200 has a ring shape when viewed from the Z direction, and a part of the ring is cut out. The snap ring A200 is fitted into a groove (not shown) formed on the outer periphery of the shaft A150 from a direction substantially perpendicular to the longitudinal dir...

no. 3 approach ＞

[0240] Hereinafter, a third embodiment will be described. In addition, the same code|symbol is used for the same part as 1st Embodiment and 2nd Embodiment, and description is abbreviate|omitted.

[0241] Figure 23A , Figure 23B It is a perspective view showing details of the hand 111 . Figure 23A It is the figure which made the gripping surface 111B-1 (details mentioned later) of the finger 111B contact each other, Figure 23B It is the figure which separated the grip surface 111B-1.

[0242] The hand 111 includes a main body 111A, fingers 111B, a bottom plate 111C, a movable part 111D, and a transmission shaft 111E. The external shape of the main body part 111A is substantially rectangular parallelepiped, and the movable part 111D is arrange|positioned around it. The finger 111B is provided on the movable part 111D. The tip of the finger 111B is formed substantially in the shape of a quadrangular pyramid, and at least one of the side surfaces of the quadrangular pyra...

no. 4 approach ＞

[0344] Hereinafter, a fourth embodiment will be described. In addition, the same code|symbol is attached|subjected to the same part as 1st Embodiment - 3rd Embodiment, and description is abbreviate|omitted.

[0345] Figure 37 It is a diagram showing a schematic configuration example of a robot system 1000 according to an embodiment of the present invention.

[0346] The robot system 1000 of this embodiment includes a robot 10000 , a control device 20000 , and an imaging unit 30000 . The robot 10000 includes a control device 20000 therein. The imaging unit 30000 and the control device 20000 of the robot 10000 are connected via a line 40000 so as to be communicable. In this embodiment, the line 40000 is wired, but it may be wireless.

[0347] The robot system 1000 is a system that works on a tool held by a robot. In this embodiment, tools are manufactured for human use, for example. Specifically, the tools are, for example, an E-ring setter for inserting the E-ring, and a...

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Abstract

A robot includes a force detection unit and an arm including an end effector. The arm applies a force acting in a predetermined direction to a first workpiece so that the first workpiece is pressed against at least a first surface and a second surface of a second workpiece.

Description

technical field [0001] The present invention relates to a robot, a control device, a robot system, and a robot control method. Background technique [0002] Patent Document 1 describes a robot that performs work of assembling a product by combining a plurality of components. The robot of Patent Document 1 superimposes a certain type of component at a predetermined position on a base component, and superimposes another type of component at a predetermined position on a previously stacked component, and then presses the component with a hand so that it does not move. [0003] Patent Document 1: Japanese Patent Laid-Open No. 2012-35391 [0004] However, when a robot is made to perform the assembly work as described above, dedicated jigs are often used in order to fix components so that they do not move. However, if the types of components increase, it is necessary to prepare dedicated jigs corresponding to the types of components at this time. For example, in a multi-variety...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/18B25J13/08B25J9/00
CPCB25J9/0087B25J13/085Y10S901/30Y10S901/02G05D15/01
Inventor 川田浩之清泽勇贵工藤真
Owner SEIKO EPSON CORP
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