Fanuc Corporation

Matsushita Electric Industrial Co., Ltd.

Hoya Corporation

Tokyo Electron Limited

Micromodule Systems, Inc.

Takashi Sato

Hideki Isono

Kunio Sano

Akira Murakami

Hidekazu Tanino

Masamune Sato

Osamu Nozawa

Masato Kobayashi

Hisao Kawai

Nobuaki Yamaoka

Kokoro Hatanaka

Keiji Moroishi

Kazuhiko Yamagiwa

Kazunori Ban

Junichi Horikawa

Kazuhiro Fujita

Takako Tsubaki

Ryo Nihei

Kazutaka Nakayama

Tetsuaki Kato

Kentaro Fujibayashi

Masanori Hamada

Kenzo Hatada

Yoshiro Nakata

Shigeyuki Takao

Toshiaki Tsuruha

Takahiro Iwatake

Toshihiro Yonezawa

Koichi Nagao

Shinichi Oki

Yihua Gu

Toshinari Tamura

Naoki Hatakenaka

Byoung-Youl Min

Jun-ichi Horikawa

Ken Kuang-Fu Liu

Ko Gika

Shigeoki Mori

Masaru Onishi

A robot system capable of reliably detecting contact between a robot or a workpiece and an external object. The robot system includes: a robot including a handling part; a handling force-detection part that detects a handling force applied to the handling part; an operation controller that causes the robot to operate in accordance with the handling force; an external force-detection part that detects an external force acting on the robot; and a contact force-calculation part that calculates a contact force by subtracting the handling force from the detected external force.

Human-cooperative robot system

A robot controller, by which an operator can visually or intuitively understand the direction and/or magnitude of an actual force applied to an arbitrary portion of a workpiece. The controller controls a motion of a robot so that one of a work tool and a workpiece is moved relative to the other, and carries out a predetermined operation. The controller has a force detecting part which detects a force acting between the work tool and the workpiece; and a displaying part which displays a simulated image or video of the robot. The displaying part displays a trajectory of working points on the workpiece, and the force detecting part detects the force applied to each working point when the work tool passes through the working point. The displaying part displays the detected force as a line segment, etc., extending from the working point or a point near the working point.

Robot controller having function for displaying robot and force

A robot system includes a robot that operates to move a machining tool relative to a workpiece, an actuator that changes a position of the machining tool, and a control device that controls the robot. The control device includes a robot control unit that operates the robot along a predetermined motion trajectory, a force detection unit that detects force acting between the machining tool and the workpiece, a position detection unit that detects a current position of the machining tool, a force control unit that obtains a target position of the machining tool such that a detection value of the force detection unit approaches a predetermined value, and a position correction unit that calculates a position correction amount of a motion trajectory of the robot and a position correction amount of the actuator in response to the target position of the machining tool.

Robot system for performing force control

A human-interactive type robot system which can constantly detect a contact force at a high precision even if the contact force is small, comprising a force sensor which measures a force which the robot receives from the outside and outputs a measurement value, a force detection value calculating part which subtracts a correction value from the measurement value to calculate a force detection value, and a correction value updating part which updates a force detection value when a predetermined condition stands for use as the correction value. The predetermined condition is that the robot is stopped or operating at a fixed speed and a margin of fluctuation of the force detection value at a predetermined unit time is a fluctuation margin threshold value or less or that the robot is stopped and the current force detection value is the force detection value threshold value or less.

Human interactive type robot system

A robot () having a workpiece mass measurement function for measuring the mass of a workpiece that is held, includes a force measurement unit () that measures the force that is applied to the tip part () of the mechanism part of the robot (), and a mass estimation unit () that estimates the mass of the workpiece that is held by the robot (), based on information about the force acquired by the force measurement unit () while the robot () is moving.

Robot having workpiece mass measurement function

A method for manufacturing a glass blank for magnetic disk and a method for manufacturing a glass substrate for magnetic disk are provided which are capable of producing a glass blank for magnetic disk having a good surface waviness by press forming. The method includes a forming process of press-forming a lump of molten glass using a pair of dies, wherein in the forming process, press forming is performed using thermally equalizing means for reducing a difference in temperature in the press forming surface of the die during pressing of the molten glass.

Method for manufacturing glass blank for magnetic disk, method for manufacturing glass substrate for magnetic disk, glass blank for magnetic disk

A method for manufacturing a glass substrate for magnetic disk is provided in which a glass is kept from being fused to a mold during press forming and shape processing to achieve a good circularity is efficiently performed. The method includes: a forming process of forming a disk-shaped glass blank by direct-pressing a molten glass by a pair of dies; and a shape processing process of performing at least one of inner hole formation and outer shape formation for forming a disk-shaped glass substrate by forming a cutting line on the principal face of the glass blank, followed by growing the cutting line to perform cutting. In the forming process, press forming is performed while the temperature of the pair of dies, over a period of time until a molten glass is separated from the die after coming into contact with the die, is set at a temperature lower than a glass transition point (Tg) and a mold release material is not attached to the surfaces of the pair of dies.

Method for manufacturing glass blank for magnetic disk, method for manufacturing glass substrate for magnetic disk

To provide a method for manufacturing a glass blank for magnetic disk and a method for manufacturing a glass substrate for magnetic disk, which are capable of producing a glass blank for magnetic disk having a good surface waviness by press forming, and a method for manufacturing a glass substrate for magnetic disk. A method for manufacturing a glass blank for magnetic disk, which includes a forming process of press-forming a lump of molten glass using a pair of dies, wherein in the forming process, press forming is performed using thermally equalizing means for reducing a difference in temperature in the press forming surface of the die during pressing of the molten glass.

Manufacturing method of glass blank for magnetic disk, manufacturing method of glass substrate for magnetic disk, glass blank for magnetic disk, glass substrate for magnetic disk, and magnetic disk

A method for manufacturing a glass substrate for magnetic disk, the internal strain of which is reduced without performing annealing treatment, is provided. The method includes a forming process of forming a plate-shaped glass blank by pressing a lump of molten glass using a pair of dies, wherein the method includes: a removing process of removing at least a part of a residual stress layer formed on the principal face of the glass blank press-formed in the forming process; and a process of forming a donut-shaped glass substrate by subjecting the glass blank after the removing process to machining.

Method for manufacturing glass substrate for magnetic disk

A robot controller () which moves either a tool () or a workpiece (W) relative to another one with a hand unit, controls the force acting between the tool and the workpiece, comprising a force detector unit () for detecting a force in one axial direction and moments about the axes in two axial directions that are at right angles with the one axis and are, further, at right angles with each other; a force-presuming point setting unit () for setting a force-presuming point at where a force acting between the tool and the workpiece is presumed; and a force-presuming unit () for presuming forces in the two axial directions and a moment about the one axis based upon the force in the one axial direction and the moments about the axes in the two axial directions, and upon the position of the force-presuming point.

Robot controller which conducts a force control by using a three-axial force sensor

A roller hemming device capable of correcting a positional error between a robot manipulator and a workpiece, and carrying out a pre-hemming and/or hemming process with appropriate pressing force. The roller hemming device has a position detecting part adapted to detect a current position of a roller attached to a front end of the robot manipulator; a force sensor arranged between a wrist section of the robot manipulator and the roller; and a controller adapted to control the position of the roller by using an output of the position detecting part and an output of the force sensor, so that pressing force applied to a mold by the roller is a predetermined value.

Roller hemming device using robot manipulator with force sensor

A fitting device and a fitting method, by which the fitting process can be carried out without damaging workpieces, even when a sufficient moment cannot be detected by pressing the workpiece in the fitting direction. The device includes a fitting status judging part adapted to judge whether a second workpiece is in motion in a fitting direction relative to a first workpiece; a workpiece orientation searching part adapted to change a current orientation of the second workpiece when it is judged that the second workpiece is not in motion in the fitting direction, and search a proper orientation for the second workpiece based on a detected force or speed of the second workpiece in the fitting direction, during the change of the orientation; and a fitting motion commanding part adapted to command a robot which grips the second workpiece to continue the fitting operation, by using the searched proper orientation.

Fitting device using robot

A fitting apparatus includes a robot arm having, at the forward end thereof, a gripper for holding a workpiece, a force detector for detecting a force and moment received by the workpiece held by the gripper, and a controller for controlling an operation of the robot arm. The controller includes a motion command generating unit for generating an operation command to fit two workpieces to each other, and an operation command correcting unit for correcting the operation command so as to correct the position of the gripper in a direction perpendicular to the fitting direction and the orientation of the gripper around an axis perpendicular to the fitting direction until the detected force and moment become less than or equal to a threshold value, based on either maximum values of the force and moment detected by the force detector while the two workpieces are in contact with each other or the force and moment detected by the force detector when the two workpieces first come into contact with each other.

Fitting apparatus

A fitting device for fitting a fitting workpiece, which is held by a robot, to a workpiece to be fitted by force control, comprises: a force detecting portion for detecting a force and moment acting on a control point of the fitting workpiece; a judging portion for judging whether or not clogging is caused between the fitting workpiece and the workpiece to be fitted at the time of fitting; and a changing portion for changing a position of the control point according to a distance by which the fitting workpiece enters the workpiece to be fitted and for pressing the fitting workpiece against the workpiece to be fitted in a direction perpendicular to the fitting direction so as to adjust a posture of the fitting workpiece on the basis of the control point that has been changed, in the case where it is judged by the judging portion that clogging is caused. Due to the foregoing, posture of the fitting workpiece can be appropriately adjusted in a short period of time so that the fitting workpiece can be fitted into the workpiece to be fitted.

Fitting device for adjusting state of clogging caused in fit

Growing community of inventors

Yamanashi, Japan

Takashi Sato