Robot controlling device, robot system and method of controlling robot

Patent metadata

Field	Value
Publication number	US-12533803-B2
Application number	US-201917282147-A
Country	US
Kind code	B2
Filing date	Dec 24, 2019
Priority date	Dec 28, 2018
Publication date	Jan 27, 2026
Grant date	Jan 27, 2026

Abstract

A robot controlling device capable of preventing a rapid change in posture of a robotic arm due to a singular point. The robot controlling device brings a third rotational axis to on a circumference of a circle which is on a first rotational axis with a radius at a difference between a distance from the first rotational axis to a second rotational axis and a distance from the second rotational axis to the third rotational axis while changing posture of a horizontal robot to be holdable of a workpiece in an accommodating device, and moves the third rotational axis across a line connecting the first rotational axis and the second rotational axis, and moves the second rotational axis and the third rotational axis divided at the second straight line, connecting a center point of the workpiece accommodated in the accommodating device and the first rotational axis.

First claim

What is claimed is:

1 . A robot controlling device configured to control operation of a horizontally articulated robot configured to perform a work to a workpiece accommodated in an accommodating device,
wherein the accommodating device includes a placing part on which the workpiece is placed, a wall surface, and an opening, wherein the horizontally articulated robot includes a first rotational axis, a first link attached at a base-end part to the first rotational axis so as to be rotatable about the first rotational axis, a second rotational axis provided to a tip-end part of the first link, a second link attached at a base-end part to the second rotational axis so as to be rotatable about the second rotational axis, a third rotational axis provided to a tip-end part of the second link, and a robot hand attached at a base-end part to the third rotational axis so as to be rotatable about the third rotational axis, and wherein the horizontally articulated robot is disposed opposing to the opening such that a first straight line passes a vicinity of a circle centering on the first rotational axis with a radius at a difference between a distance from the first rotational axis to the second rotational axis and a distance from the second rotational axis to the third rotational axis, the first straight line being an extended line of a perpendicular from a center point of the workpiece accommodated in the accommodating device to the opening when seen in axial directions of the first to third rotational axes, the robot controlling device comprising: a memory; and a processor configured to execute a program stored in the memory, wherein, when the program stored in the memory is executed by the processor, the robot controlling device brings the third rotational axis to be positioned on a circumference of the circle while changing a posture of the horizontally articulated robot to be holdable of the workpiece accommodated in the accommodating device, and moves the third rotational axis across a second straight line connecting the first rotational axis and the second rotational axis, and then moves each of the second rotational axis and the third rotational axis only in one of two ranges divided at a third straight line, as a boundary, connecting the center point of the workpiece accommodated in the accommodating device and the first rotational axis, wherein the robot hand is linearly moved in parallel with the first straight line while being inclined at a given angle toward the first straight line and with respect to the first straight line, over the entire path along which the posture of the horizontally articulated robot is changed from a posture in which the third rotational axis is coaxial with the first rotational axis when seen in the axial directions, to a posture holdable of the workpiece accommodated in the accommodating device, and is brought to the posture holdable of the workpiece accommodated in the accommodating device while being inclined at the given angle with respect to the first straight line, and wherein, after the third rotational axis is positioned on the circumference, a range in which the second rotational axis moves is on the same side as a range in which the third rotational axis moves with respect to the third straight line, when seen in the axial directions.

2 . The robot controlling device of claim 1 , wherein, when the program stored in the memory is executed by the processor, and the third rotational axis passes the circumference, or inside or the vicinity of the circle, each of the first to third rotational axes is operated based on an axial interpolation.

3 . A robot controlling device configured to control operation of a horizontally articulated robot configured to perform a work to a workpiece accommodated in an accommodating device,
wherein the accommodating device includes a placing part on which the workpiece is placed, a wall surface, and an opening, wherein the horizontally articulated robot includes a first rotational axis, a first link attached at a base-end part to the first rotational axis so as to be rotatable about the first rotational axis, a second rotational axis provided to a tip-end part of the first link, a second link attached at a base-end part to the second rotational axis so as to be rotatable about the second rotational axis, a third rotational axis provided to a tip-end part of the second link, and a robot hand attached at a base-end part to the third rotational axis so as to be rotatable about the third rotational axis, and wherein the horizontally articulated robot is disposed opposing to the opening such that a first straight line passes a vicinity of a circle centering on the first rotational axis with a radius at a difference between a distance from the first rotational axis to the second rotational axis and a distance from the second rotational axis to the third rotational axis, the first straight line being an extended line of a perpendicular from a center point of the workpiece accommodated in the accommodating device to the opening when seen in axial directions of the first to third rotational axes, the robot controlling device comprising: a memory; and a processor configured to execute a program stored in the memory, wherein, when the program stored in the memory is executed by the processor, the robot controlling device brings the third rotational axis to be positioned on a circumference of the circle while changing a posture of the horizontally articulated robot to be holdable of the workpiece accommodated in the accommodating device, and moves the third rotational axis across a second straight line connecting the first rotational axis and the second rotational axis, and then moves each of the second rotational axis and the third rotational axis only in one of two ranges divided at a third straight line, as a boundary, connecting the center point of the workpiece accommodated in the accommodating device and the first rotational axis, wherein the robot hand is linearly moved in parallel with the first straight line while being inclined at a given angle toward the first straight line and with respect to the first straight line, over the entire path along which the posture of the horizontally articulated robot is changed from a posture in which the third rotational axis is coaxial with the first rotational axis when seen in the axial directions, to a posture holdable of the workpiece accommodated in the accommodating device, and is brought to the posture holdable of the workpiece accommodated in the accommodating device while being inclined at the given angle with respect to the first straight line, and wherein, after the third rotational axis is positioned the circumference, a range in which the second rotational axis moves is on the opposite side from a range in which the third rotational axis moves with respect to the third straight line, when seen in the axial directions.

4 . The robot controlling device of claim 3 , wherein, when the program stored in the memory is executed by the processor, and the third rotational axis passes the circumference, or inside or the vicinity of the circle, each of the first to third rotational axes is operated based on an axial interpolation.

5 . A robot system, comprising:
the robot controlling device of claim 3 ; the horizontally articulated robot of which operation is controlled by the robot controlling device; and the accommodating device configured to accommodate the workpiece to which the horizontally articulated robot performs the work.

6 . A robot controlling device configured to control operation of a horizontally articulated robot configured to perform a work to a workpiece accommodated in an accommodating device,
wherein the accommodating device includes a placing part on whi

Assignees

• Kawasaki Heavy Ind Ltd

Inventors

• Nakaya Atsushi
• Kitano Shinya

Classifications

• B25J9/1612 Primary

  characterised by the hand, wrist, grip control · CPC title

• B25J9/106

  with articulated links · CPC title

• B25J9/042

  comprising an articulated arm · CPC title

• B25J9/1651 Primary

  acceleration, rate control · CPC title

• H10P72/30

  for conveying, e.g. between different workstations · CPC title