Robot stopping method and robot system

A robot system and robot technology, applied in the field of robot systems, can solve the problems of restarting a lot of time and energy, affecting the arm, reducer in the robot, and the processed objects and conveyed objects transported by the robot, so as to reduce the Effect of power consumption and reduction of consumption

Active Publication Date: 2022-03-11
SANKYO SEIKI MFG CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the robot is stopped due to a power failure, since the stop is generally classified as an error stop, the restart of the robot after the power is restored requires a lot of time and effort
In addition, when a power failure is detected, the electromagnetic brake is activated immediately to stop the robot in an emergency, and the impact of the emergency braking caused by the electromagnetic brake may affect the arms and reducers in the robot, the workpiece transported by the robot, and the transport Things etc.

Method used

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  • Robot stopping method and robot system
  • Robot stopping method and robot system
  • Robot stopping method and robot system

Examples

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Embodiment Construction

[0034] Next, embodiments of the present invention will be described with reference to the drawings. figure 1 It is a figure which shows an example of the structure of the robot included in the robot system concerning embodiment of this invention, (a) is a top view, (b) is a front view. figure 1 The shown robot is a horizontal articulated robot used for transporting semiconductor substrates, glass substrates, etc., and includes a base 11, a first arm 12 attached to the base 11, and a second arm attached to the front end of the first arm 12. 13, and the hand 14 that is installed on the front end of the second arm 13. The hand 14 is a member for holding an object to be conveyed, such as a glass substrate, and is formed in a fork shape. The first arm 12 is rotatable about an axis A relative to the base 11 , the second arm 13 is rotatable about an axis B relative to the first arm 12 , and the hand 14 is rotatable about an axis C relative to the second arm 13 . In order to enable ...

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Abstract

The invention provides a method for stopping a robot, which is provided with a capacitor and a battery as a backup power supply for enabling the robot to perform a predetermined operation when a power failure of an external power supply is detected, can reduce the power consumption in the backup power supply, and facilitates the restart of a normal operation and the restart of a restart when the power supply is recovered. An axis of the robot that moves at least a part of the robot in the gravity direction is used as a Z axis, the occurrence time at which a power failure is detected is used as a reference time, and when the Z axis is in a rising state and the power failure is detected, the power failure is detected on the basis of the rising speed of the Z axis at the reference time. The time for which the speed of the Z-axis is reduced to zero on the basis of gravitational acceleration is calculated as a deceleration time, and first control is executed to drive the Z-axis such that the rising of the Z-axis is decelerated and stopped during the deceleration time.

Description

technical field [0001] The invention relates to a robot system including a robot and a controller, in particular to a method for stopping a robot during power failure detection and the robot system. Background technique [0002] In a robot system consisting of a robot (also called a manipulator) and a controller, each axis of the robot is driven by a motor. When a power failure occurs when the power supply from the external power supply to the robot system stops, the robot needs to be stopped. When the robot is stopped due to a power outage, since the stop is generally classified as an error stop, restarting the robot after power recovery requires much time and effort. In addition, when a power failure is detected, the electromagnetic brake is activated immediately to stop the robot in an emergency, and the impact of the emergency braking caused by the electromagnetic brake may affect the arms and reducers in the robot, the workpiece transported by the robot, and the transp...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10B25J9/12B25J19/00
CPCB25J9/10B25J9/12B25J19/005B25J19/0066H02P3/00B25J19/06H01L21/677B25J9/042B25J9/1674B25J18/04B25J9/126B25J9/1615B25J9/1651B25J9/1664
Inventor 奥村宏克
Owner SANKYO SEIKI MFG CO LTD
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