Canon Kabushiki Kaisha

Kazunori Ogami

Akihiro Kimura

Tsutomu Osaka

Takahiro Ishikawa

Takayuki Ogawara

Shunsuke Kawamura

Hidetada Asano

A robot, includes: a robot arm including: a first frame; and a second frame coupled to the first frame to be turnable about a joint axis; a cable arranged along a side surface of the first frame and a side surface of the second frame; a first fixing member for fixing the cable to the side surface of the first frame; a second fixing member for fixing the cable to the side surface of the second frame; a holding member for holding a part of the cable between the first fixing member and the second fixing member; and a support mechanism for regulating movement of the holding member in an axis direction of the joint axis, the support mechanism supporting the holding member so that the holding member is movable in a direction orthogonal to the axis direction of the joint axis to follow a bending movement of the cable.

Robot

A robot apparatus includes a multi-joint robot including, in at least one portion, a joint including a motor, a speed reducer connected to the motor, an input angle detecting unit configured to detect a rotational angle of a rotating shaft of the motor, and an output angle detecting unit configured to detect an output rotational angle of the speed reducer, and a controller configured to diagnose a state of the speed reducer from an angle difference between the input rotational angle detected by the input angle detecting unit and the output rotational angle detected by the output angle detecting unit.

Robot apparatus and speed reducer state diagnosing method

The dual arm robot includes a first arm including a first hand, a first visual sensor and a first force sensor, and a second arm including a second hand, a second visual sensor and a second force sensor, uses each visual sensor to detect positions of a lens barrel and a fixed barrel to hold and convey them to a central assembling area, uses the first visual sensor to measure a position of a flexible printed circuits to insert the flexible printed circuits into the fixed barrel, and uses outputs of the force sensors to fit and assemble the fixed barrel onto the lens barrel under force control. The dual arm robot converts a position coordinate of a workpiece detected by each visual sensor to a robot coordinate to calculate a trajectory of each hand and drive each arm, to thereby realize cooperative operation of the two arms.

Growing community of inventors

Tokyo, Japan

Kazunori Ogami