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Robot arm, robot control device, and robot system

A robotic system, robotic arm technology, applied in the field of robotic systems, to solve problems such as arm contact with other objects such as structures, workpieces, tools, etc.

Inactive Publication Date: 2019-05-21
CANON KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Furthermore, in an operational state, there may be situations where the robot arm comes into contact with other objects such as structures, workpieces, tools, etc.

Method used

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

Examples

Experimental program
Comparison scheme
Effect test

no. 1 example

[0046] figure 1 is a perspective view showing the overall configuration of the robot system according to the first embodiment of the present invention. exist figure 1 Among them, the robot system 100 has a robot arm unit 200 and a robot control device 300 that controls the operation of the robot arm unit 200 . Furthermore, the teaching pendant 400 is connected to the robot control device 300 as a teaching unit that teaches the operation of the robot arm unit 200 according to user operations.

[0047] The robot arm unit 200 has a vertical multi-joint robot arm 201 having, for example, a robot with a plurality of axes (about two to six axes), and a robot hand 202 attached to the tip of the robot arm 201 as an end effector. joint.

[0048] The robot arm 201 forming the main part of the robot arm unit 200 is coupled to a base 210 (base end link) fixed on the table so that a plurality of links 211 to 216 that transmit displacement or force can be connected at the joints J1 to J6...

no. 2 example

[0124] Next, we will use the Figure 10 to Figure 13 A robot system according to a second embodiment of the present invention is described. Note that for example Figure 10 to Figure 13 The hardware configuration of parts not shown in , the robot arm unit 200 and the like are the same as those in the robot system 100 of the first embodiment, and a detailed description thereof will be omitted if not particularly required. also, Figure 10 to Figure 13 Components in the same or corresponding to those in the first embodiment will be denoted by the same reference numerals, and detailed descriptions thereof will be omitted.

[0125] Figure 10 corresponding to the first embodiment figure 2 , and is a partial sectional view showing the joint J2 of the robot arm 201 of the present embodiment, Figure 11 corresponding to the first embodiment Figure 4 , and is a functional block diagram showing the main configuration of the robot system of this embodiment (particularly, the fun...

no. 3 example

[0133] In this embodiment, a modified example in which a part of the configuration of the first or second embodiment described above is changed will be described. In each of the above-described embodiments, when the arm is connected to the robot controller 300 after the log recording operation (output shaft information acquisition mode) is performed at the robot arm 201, based on the log information acquired by the robot controller 300 from the arm side, the and assess joint loading.

[0134] However, for example, the robot arm 201 may be configured to individually analyze logged information to detect an excessive load state and perform warning processing. to this end, figure 1 A display 905 is arranged on the robot arm 201 as a display device for warning processing. exist figure 1 In the example of , the display 905 is arranged on the side of the base 210 . As the joint sensor, an encoder may be used as in the first embodiment, or a torque sensor 501 may be used as in the...

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PUM

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Abstract

When a main power source (801) is blocked and a robot control device (300) is unable to be involved, the present invention makes it possible to record, using a robot arm (201) alone, information relating to the state of each joint thereof (J1-J6). The robot arm (201) is provided with: multiple links (211-216); joints (J1-J6) for connecting the multiple links (211-216); and sensors (235, 236) for detecting the state of the joints (J1-J6). The robot arm (201) also is provided with a log-recording device (380) for recording information output from the sensors (235, 236), and an electric supply unit (902) for supplying electric power to the sensors (235, 236) and the log-recording device (380) when the driving power source for the joints (J1-J6) is blocked.

Description

technical field [0001] The present invention relates to a robot arm, a robot control device used together with the robot arm, and a robot system including the robot arm, the robot arm having a joint connecting a plurality of links to each other, and a method for detecting the state of the joint Joint sensor. Background technique [0002] Conventionally, various robots have been used in production places such as factories. Recently, multi-joint robot arms for performing more complicated operations have been put into practical use and widely used. Motors and reducers are installed in the joints of this type of robot arm, and excessive loads applied to the joints can cause malfunctions. [0003] One of the factors of excessive load applied to the joints of the robot arm may be vibration or shock applied to the robot arm in a non-operating state, especially during transportation or installation. Furthermore, in an operational state, there may be situations where the robot arm...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/06B25J19/00
CPCB25J13/085B25J13/088B25J9/1674G05B2219/37492G05B2219/36545B25J9/1694B25J9/1661B25J19/06
Inventor 横井昭佳
Owner CANON KK