CARRYING SYSTEM AND CARRIER ROBOT
To provide a carrier robot adapted to simplify the configuration and control for inputting an object-to-be-conveyed having a projection onto a carrying conveyor being operated continuously.SOLUTION: A carrier robot 30 inserts a projection provided on an object-to-be-conveyed 10 into a hole formed co...
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| creator | TAKEYAMA TAKETOSHI KONO MISAKI TAKATSUKA TAKAAKI |
| description | To provide a carrier robot adapted to simplify the configuration and control for inputting an object-to-be-conveyed having a projection onto a carrying conveyor being operated continuously.SOLUTION: A carrier robot 30 inserts a projection provided on an object-to-be-conveyed 10 into a hole formed consecutively in a carrying conveyor 20 being operated continuously. The carrier robot 30 includes a robot hand 35 that grips the object-to-be-conveyed 10 and gives a moving force to the object-to-be-conveyed 10 gripped and a 6-axes force-sensation sensor 60 that is provided on the robot hand 35. If the robot hand 35 pushes the object-to-be-conveyed 10 downward of a Z-axis toward the carrying conveyor 20 and a force acting, during the pushing, on the object-to-be-conveyed 10 along X and Y directions is detected by the 6-axes force-sensation sensor, a moving force the robot hand 35 gives to the object-to-be-conveyed 10 is controlled in a manner cancelling the force acting along the X and Y directions.SELECTED DRAWING: Figure 2
【課題】連続運転された搬送コンベアに対して、突起物を有する搬送物を投入するための構成及び制御を簡素化する。【解決手段】搬送ロボット３０は、連続運転された搬送コンベア２０に連続的に形成された穴に対して、搬送物１０に設けられた突起部を挿入する。搬送ロボット３０は、搬送物１０を把持するとともに、把持された当該搬送物１０に対して移動力を付与するロボットハンド３５と、ロボットハンド３５に設けられた６軸力覚センサ６０とを含む。ロボットハンド３５が搬送コンベア２０に向けてＺ軸下方向に搬送物１０を押し込むとともに、当該押し込みの際に、Ｘ方向及びＹ方向に沿って搬送物１０に作用する力が６軸力覚センサによって検知されると、当該Ｘ方向及びＹ方向に沿って作用する力を打ち消すように、ロボットハンド３５が搬送物１０に付与する移動力が制御される。【選択図】図２ |
| format | Patent |
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【課題】連続運転された搬送コンベアに対して、突起物を有する搬送物を投入するための構成及び制御を簡素化する。【解決手段】搬送ロボット３０は、連続運転された搬送コンベア２０に連続的に形成された穴に対して、搬送物１０に設けられた突起部を挿入する。搬送ロボット３０は、搬送物１０を把持するとともに、把持された当該搬送物１０に対して移動力を付与するロボットハンド３５と、ロボットハンド３５に設けられた６軸力覚センサ６０とを含む。ロボットハンド３５が搬送コンベア２０に向けてＺ軸下方向に搬送物１０を押し込むとともに、当該押し込みの際に、Ｘ方向及びＹ方向に沿って搬送物１０に作用する力が６軸力覚センサによって検知されると、当該Ｘ方向及びＹ方向に沿って作用する力を打ち消すように、ロボットハンド３５が搬送物１０に付与する移動力が制御される。【選択図】図２</description><language>eng ; jpn</language><subject>CHAMBERS PROVIDED WITH MANIPULATION DEVICES ; COMBINED OPERATIONS ; CONVEYING ; HAND TOOLS ; HANDLING THIN OR FILAMENTARY MATERIAL ; MACHINE TOOLS ; MANIPULATORS ; METAL-WORKING NOT OTHERWISE PROVIDED FOR ; OTHER WORKING OF METAL ; PACKING ; PERFORMING OPERATIONS ; PNEUMATIC TUBE CONVEYORS ; PORTABLE POWER-DRIVEN TOOLS ; SHOP CONVEYOR SYSTEMS ; STORING ; TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING ORTIPPING ; TRANSPORTING ; UNIVERSAL MACHINE TOOLS</subject><creationdate>2020</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20200319&DB=EPODOC&CC=JP&NR=2020040782A$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,776,881,25542,76289</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20200319&DB=EPODOC&CC=JP&NR=2020040782A$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>TAKEYAMA TAKETOSHI</creatorcontrib><creatorcontrib>KONO MISAKI</creatorcontrib><creatorcontrib>TAKATSUKA TAKAAKI</creatorcontrib><title>CARRYING SYSTEM AND CARRIER ROBOT</title><description>To provide a carrier robot adapted to simplify the configuration and control for inputting an object-to-be-conveyed having a projection onto a carrying conveyor being operated continuously.SOLUTION: A carrier robot 30 inserts a projection provided on an object-to-be-conveyed 10 into a hole formed consecutively in a carrying conveyor 20 being operated continuously. The carrier robot 30 includes a robot hand 35 that grips the object-to-be-conveyed 10 and gives a moving force to the object-to-be-conveyed 10 gripped and a 6-axes force-sensation sensor 60 that is provided on the robot hand 35. If the robot hand 35 pushes the object-to-be-conveyed 10 downward of a Z-axis toward the carrying conveyor 20 and a force acting, during the pushing, on the object-to-be-conveyed 10 along X and Y directions is detected by the 6-axes force-sensation sensor, a moving force the robot hand 35 gives to the object-to-be-conveyed 10 is controlled in a manner cancelling the force acting along the X and Y directions.SELECTED DRAWING: Figure 2
【課題】連続運転された搬送コンベアに対して、突起物を有する搬送物を投入するための構成及び制御を簡素化する。【解決手段】搬送ロボット３０は、連続運転された搬送コンベア２０に連続的に形成された穴に対して、搬送物１０に設けられた突起部を挿入する。搬送ロボット３０は、搬送物１０を把持するとともに、把持された当該搬送物１０に対して移動力を付与するロボットハンド３５と、ロボットハンド３５に設けられた６軸力覚センサ６０とを含む。ロボットハンド３５が搬送コンベア２０に向けてＺ軸下方向に搬送物１０を押し込むとともに、当該押し込みの際に、Ｘ方向及びＹ方向に沿って搬送物１０に作用する力が６軸力覚センサによって検知されると、当該Ｘ方向及びＹ方向に沿って作用する力を打ち消すように、ロボットハンド３５が搬送物１０に付与する移動力が制御される。【選択図】図２</description><subject>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</subject><subject>COMBINED OPERATIONS</subject><subject>CONVEYING</subject><subject>HAND TOOLS</subject><subject>HANDLING THIN OR FILAMENTARY MATERIAL</subject><subject>MACHINE TOOLS</subject><subject>MANIPULATORS</subject><subject>METAL-WORKING NOT OTHERWISE PROVIDED FOR</subject><subject>OTHER WORKING OF METAL</subject><subject>PACKING</subject><subject>PERFORMING OPERATIONS</subject><subject>PNEUMATIC TUBE CONVEYORS</subject><subject>PORTABLE POWER-DRIVEN TOOLS</subject><subject>SHOP CONVEYOR SYSTEMS</subject><subject>STORING</subject><subject>TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING ORTIPPING</subject><subject>TRANSPORTING</subject><subject>UNIVERSAL MACHINE TOOLS</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2020</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNrjZFB0dgwKivT0c1cIjgwOcfVVcPRzUQCJeboGKQT5O_mH8DCwpiXmFKfyQmluBiU31xBnD93Ugvz41OKCxOTUvNSSeK8AIwMjAwMTA3MLI0djohQBAFssIpM</recordid><startdate>20200319</startdate><enddate>20200319</enddate><creator>TAKEYAMA TAKETOSHI</creator><creator>KONO MISAKI</creator><creator>TAKATSUKA TAKAAKI</creator><scope>EVB</scope></search><sort><creationdate>20200319</creationdate><title>CARRYING SYSTEM AND CARRIER ROBOT</title><author>TAKEYAMA TAKETOSHI ; KONO MISAKI ; TAKATSUKA TAKAAKI</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_JP2020040782A3</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>eng ; jpn</language><creationdate>2020</creationdate><topic>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</topic><topic>COMBINED OPERATIONS</topic><topic>CONVEYING</topic><topic>HAND TOOLS</topic><topic>HANDLING THIN OR FILAMENTARY MATERIAL</topic><topic>MACHINE TOOLS</topic><topic>MANIPULATORS</topic><topic>METAL-WORKING NOT OTHERWISE PROVIDED FOR</topic><topic>OTHER WORKING OF METAL</topic><topic>PACKING</topic><topic>PERFORMING OPERATIONS</topic><topic>PNEUMATIC TUBE CONVEYORS</topic><topic>PORTABLE POWER-DRIVEN TOOLS</topic><topic>SHOP CONVEYOR SYSTEMS</topic><topic>STORING</topic><topic>TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING ORTIPPING</topic><topic>TRANSPORTING</topic><topic>UNIVERSAL MACHINE TOOLS</topic><toplevel>online_resources</toplevel><creatorcontrib>TAKEYAMA TAKETOSHI</creatorcontrib><creatorcontrib>KONO MISAKI</creatorcontrib><creatorcontrib>TAKATSUKA TAKAAKI</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>TAKEYAMA TAKETOSHI</au><au>KONO MISAKI</au><au>TAKATSUKA TAKAAKI</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>CARRYING SYSTEM AND CARRIER ROBOT</title><date>2020-03-19</date><risdate>2020</risdate><abstract>To provide a carrier robot adapted to simplify the configuration and control for inputting an object-to-be-conveyed having a projection onto a carrying conveyor being operated continuously.SOLUTION: A carrier robot 30 inserts a projection provided on an object-to-be-conveyed 10 into a hole formed consecutively in a carrying conveyor 20 being operated continuously. The carrier robot 30 includes a robot hand 35 that grips the object-to-be-conveyed 10 and gives a moving force to the object-to-be-conveyed 10 gripped and a 6-axes force-sensation sensor 60 that is provided on the robot hand 35. If the robot hand 35 pushes the object-to-be-conveyed 10 downward of a Z-axis toward the carrying conveyor 20 and a force acting, during the pushing, on the object-to-be-conveyed 10 along X and Y directions is detected by the 6-axes force-sensation sensor, a moving force the robot hand 35 gives to the object-to-be-conveyed 10 is controlled in a manner cancelling the force acting along the X and Y directions.SELECTED DRAWING: Figure 2
【課題】連続運転された搬送コンベアに対して、突起物を有する搬送物を投入するための構成及び制御を簡素化する。【解決手段】搬送ロボット３０は、連続運転された搬送コンベア２０に連続的に形成された穴に対して、搬送物１０に設けられた突起部を挿入する。搬送ロボット３０は、搬送物１０を把持するとともに、把持された当該搬送物１０に対して移動力を付与するロボットハンド３５と、ロボットハンド３５に設けられた６軸力覚センサ６０とを含む。ロボットハンド３５が搬送コンベア２０に向けてＺ軸下方向に搬送物１０を押し込むとともに、当該押し込みの際に、Ｘ方向及びＹ方向に沿って搬送物１０に作用する力が６軸力覚センサによって検知されると、当該Ｘ方向及びＹ方向に沿って作用する力を打ち消すように、ロボットハンド３５が搬送物１０に付与する移動力が制御される。【選択図】図２</abstract><oa>free_for_read</oa></addata></record> |
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| subjects | CHAMBERS PROVIDED WITH MANIPULATION DEVICES COMBINED OPERATIONS CONVEYING HAND TOOLS HANDLING THIN OR FILAMENTARY MATERIAL MACHINE TOOLS MANIPULATORS METAL-WORKING NOT OTHERWISE PROVIDED FOR OTHER WORKING OF METAL PACKING PERFORMING OPERATIONS PNEUMATIC TUBE CONVEYORS PORTABLE POWER-DRIVEN TOOLS SHOP CONVEYOR SYSTEMS STORING TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING ORTIPPING TRANSPORTING UNIVERSAL MACHINE TOOLS |
| title | CARRYING SYSTEM AND CARRIER ROBOT |
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