Robot apparatus, control method for robot apparatus, method of manufacturing article using robot apparatus, communication device, communication method, control program, and recording medium

Patent metadata

Field	Value
Publication number	US-11833664-B2
Application number	US-202016797812-A
Country	US
Kind code	B2
Filing date	Feb 21, 2020
Priority date	Feb 28, 2019
Publication date	Dec 5, 2023
Grant date	Dec 5, 2023

Abstract

A robot apparatus capable of performing a stable wireless communication is provided. The robot apparatus includes a robot arm including a link, a first control device disposed in the robot arm, a second control device, and a wireless communication unit configured to enable the first control device and the second control device to communicate with each other wirelessly. The wireless communication unit is disposed in the link.

First claim

What is claimed is:

1. A control method for a robot apparatus that includes
a robot arm having a plurality of links, a first control device disposed in the robot arm, a second control device, a wireless communication unit disposed in each of at least two links of the plurality of links and configured to enable the first control device and the second control device to communicate with each other wirelessly,
the control method comprising:
acquiring, by the second control device, data to be transmitted to the first control device; and
transmitting, by the second control device, the data to the first control device by using the wireless communication unit disposed in each of at least two links of the plurality of links.

2. A robot apparatus comprising:
a robot arm including a plurality of links;
a first control device disposed in the robot arm;
a second control device; and
a wireless communication unit configured to enable the first control device and the second control device to communicate with each other wirelessly,
wherein the wireless communication unit is disposed in each of at least two links of the plurality of links.

3. A communication method for a communication device that communicates with a control device disposed in a robot arm including a plurality of links,
wherein a predetermined number of links among the plurality of links is provided with a wireless communication unit configured to enable the communication device and the control device to communicate with each other wirelessly,
the communication method comprising:
acquiring, by the communication device, data to be transmitted to the control device;
transmitting, by the communication device, the data to the control device by using the wireless communication unit, and

wherein in a case where the communication device communicates with the control device, the communication device changes the wireless communication unit to be used based on an orientation of the robot arm to alter a communication path.

4. A communication device that communicates with a control device disposed in a robot arm including a plurality of links, the communication device including a processing unit,
wherein a predetermined number of links among the plurality of links is provided with a wireless communication unit configured to enable the communication device and the control device to communicate with each other wirelessly,
wherein the processing unit acquires data to be transmitted to the control device,
wherein the processing unit transmits the data to the control device by using the wireless communication unit, and
wherein in a case where the processing unit communicates with the control device, the processing unit changes the wireless communication unit to be used based on an orientation of the robot arm to alter a communication path.

5. A control method for a robot apparatus that includes
a robot arm having a plurality of links, a first control device disposed in the robot arm, a second control device and a wireless communication unit, disposed in the predetermined number of links among the plurality of links and configured to enable the first control device and the second control device to communicate with each other wirelessly,
the control method comprising:
acquiring, by the second control device, data to be transmitted to the first control device; and
transmitting, by the second control device, the data to the first control device by using the wireless communication unit wherein in a case where the second control device communicates with the first control device, the second control device changes the wireless communication unit to be used based on an orientation of the robot arm to alter a communication path.

6. The control method according to claim 5 ,
wherein in a case where the second control device communicates with the first control device, the second control device changes the wireless communication unit to be used based on an orientation of the robot arm to alter a communication path.

7. A non-transitory computer-readable recording medium storing a control program for causing a computer to execute the control method according to claim 5 .

8. A robot apparatus comprising:
a robot arm including a plurality of links;
a first control device disposed in the robot arm;
a second control device; and
a wireless communication unit configured to enable the first control device and the second control device to communicate with each other wirelessly,
wherein the wireless communication unit is disposed in a predetermined number of links among the plurality of links, and

wherein in a case where the second control device communicates with the first control device, the second control device changes the wireless communication unit to be used based on an orientation of the robot arm to alter a communication path.

9. The robot apparatus according to claim 8 , further comprising a plurality of first control devices,
wherein the first control device is disposed in the predetermined number of links among the plurality of links, and
wherein in a case where the second control device communicates with a predetermined first control device among the plurality of the first control devices, the second control device selects a combination of the wireless communication unit to be used based on an orientation of the robot arm.

10. The robot apparatus according to claim 9 , wherein in a case where the second control device communicates with the predetermined first control device among the plurality of the first control devices, the second control device changes the combination of the wireless communication unit to be used based on a radio wave state of each of the wireless communication unit.

11. The robot apparatus according to claim 9 ,
wherein the robot arm is provided with an end effector,
wherein the end effector is provided with the first control device and the wireless communication unit, and
wherein in a case where the second control device communicates with the first control device of the end effector, the second control device selects a combination of the wireless communication unit to be used among the wireless communication unit based on a distance between the wireless communication unit disposed in the second control device and the wireless communication unit disposed in the end effector.

12. The robot apparatus according to claim 9 , wherein in a case where the second control device communicates with the predetermined first control device among the plurality of the first control devices, the second control device switches a communication method from a direct communication to an indirect communication based on an orientation of the robot arm, the direct communication being a method of directly communicating with the wireless communication unit disposed in the predetermined first control device as a communication target, the indirect communication being a method using another wireless communication unit different from the wireless communication unit disposed in the predetermined first control device.

13. The robot apparatus according to claim 8 , wherein a predetermined wireless communication unit among the wireless communication unit is installed at a position where a position of the wireless communication unit remains unchanged regardless of an orientation of the robot arm.

14. The robot apparatus according to claim 8 ,
wherein each of the wireless communication unit is provided with a shift unit configured to shift a position of each of the wireless communication unit, and
wherein in a case where the second control device communicates with the predetermined firs

Assignees

• Canon Kk

Inventors

• Ibi Toshio

Classifications

• B25J13/006 Primary

  by means of a wireless system for controlling one or several manipulators · CPC title

• B25J9/1679

  characterised by the tasks executed · CPC title

• B25J9/126

  Rotary actuators · CPC title

• B25J9/16 Primary

  Program controls (total factory control, i.e. centrally controlling a plurality of machines, G05B19/418) · CPC title

• B25J19/00

  Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators (safety-devices in general F16P; protection against radiation in general G21F) · CPC title