Multi-axis robot and control method therefor, and work tool
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsMasataka Koyama, Shinsuke Hamatani, Naohiro Otsuki, Daiki Kubo, Takuya Kawamura
Life of this patent
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Abstract
A multi-axis robot includes: a robot main body including a head and a movement mechanism that three-dimensionally moves the head; and a work tool attached to the head. The work tool includes: a first link pivotally supported on the head; a second link pivotally supported on a distal end of the first link; a first change mechanism that changes an angle of the first link to a central axis of the head; and a second change mechanism that changes an angle of the second link to the first link.
Claims16
A multi-axis robot that performs a predetermined work while moving along a shape of a workpiece, the multi-axis robot comprising:
- a robot main body including a head and a movement mechanism that three-dimensionally moves the head;
- a work tool attached to the head;
- and
- a controller, wherein
- the work tool includes:
- a first link pivotally supported on the head;
- a second link pivotally supported on a distal end of the first link;
- a first change mechanism that changes a first angle being an angle of the first link to a central axis of the head;
- and
- a second change mechanism that changes a second angle being an angle of the second link to the first link,
- the controller controls the movement mechanism, the first change mechanism, and the second change mechanism, and
- the controller executes:
- a first control of moving a tip of the second link to an initial working position of the workpiece;
- a second control of adjusting each of the first angle and the second angle to a predetermined angle before the tip of the second link reaches the initial working position;
- and
- a third control of moving the tip of the second link from the initial working position along the shape of the workpiece while keeping the first angle and second angle.
A multi-axis robot that performs a predetermined work while moving along a shape of a workpiece, the multi-axis robot comprising:
- a robot main body including a movable head;
- a work tool attached to the head;
- and
- circuitry configured to control, wherein
- the work tool includes:
- a first link pivotally supported on the head;
- a second link pivotally supported on a distal end of the first link;
- a first joint to change a first angle being an angle of the first link to a central axis of the head;
- and
- a second joint to change a second angle being an angle of the second link to the first link,
- the circuitry controls a position of the head, the first joint, and the second joint, and
- the circuitry executes:
- a first control of moving a tip of the second link to an initial working position of the workpiece;
- a second control of adjusting each of the first angle and the second angle to a predetermined angle before the tip of the second link reaches the initial working position;
- and
- a third control of moving the tip of the second link from the initial working position along the shape of the workpiece while keeping the first angle and second angle.
A method for controlling a multi-axis robot, comprising:
- moving a tip of a second link which is pivotally supported on a distal end of a first link which is supported on a head which has a work tool attached thereto to an initial working position of a workpiece;
- adjusting each of a first angle of a first link to a central axis of the head and the second angle of a second link to the first link to a predetermined angle before the tip of the second link reaches the initial working position;
- and
- moving the tip of the second link from the initial working position along a shape of the workpiece while keeping the first angle and second angle.
Dependencies are inferred from the claim text.