JP2020054933A5 - - Google Patents
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- JP2020054933A5 JP2020054933A5 JP2018184894A JP2018184894A JP2020054933A5 JP 2020054933 A5 JP2020054933 A5 JP 2020054933A5 JP 2018184894 A JP2018184894 A JP 2018184894A JP 2018184894 A JP2018184894 A JP 2018184894A JP 2020054933 A5 JP2020054933 A5 JP 2020054933A5
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- needle
- discharge
- control device
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Claims (10)
前記検出部の出力に応じて、前記ロボットアームの動作と、前記ニードルからの前記吐出物の吐出と、を制御する制御部を備え、
前記検出部と前記発信部との間に、前記ニードルが配置され、
前記制御部は、
前記発信部から前記検出部へ向いた方向である第１方向に沿って、前記発信部から前記検出部に前記第１信号を発信させ、
前記第１信号に応じて前記検出部から出力される第１検出値が、前記ニードルが前記吐出面に対して傾いていないことを示す場合、前記ニードルから前記吐出物の吐出を実行させ、
前記第１信号に応じて前記検出部から出力される第１検出値が、前記ニードルが前記吐出面に対して傾いていることを示す場合、前記ニードルから前記吐出物の吐出を停止させる、
制御装置。 A robot including a robot arm, a needle provided at the tip of the robot arm to discharge a discharge to a discharge surface, a transmission unit for transmitting a first signal, and a detection unit for detecting the first signal. It is a control device that controls
A control unit for controlling the operation of the robot arm and the discharge of the discharge from the needle according to the output of the detection unit is provided.
The needle is arranged between the detection unit and the transmission unit.
The control unit
The first signal is transmitted from the transmitting unit to the detecting unit along the first direction which is the direction from the transmitting unit to the detecting unit.
When the first detection value output from the detection unit in response to the first signal indicates that the needle is not tilted with respect to the discharge surface, the needle is allowed to discharge the discharge material.
When the first detection value output from the detection unit in response to the first signal indicates that the needle is tilted with respect to the discharge surface, the discharge of the discharged product from the needle is stopped.
Control device.
前記制御部は、前記第１検出値が閾値以下であることを、前記ニードルが傾いていないことを示す場合とする、制御装置。 The control device according to claim 1.
The control unit is a control device in which the fact that the first detection value is equal to or less than a threshold value indicates that the needle is not tilted.
前記制御部は、
前記発信部から前記吐出面に対して垂直な方向から平面視したとき前記ニードルと重ならない前記吐出面上の第１位置に向かう方向である第２方向に沿って、前記発信部から前記第１位置に第２信号を発信させ、
前記第２信号が発信されてから前記第１位置で反射して前記検出部に検出されるまでに要する時間を用いて、前記ニードルと前記吐出面との距離を予め定めた距離にするように前記ロボットアームを制御する、制御装置。 The control device according to claim 1 or 2.
The control unit
The first from the transmitting portion is along a second direction that is a direction toward a first position on the discharging surface that does not overlap with the needle when viewed in a plane from a direction perpendicular to the discharging surface from the transmitting unit. Send a second signal to the position and
The distance between the needle and the discharge surface is set to a predetermined distance by using the time required from the transmission of the second signal to the reflection at the first position and the detection by the detection unit. A control device that controls the robot arm.
前記制御部は、前記第２信号に応じた前記検出部による検出値を用いて、前記第１位置に前記吐出物があるか否かを判定し、
前記第１位置に前記吐出物があると判定した場合には、前記ニードルからの前記吐出物の吐出を停止させる、制御装置。 The control device according to claim 3.
The control unit determines whether or not the discharge is present at the first position by using the value detected by the detection unit in response to the second signal.
A control device that stops the discharge of the discharge from the needle when it is determined that the discharge is present at the first position.
前記ロボットは、前記発信部である第１発信部及び前記検出部である第１検出部に加えて、第２発信部及び第２検出部を備え、
前記第２発信部は、前記第１発信部の間に、前記ニードルが配置され、
前記第２検出部は、前記第１検出部に対して前記ニードルを挟んだ位置に設けられ、
前記制御部は、
前記第１発信部から前記吐出面に対しておろした垂直な線と前記吐出面と重なる第２位置に向かう第３方向に沿って、前記第１発信部から前記吐出面に第３信号を発信させ、
前記第２発信部から前記吐出面に対しておろした垂直な線と前記吐出面と重なる第３位置に向かう第４の方向に沿って、前記第２発信部から前記吐出面に第４信号を発信させ、
前記第１発信部から前記第３信号が発信されてから前記吐出面上の前記第２位置で反射して前記第１検出部に検出されるまでの第１の時間と、前記第２発信部から前記第４信号が発信されてから前記吐出面上の前記第３位置で反射して前記第２検出部に検出されるまでの第２の時間と、を比較し、
前記第１の時間と前記第２の時間の差分が所定の範囲となるように、前記ニードルの傾きを制御する、制御装置。 The control device according to any one of claims 1 to 4.
The robot includes a second transmission unit and a second detection unit in addition to the first transmission unit which is the transmission unit and the first detection unit which is the detection unit.
In the second transmitting unit, the needle is arranged between the first transmitting units.
The second detection unit is provided at a position where the needle is sandwiched with respect to the first detection unit.
The control unit
A third signal is transmitted from the first transmitting unit to the discharging surface along a third direction toward a second position overlapping the discharge surface and a vertical line drawn from the first transmitting unit with respect to the discharging surface. Let me
A fourth signal is transmitted from the second transmitting unit to the discharging surface along a fourth direction toward a third position overlapping the discharge surface and a vertical line drawn from the second transmitting unit with respect to the discharging surface. Make a call,
The first time from when the third signal is transmitted from the first transmitting unit to when it is reflected at the second position on the discharging surface and detected by the first detecting unit, and the second transmitting unit. Compared with the second time from the transmission of the fourth signal to the reflection at the third position on the discharge surface and the detection by the second detection unit.
A control device that controls the inclination of the needle so that the difference between the first time and the second time is within a predetermined range.
前記第１発信部及び前記第２検出部を構成する第１の超音波センサーアレイと、前記第２発信部及び前記第１検出部を構成する第２の超音波センサーアレイと、を備える、制御装置。 The control device according to claim 5.
A control including a first ultrasonic sensor array constituting the first transmitting unit and the second detecting unit, and a second ultrasonic sensor array forming the second transmitting unit and the first detecting unit. Device.
前記第１の超音波センサーアレイは、超音波を屈折させる超音波レンズを有し、
前記超音波レンズを介して、前記第１方向、前記発信部から前記吐出面に対して垂直な方向から平面視したとき前記ニードルと重ならない前記吐出面上の第１位置に向かう方向である第２方向、並びに前記第３方向に前記超音波を発信する、制御装置。 The control device according to claim 6.
It said first ultrasonic sensor array has an ultrasonic lens for refracting ultrasound,
A first direction via the ultrasonic lens, which is a direction toward a first position on the discharge surface that does not overlap with the needle when viewed in a plan view from the transmitting portion in a direction perpendicular to the discharge surface. A control device that transmits the ultrasonic waves in two directions and the third direction.
前記第１の超音波センサーアレイは、
位相操作によって、前記第１方向、前記第２方向、並びに前記第３方向に超音波を発信する、制御装置。 The control device according to claim 6, which is directly or indirectly dependent on claim 3.
The first ultrasonic sensor array is
A control device that emits ultrasonic waves in the first direction, the second direction, and the third direction by phase operation.
ロボットアームと、前記ロボットアームの先端に設けられ、吐出物を吐出するニードルと、前記ニードルの周囲に配置され、信号を発信する発信部と、前記ニードルの周囲に配置され、前記信号を検出する検出部と、を備えるロボットと、
請求項１から請求項８までのいずれか一項に記載の制御装置であって、前記ロボットを制御する制御装置と、を備える、
ロボットシステム。 It ’s a robot system,
A robot arm, a needle provided at the tip of the robot arm to discharge a discharged substance, a transmitting unit arranged around the needle and transmitting a signal, and a transmitting unit provided around the needle to detect the signal. A robot equipped with a detector,
The control device according to any one of claims 1 to 8, further comprising a control device for controlling the robot.
Robot system.
制御装置からの制御に応じて駆動するロボットアームと、
前記ロボットアームの先端に設けられ、
吐出面に対して吐出物を吐出するニードルと、
前記ニードルの周囲に配置され、信号を発信する発信部と、
前記ニードルの周囲に配置され、前記信号を検出する検出部と、を備え、
前記検出部と前記発信部との間に、前記ニードルが配置され、
前記発信部は、前記制御装置の制御に応じて、前記発信部から前記検出部へ向いた方向である第１方向に沿って、前記発信部から前記検出部に第１信号を発信し、
前記第１信号に応じて前記検出部から出力される第１検出値が、前記ニードルが前記吐出面に対して傾いていないことを示す場合、前記ニードルから前記吐出物の吐出を実行し、
前記第１信号に応じて前記検出部から出力される第１検出値が、前記ニードルが前記吐出面に対して傾いていることを示す場合、前記ニードルから前記吐出物の吐出を停止する、ロボット。 A robot controlled by a control device
A robot arm that is driven according to the control from the control device,
Provided at the tip of the robot arm
A needle that discharges discharged material to the discharge surface,
A transmitter that is placed around the needle and emits a signal,
A detection unit, which is arranged around the needle and detects the signal, is provided.
The needle is arranged between the detection unit and the transmission unit.
In response to the control of the control device, the transmitting unit transmits a first signal from the transmitting unit to the detecting unit along a first direction which is a direction from the transmitting unit to the detecting unit.
When the first detection value output from the detection unit in response to the first signal indicates that the needle is not tilted with respect to the discharge surface, the needle discharges the discharged material.
When the first detection value output from the detection unit in response to the first signal indicates that the needle is tilted with respect to the discharge surface, the robot that stops the discharge of the discharge material from the needle. ..
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018184894A JP7259247B2 (en) | 2018-09-28 | 2018-09-28 | Controllers, robot systems, and robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018184894A JP7259247B2 (en) | 2018-09-28 | 2018-09-28 | Controllers, robot systems, and robots |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2020054933A JP2020054933A (en) | 2020-04-09 |
| JP2020054933A5 true JP2020054933A5 (en) | 2021-09-24 |
| JP7259247B2 JP7259247B2 (en) | 2023-04-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2018184894A Active JP7259247B2 (en) | 2018-09-28 | 2018-09-28 | Controllers, robot systems, and robots |
Country Status (1)
| Country | Link |
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| JP (1) | JP7259247B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112827753A (en) * | 2020-12-31 | 2021-05-25 | 东莞市冠佳电子设备有限公司 | Five-axis glue dispensing mechanism |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58143864A (en) * | 1982-02-22 | 1983-08-26 | Nissan Motor Co Ltd | Means for monitoring course of coating in apparatus for coating viscous fluid |
| JP2003019451A (en) | 2001-07-09 | 2003-01-21 | Kansai Paint Co Ltd | Coating method and coating apparatus |
| JP2006122740A (en) | 2004-10-26 | 2006-05-18 | Nissan Motor Co Ltd | Sealing device provided with coating amount inspecting means |
| JP4832861B2 (en) | 2005-11-17 | 2011-12-07 | 芝浦メカトロニクス株式会社 | Paste coating apparatus and paste coating method. |
| EP2229282A1 (en) | 2007-12-31 | 2010-09-22 | Exatec, LLC. | Apparatus and method for printing three-dimensional articles |
| JP5678670B2 (en) | 2011-01-06 | 2015-03-04 | セイコーエプソン株式会社 | Ultrasonic sensor, tactile sensor, and gripping device |
| JP3179725U (en) | 2012-09-03 | 2012-11-15 | 株式会社アラキ製作所 | Adhesive applicator |
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2018
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