Robot and control method of robot

Patent metadata

Field	Value
Publication number	US-2016247707-A1
Application number	US-201415026926-A
Country	US
Kind code	A1
Filing date	Sep 30, 2014
Priority date	Oct 1, 2013
Publication date	Aug 25, 2016
Grant date	—

Abstract

A robot includes robot arm including lower arm, upper arm and hand attached to tip end portion of upper arm such that the hand is rotatable around rotational axis thereof; lower arm drive unit which drive the lower arm to move the hand, upper arm drive unit which drives the upper arm to move the hand; hand drive unit which rotates the hand; hand angular position detecting section which detects angular position of the hand around the rotational axis; and control unit which controls upper arm drive unit, lower arm drive unit, and hand drive unit, wherein the hand includes a blade having a first contact/slide surface and second contact/slide surface which extend in a first direction, contact a teaching target and slide thereon, and first contact/slide surface and second contact/slide surface include a first characterizing portion and a second characterizing portion having bent points in the first direction, respectively.

First claim

1 . A robot comprising:
a robot arm including an arm, and a hand attached to a tip end portion of the arm such that the hand is rotatable around a rotational axis of the hand; an arm drive unit which drives the arm to move the hand; a hand drive unit which rotates the hand; a hand angular position detecting section which detects an angular position of the hand around the rotational axis; and a control unit which controls the arm drive unit and the hand drive unit, wherein the hand includes a blade having a contact/slide surface which extends in a first direction and contacts a teaching target and slides relatively on the teaching target, and wherein the contact/slide surface includes a characterizing portion having a bent point in the first direction.

2 . The robot according to claim 1 ,
wherein the characterizing portion is a stepped portion in the first direction.

3 . The robot according to claim 1 ,
wherein the control unit is configured to control at least the arm drive unit to move the hand so that the teaching target is moved relatively on the contact/slide surface in the first direction or a direction opposite to the first direction, and to detect a position of the teaching target based on a changed angular position of the hand in a direction crossing the first direction, the changed angular position occurring due to the characterizing portion and being detected by the hand angular position detecting section.

4 . The robot according to claim 3 ,
wherein the control unit is configured to control the hand drive unit to cause the hand to follow up a change in a shape of the characterizing portion of the contact/slide surface.

5 . The robot according to claim 1 ,
wherein the characterizing portion is a convex portion protruding from the contact/slide surface or a recess depressed from the contact/slide surface.

6 . A method of controlling a robot including:
a robot arm including an arm, and a hand attached to a tip end portion of the arm such that the hand is rotatable around a rotational axis of the hand; an arm drive unit which drives the arm to move the hand; a hand drive unit which rotates the hand; a hand angular position detecting section which detects an angular position of the hand around the rotational axis; and a control unit which controls the arm drive unit and the hand drive unit, wherein the hand includes a blade having a contact/slide surface which extends in a first direction and contacts a teaching target and slides relatively on the teaching target, and wherein the contact/slide surface includes a characterizing portion having a bent point in the first direction, the method comprising: controlling, with the control unit, at least the arm drive unit to move the hand so that the teaching target is moved relatively on the contact/slide surface in the first direction or a direction opposite to the first direction, and detecting a position of the teaching target based on a changed angular position of the hand in a direction crossing the first direction, the changed angular position occurring due to the characterizing portion and being detected by the hand angular position detecting section.

Assignees

• Kawasaki Heavy Ind Ltd

Inventors

• Hashimoto Yasuhiko

Classifications

• H10P72/3411 Primary

  involving loading and unloading of wafers · CPC title

• H10P72/50

  for positioning, orientation or alignment · CPC title

• H10P72/7602 Primary

  the wafers being placed on a robot blade or gripped by a gripper for conveyance · CPC title

• H01L21/68707 Primary

  Electricity · mapped topic

• B25J9/042

  comprising an articulated arm · CPC title