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1. WO2020137800 - ROBOT POSITION CORRECTION METHOD AND ROBOT

Publication Number WO/2020/137800
Publication Date 02.07.2020
International Application No. PCT/JP2019/049824
International Filing Date 19.12.2019
IPC
B25J 9/06 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
06characterised by multi-articulated arms
H01L 21/677 2006.1
HELECTRICITY
01BASIC ELECTRIC ELEMENTS
LSEMICONDUCTOR DEVICES; ELECTRIC SOLID STATE DEVICES NOT OTHERWISE PROVIDED FOR
21Processes or apparatus specially adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
67Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components
677for conveying, e.g. between different work stations
CPC
B25J 9/1692
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1679characterised by the tasks executed
1692Calibration of manipulator
B25J 9/1694
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1694characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
G05B 2219/39007
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
39Robotics, robotics to robotics hand
39007Calibrate by switching links to mirror position, tip remains on reference point
G05B 2219/39025
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
39Robotics, robotics to robotics hand
39025Spheric tool interrupts transmitted calibration beam, in different configurations
Applicants
  • 川崎重工業株式会社 KAWASAKI JUKOGYO KABUSHIKI KAISHA [JP]/[JP]
  • カワサキロボティクス(アメリカ合衆国),インク. KAWASAKI ROBOTICS (USA), INC. [US]/[US]
Inventors
  • 吉田 雅也 YOSHIDA, Masaya
  • 中原 一 NAKAHARA, Hajime
  • 山口 隆生 YAMAGUCHI, Takao
  • ヂョング, ダニエル CHUNG, Daniel
Agents
  • 特許業務法人 有古特許事務所 ARCO PATENT & TRADEMARK ATTORNEYS
Priority Data
16/234,08427.12.2018US
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) ROBOT POSITION CORRECTION METHOD AND ROBOT
(FR) PROCÉDÉ DE CORRECTION DE POSITION DE ROBOT, ET ROBOT
(JA) ロボットの位置補正方法およびロボット
Abstract
(EN)
This position correction method comprises: a step for causing a hand to face a target, by moving the hand such that the hand has a predetermined first initial attitude; a first position detecting step for swinging the hand and detecting a rotation angle of a rotary shaft when the target blocks detection light; a step for causing the hand to face the target, by moving the hand such that the hand has a predetermined second initial attitude; a second position detecting step for swinging the hand and detecting a rotation angle of the rotary shaft when the target blocks the detection light; and a correction amount calculation step for obtaining rotation angle correction amounts of a second axis and a third axis, on the basis of a difference between the position of the target acquired in the first initial attitude and the position of the target acquired in the second initial attitude.
(FR)
L'invention concerne un procédé de correction de position comprenant : une étape pour amener une main à faire face à une cible, en déplaçant la main de telle sorte que la main ait une première attitude initiale prédéfinie ; une première étape de détection de position pour faire pivoter la main et détecter un angle de rotation d'un arbre rotatif lorsque la cible bloque la lumière de détection ; une étape pour amener la main à faire face à la cible, en déplaçant la main de telle sorte que la main ait une seconde attitude initiale prédéfinie ; une seconde étape de détection de position pour faire pivoter la main et détecter un angle de rotation de l'arbre rotatif lorsque la cible bloque la lumière de détection ; et une étape de calcul de quantité de correction pour obtenir des quantités de correction d'angle de rotation d'un deuxième axe et d'un troisième axe, sur la base d'une différence entre la position de la cible acquise dans la première attitude initiale et la position de la cible acquise dans la seconde attitude initiale.
(JA)
位置補正方法が、ハンドが予め定められた第1初期姿勢となるよう前記ハンドを移動させることにより、前記ハンドをターゲットと対向させるステップと、ハンドを揺動し、前記ターゲットが前記検出光を遮ったときの前記回転軸の回転角を検出する、第1位置検出ステップと、ハンドが予め定められた第2初期姿勢となるよう前記ハンドを移動させることにより、前記ハンドをターゲットと対向させるステップと、前記ハンドを揺動し、前記ターゲットが前記検出光を遮ったときの前記回転軸の回転角を検出する、第2位置検出ステップと、前記第1初期姿勢で取得されたターゲットの位置と、前記第2初期姿勢で取得されたターゲットの位置との差に基づいて、前記第2軸および前記第3軸の回転角補正量を求める補正量演算ステップと、を備える。
Also published as
Latest bibliographic data on file with the International Bureau