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Robot and abnormality detection method of robot

A robot and abnormal technology, applied in the direction of instruments, manipulators, program-controlled manipulators, etc., can solve problems such as the decrease of rigidity of the sensor part and the decrease of robot positioning accuracy.

Pending Publication Date: 2020-02-11
SEIKO EPSON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In the robot system described in Patent Document 1, since the first sensor and the second sensor are overlapped, the rigidity of the sensor part is reduced.
Therefore, there is a problem that the positioning accuracy of the robot decreases

Method used

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  • Robot and abnormality detection method of robot
  • Robot and abnormality detection method of robot
  • Robot and abnormality detection method of robot

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Experimental program
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Effect test

no. 1 approach

[0020] figure 1 It is a perspective view showing the robot according to the first embodiment of the present invention, and is an exploded view illustrating the vicinity of a force detection unit. figure 2 yes figure 1 The block diagram of the robot is shown. Hereinafter, the base 110 side of the robot arm 10 is referred to as a "proximal end side", and the opposite side, that is, the end effector 17 side of the robot arm 10 is referred to as a "tip end side". Additionally, the figure 1 and image 3 The upper part is called "upper" and the lower part is called "lower".

[0021] figure 1 The shown robot 1 is a system for performing operations such as feeding, unloading, conveying, and assembling of objects such as precision instruments or components thereof, using a robot arm 10 equipped with an end effector 17 . This robot 1 includes: a robot arm 10 having a plurality of arms 11 to 16; an end effector 17 attached to the front end side of the robot arm 10; and a control d...

no. 2 approach

[0113] Figure 8 It is an exploded perspective view showing a force detection unit included in the robot according to the second embodiment of the present invention. Figure 9 is viewed from vertically above Figure 8 The diagram when the force detection unit 21A is shown.

[0114] Hereinafter, regarding the second embodiment, differences from the above-described embodiment will be mainly described, and descriptions of the same matters will be omitted. In addition, in Figure 8 and Figure 9 In , the same reference numerals are assigned to the same configurations as those in the above-mentioned first embodiment.

[0115] Such as Figure 8 As shown, the second embodiment is the same as the first embodiment except that it includes the third force sensor 223 and the fourth force sensor 224 in addition to the first force sensor 221 and the second force sensor 222 . That is, the robot 1 further includes a third force sensor 223 and a fourth force sensor 224 .

[0116] The th...

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PUM

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Abstract

The invention provides a high-rigidity robot capable of detecting an abnormality of a force sensor and an abnormality detection method of the robot. The robot is characterized by including a robot arm; a first member and a second member placed between a base of the robot arm and an installation part; a first force sensor and a second force sensor placed in contact with both the first member and the second member on a plane in a normal direction along a direction in which the base and the installation part are arranged; an on-virtual line component calculation part that obtains a first translational force component on a virtual line from output of the first force sensor and obtains a second translational force component on the virtual line from output of the second force sensor; and a determination part that outputs a signal when determining that the first force sensor or the second force sensor is abnormal based on a difference between the first translational force component and the second translational force component.

Description

technical field [0001] The invention relates to a robot and an abnormality detection method of the robot. Background technique [0002] The robot system described in Patent Document 1 includes: a robot; a first sensor and a second sensor that output predetermined first detection values ​​and second detection values, respectively, based on forces acting on the robot; When the difference from the second detection value exceeds the threshold value, it is determined that the robot has an abnormality. In addition, Patent Document 1 discloses that the first sensor and the second sensor are arranged to overlap, for example, between the base and the proximal end arm. [0003] Patent Document 1: Japanese Patent Laid-Open No. 2012-218094 [0004] In the robot system described in Patent Document 1, since the first sensor and the second sensor are arranged to overlap, the rigidity of the sensor unit decreases. Therefore, there is a problem that the positioning accuracy of the robot d...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00B25J19/02
CPCB25J19/02B25J19/0095B25J13/085B25J9/1674G05B2219/42289B25J19/06B25J9/1694
Inventor 神谷俊幸小林一
Owner SEIKO EPSON CORP