Robot system employing multijoint robots and workpiece delivery method
AssigneeDenso Wave Incorporated
InventorKoji Kamiya
Life of this patent
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Abstract
A multijoint robot has a multijoint link and a hand attached to the link. The robot comprises motion separating means and control means. The motion separating means separates, in terms of vectors, a motion of the hand into a first motional vector component along a given plane and a second motional vector component along a plane perpendicular to the given plane. The control means controls a motion of the hand based on an operation timing of the hand to be set on the first motional vector component and the second motional vector component.
Claims4
A multijoint robot having a multijoint link and a hand attached to the link, comprising:
- motion separating means for separating, in terms of vectors, a motion of the hand into a first motional vector component along a given plane and a second motional vector component along a plane perpendicular to the given plane;
- and
- control means for controlling a motion of the hand based on an operation timing of the hand to be set on the first motional vector component and the second motional vector component.
A method of delivering a workpiece between two multijoint robots position-communicably connected to each other via a communication means, in which, of the two robots, a first robot clamping the workpiece hands the workpiece over to a second robot, each robot having a multijoint arm and a hand linked to the arm, the method comprising:
- allowing the first robot to
- i) move the hand thereof via a first predetermined position to a second predetermined position at a constant velocity, the first and second predetermined positions residing a given plane,
- ii) notify the second robot of the arrival of the hand of the first robot at the first predetermined position via the communication means when the hand of the first robot arrives at the first predetermined position, and
- iii) unclamp the workpiece from the hand thereof and start to move along a specified direction perpendicular to the given plane, when the hand of the first robot arrives at the second predetermined position;
- and
- allowing the second robot to
- iv) start to move along a further plane in parallel with the given plane in the same direction as a moving direction of the hand of the first robot, when it is notified from the first robot via the communication means that the hand of the first robot has arrived at the predetermined first position,
- v) start to move along a specified direction perpendicular to the further plane and toward the given plane along which the hand of the first robot moves, when the hand of the second robot arrives at a predetermined position in the further plane, and
- vi) clamping the workpiece during a period of time from a first timing when the hand of the second robot arrives at the given plane and starts to move at a moving velocity equal to a moving velocity of the hand of the first robot to a second timing at which the hand of the first robot arrives at the second predetermined position.
Dependencies are inferred from the claim text.