Robot system, calibration method, and method for producing to-be-processed material
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G05B-019/418
B25J-009/00
B25J-009/16
B25J-021/00
출원번호
US-0201931
(2014-03-10)
등록번호
US-9156160
(2015-10-13)
우선권정보
JP-2013-053528 (2013-03-15)
발명자
/ 주소
Nagai, Ryoichi
Nakamura, Tamio
Kouno, Dai
Izumi, Tetsuro
출원인 / 주소
KABUSHIKI KAISHA YASKAWA DENKI
대리인 / 주소
Mori & Ward, LLP
인용정보
피인용 횟수 :
0인용 특허 :
12
초록▼
A robot system includes a plurality of robots, a control device, a common work table, and a calibration device. The control device is configured to control the plurality of robots. On the common work table, the plurality of robots are configured to work. Based on a position of a first robot having a
A robot system includes a plurality of robots, a control device, a common work table, and a calibration device. The control device is configured to control the plurality of robots. On the common work table, the plurality of robots are configured to work. Based on a position of a first robot having a calibrated coordinate relative to a position of a second robot among the plurality of robots, the calibration device is configured to calibrate a coordinate of the second robot.
대표청구항▼
1. A robot system comprising: a plurality of robots arranged along a line;a control device configured to control the plurality of robots;a common work table on which the plurality of robots are configured to work; anda calibration device configured to, based on a position of a first robot having a c
1. A robot system comprising: a plurality of robots arranged along a line;a control device configured to control the plurality of robots;a common work table on which the plurality of robots are configured to work; anda calibration device configured to, based on a position of a first robot having a calibrated coordinate relative to a position of a second robot among the plurality of robots, calibrate a coordinate of the second robot,wherein the calibration device is configured to calibrate a coordinate of an uppermost stream robot among the plurality of robots based on a position of the uppermost stream robot relative to a position of the common work table, the uppermost stream robot being configured to work at an uppermost stream position of the line, and the calibration device is configured to calibrate a coordinate of an intermediate robot among the plurality of robots based on a position of the uppermost stream robot relative to the position of the common work table, the intermediate robot being disposed at a lower stream position on the line than the position of the uppermost stream robot,wherein the calibration device is configured to calibrate a coordinate of a lowermost stream robot based on a position of the lowermost stream robot relative to the position of the common work table, the lowermost stream robot being configured to work at a lowermost stream position on the line, and the calibration device is configured to calibrate the coordinate of the intermediate robot based on the position of the lowermost stream robot relative to the position of the intermediate robot disposed at an upper stream position than the position of the lowermost stream robot, andwherein the calibration device is configured to use a calibration result of the uppermost stream robot and a calibration result of the lowermost stream robot to calibrate the coordinate of the intermediate robot. 2. The robot system according to claim 1, wherein the calibration device is configured to calibrate the coordinate of the first robot based on the position of the first robot relative to the position of the common work table. 3. The robot system according to claim 2, wherein the calibration device is configured to calibrate a coordinate of a third robot among the plurality of robots based on the position of the first robot relative to the position of the second robot, and configured to evaluate a calibration result of a last calibrated robot based on a position of the last calibrated robot relative to the position of the common work table. 4. The robot system according to claim 1, wherein the calibration device is configured to calibrate a coordinate of a third robot among the plurality of robots based on the position of the first robot relative to the position of the second robot, and configured to evaluate a calibration result of a last calibrated robot based on a position of the last calibrated robot relative to the position of the common work table. 5. A calibration method comprising: based on a position of one robot having a calibrated coordinate relative to a position of another robot among a plurality of robots arranged along a line, calibrating a coordinate of the another robot, the plurality of robots being configured to operate using a common work table by a control device,wherein the calibrating of the another robot includes: calibrating a coordinate of an uppermost stream robot among the plurality of robots based on a position of the uppermost stream robot relative to a position of the common work table, the uppermost stream robot being configured to work at an uppermost stream position of the line, and calibrating a coordinate of an intermediate robot among the plurality of robots based on a position of the uppermost stream robot relative to the position of the common work table, the intermediate robot being disposed at a lower stream position on the line than the position of the uppermost stream robot; calibrating a coordinate of a lowermost stream robot based on a position of the lowermost stream robot relative to the position of the common work table, the lowermost stream robot being configured to work at a lowermost stream position on the line, and calibrating the coordinate of the intermediate robot based on the position of the lowermost stream robot relative to the position of the intermediate robot disposed at an upper stream position than the position of the lowermost stream robot; andcalibrating the coordinate of the intermediate robot using a calibration result of the uppermost stream robot and a calibration result of the lowermost stream robot. 6. A method for producing a to-be-processed material processed on a common work table by a plurality of robots arranged along a line operated by a control device comprising: based on a position of one robot having a calibrated coordinate relative to a position of another robot among the plurality of robots, calibrating a coordinate of the another robot˜ wherein the calibrating of the another robot includes:calibrating a coordinate of an uppermost stream robot among the plurality of robots based on a position of the uppermost stream robot relative to a position of the common work table, the uppermost stream robot being configured to work at an uppermost stream position of the line, and calibrating a coordinate of an intermediate robot among the plurality of robots based on a position of the uppermost stream robot relative to the position of the common work table, the intermediate robot being disposed at a lower stream position on the line than the position of the uppermost stream robot;calibrating a coordinate of a lowermost stream robot based on a position of the lowermost stream robot relative to the position of the common work table, the lowermost stream robot being configured to work at a lowermost stream position on the line, and calibrating the coordinate of the intermediate robot based on the position of the lowermost stream robot relative to the position of the intermediate robot disposed at an upper stream position than the position of the lowermost stream robot; and calibrating the coordinate of the intermediate robot using a calibration result of the uppermost stream robot and a calibration result of the lowermost stream robot: andprocessing the to-be-processed material using calibrated coordinates of the plurality of robots.
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이 특허에 인용된 특허 (12)
Pierre De Smet, Calibration system and displacement measurement device.
Red Walter E. (Provo UT) Davies Brady R. (Orem UT) Wang Xuguang (Provo UT) Turner Edgar R. (Provo UT), Device and method for correction of robot inaccuracy.
Fixell, Peter, Method and system for determining the relation between a robot coordinate system and a local coordinate system located in the working range of the robot.
McGee, H. Dean; Lee, Eric; Garza, Frank, Robot calibration system and method of determining a position of a robot relative to an electrically-charged calibration object.
Wang Xuguang (Provo UT) Red Walter E. (Provo UT) Manley Peter H. (Alpine UT), Robot end-effector terminal control frame (TCF) calibration method and device.
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