Title:
ROBOT DEVICE AND THERMAL DISPLACEMENT AMOUNT ESTIMATION DEVICE
Document Type and Number:
Japanese Patent JP2020116664
Kind Code:
A
Abstract:
To correct thermal displacement without using a sensor with high accuracy.SOLUTION: A robot device includes an arm mechanism having a link and a joint part. A hand is mounted on a tip end of an arm. A motor driver 33 drives a motor of the joint part. A processor 21 outputs a command value to the motor driver so as to move a reference point of the hand to a target position. A storage device 25 stores a first thermal displacement amount time change indicating a change of a thermal displacement amount, in which the hand reference point displaces from a cooling position to a thermal equilibrium position due to heat generation by operation of the arm mechanism, with respect to an operation duration time, and a second thermal displacement amount time change indicating a change of the thermal displacement amount, in which the hand reference point returns from the thermal equilibrium position to the cooling position following operation stop of the arm mechanism, with respect to an operation stop time. The processor estimates the thermal displacement amount of the hand reference point on the basis of the operation duration time and the stop duration time of the arm mechanism by referring to the first and second thermal displacement amount time changes, and corrects the target position on the basis of the estimated thermal displacement amount.SELECTED DRAWING: Figure 2
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Inventors:
TANAKA YASUYOSHI
Application Number:
JP2019008423A
Publication Date:
August 06, 2020
Filing Date:
January 22, 2019
Export Citation:
Assignee:
FANUC LTD
International Classes:
B25J9/10
Domestic Patent References:
| JP2015150676A | 2015-08-24 | |||
| JPH0241879A | 1990-02-13 | |||
| JP2014000649A | 2014-01-09 | |||
| JPH09319420A | 1997-12-12 | |||
| JP2015188972A | 2015-11-02 | |||
| JP2018103274A | 2018-07-05 | |||
| JP2006289608A | 2006-10-26 | |||
| JP2016215316A | 2016-12-22 |
Attorney, Agent or Firm:
Nijiiro Patent Office, a patent business corporation