WO2014132400A1 - Système robotique - Google Patents

Système robotique Download PDF

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Publication number
WO2014132400A1
WO2014132400A1 PCT/JP2013/055466 JP2013055466W WO2014132400A1 WO 2014132400 A1 WO2014132400 A1 WO 2014132400A1 JP 2013055466 W JP2013055466 W JP 2013055466W WO 2014132400 A1 WO2014132400 A1 WO 2014132400A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
annular member
jig
hole
robot system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2013/055466
Other languages
English (en)
Japanese (ja)
Inventor
晃大 塩田
亮介 堤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Corp
Yaskawa Electric Manufacturing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yaskawa Electric Corp, Yaskawa Electric Manufacturing Co Ltd filed Critical Yaskawa Electric Corp
Priority to PCT/JP2013/055466 priority Critical patent/WO2014132400A1/fr
Priority to JP2015502661A priority patent/JPWO2014132400A1/ja
Publication of WO2014132400A1 publication Critical patent/WO2014132400A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines

Definitions

  • the disclosed embodiment relates to a robot system.
  • Such robot systems include, for example, an assembly system that assembles a mechanical product such as a motor using a robot while supplying parts by a transfer device or the like.
  • annular member such as an O-ring is often used as a part. Since such an annular member is made of a soft material and is often amorphous, a dedicated device has been used for its conveyance (see, for example, Patent Document 1).
  • the “belt transport device” disclosed in Patent Document 1 has a base that is pivotably attached to a frame, suspends an annular member from an arm around which the belt is suspended, and feeds out the belt and the belt.
  • the annular member is conveyed by switching the direction.
  • the belt conveying device since the above-described belt conveying device requires a mechanism such as an arm or a belt, the installation space and cost are easily increased and inefficient. Also, for example, it is not suitable for transporting small annular members such as packing, which are generally smaller than O-rings.
  • the small annular member may be made of a soft material, so that it is difficult for the robot to hold it and it is difficult to attach it.
  • One aspect of the embodiment has been made in view of the above, and an object thereof is to provide a robot system capable of efficiently and reliably carrying and attaching a small annular member.
  • the robot system includes a robot and an instruction unit.
  • the robot includes a robot hand including a mechanism for gripping an object to be gripped.
  • the instructing unit holds the annular member by inserting the jig formed in a substantially rod shape as the object to be grasped into the hole of the annular member, and instructs the robot to carry the jig together. .
  • the small annular member can be transported and attached efficiently and reliably.
  • FIG. 1A is a schematic plan view showing the configuration of the robot system according to the first embodiment.
  • FIG. 1B is a schematic perspective view of a workpiece and an annular member.
  • 1C is a schematic cross-sectional view taken along line A-A ′ shown in FIG. 1B.
  • FIG. 2 is a block diagram of the robot system according to the first embodiment.
  • FIG. 3A is a schematic front view showing the configuration of the robot.
  • FIG. 3B is a schematic plan view showing the configuration of the robot.
  • FIG. 4 is a schematic perspective view showing the configuration of the hand.
  • FIG. 5A is a schematic diagram (part 1) for describing a series of operations from conveyance to attachment of an annular member.
  • FIG. 5A is a schematic diagram (part 1) for describing a series of operations from conveyance to attachment of an annular member.
  • FIG. 5B is a schematic diagram (part 2) for explaining a series of operations from conveyance to attachment of the annular member.
  • FIG. 5C is a schematic diagram (No. 3) for explaining a series of operations from conveyance to attachment of the annular member.
  • FIG. 5D is a schematic diagram (part 4) for describing a series of operations from conveyance to attachment of the annular member.
  • FIG. 5E is a schematic diagram (No. 5) for describing a series of operations from conveyance to attachment of the annular member.
  • FIG. 5F is a schematic diagram (No. 6) for describing a series of operations from conveyance to attachment of the annular member.
  • FIG. 5G is a schematic diagram (No. 7) for describing a series of operations from conveyance to attachment of the annular member.
  • FIG. 5H is a schematic diagram (No. 8) for describing a series of operations from conveyance to attachment of the annular member.
  • FIG. 6A is a schematic diagram (part 1) for explaining a series of operations according to the second embodiment.
  • FIG. 6B is a schematic diagram (part 2) for describing a series of operations according to the second embodiment.
  • FIG. 6C is a schematic diagram (part 3) for describing a series of operations according to the second embodiment.
  • FIG. 6D is a schematic diagram (part 4) for describing a series of operations according to the second embodiment.
  • FIG. 6E is a schematic diagram (part 5) for describing a series of operations according to the second embodiment.
  • FIG. 1A is a schematic plan view showing the configuration of the robot system 1 according to the first embodiment.
  • FIG. 1A shows a three-dimensional orthogonal coordinate system including the Z axis with the vertical direction as the positive direction for easy understanding. Such an orthogonal coordinate system may be shown in other drawings used in the following description. In the present embodiment, it is assumed that the positive direction of the X axis points to the front of the robot 10.
  • a component composed of a plurality of components only a part of the plurality of components may be provided with a reference numeral, and the provision of a reference numeral may be omitted for the others. In such a case, it is assumed that a part with the reference numeral and the other have the same configuration.
  • the robot system 1 includes a cell 2 that forms a rectangular parallelepiped work space.
  • the robot system 1 includes a robot 10, a work table 20, a supply table 30, and a camera 40 inside the cell 2.
  • the robot system 1 includes a control device 50 outside the cell 2.
  • the control device 50 is connected to various devices in the cell 2 such as the robot 10 and the camera 40 so that information can be transmitted.
  • control device 50 is a controller that controls the operation of various connected devices, and includes various control devices, arithmetic processing devices, storage devices, and the like. Details of the control device 50 will be described later with reference to FIG.
  • control device 50 of one housing is shown, but the present invention is not limited to this.
  • the control device 50 is composed of a plurality of housings associated with various devices to be controlled. Also good. Further, it may be disposed inside the cell 2.
  • the robot 10 is a dual-arm manipulator that operates in response to an operation instruction from the control device 50, and describes a robot hand (hereinafter, “hand”) to be described later for each arm (hereinafter, referred to as “arm”). ). Details of the configuration of the robot 10 will be described later with reference to FIGS. 3A to 4.
  • the work table 20 is a place where the robot 10 performs a series of work from conveyance to attachment of the annular member P. As shown in FIG. 1A, the work table 20 includes a mounting table 21.
  • the mounting base 21 is a place where the robot 10 attaches the annular member P to the workpiece W.
  • FIG. 1B is a schematic perspective view of the workpiece W and the annular member P.
  • 1C is a schematic cross-sectional view taken along line A-A ′ shown in FIG. 1B.
  • the workpiece W in the present embodiment is a member formed in a low-profile, substantially columnar shape used as a motor bracket or the like.
  • the workpiece W has a flange portion (described later in FIG. 5E and the like), and a hole portion Wh that is a through-hole penetrating from the upper surface side to the lower surface side is formed in a shape that can be fitted to the annular member P.
  • the robot system 1 is attached by fitting the annular member P into the hole Wh (see the arrow 101 in FIG. 1B and FIG. 1C).
  • the annular member P shall be formed from soft materials, such as rubber
  • the supply stand 30 is a place where, for example, the annular member P supplied from the outside is stocked together with the attachment stand 21.
  • the supply base 30 includes a parts feeder (described later in FIG. 5C and the like), and the annular member P is held by the parts feeder for each type of difference such as the size and shape of the inner diameter.
  • the annular members P1 and P2 shown in FIG. 1A represent differences in the type of the annular member P.
  • the above-described mounting base 21 is provided with jigs J corresponding to the difference in the type of the annular member P.
  • the jigs J1 and J2 shown in FIG. 1A represent differences in the type of the jig J.
  • the annular member P is transported and attached while the annular member P is held using the jig J applied to the robot 10. Details of this point will be described later with reference to FIGS. 5A to 5H.
  • the camera 40 is an image pickup device having a predetermined image pickup area, and picks up an image of the workpiece W placed on the mounting base 21. Although it is difficult to understand in FIG. 1A, the camera 40 is suspended above the mounting base 21 from the ceiling portion of the cell 2 in this embodiment. Here, the camera 40 may be provided in the vicinity of the hand 14 (described later in FIG. 2) of the robot 10.
  • the work information related to the work W is acquired based on the imaging data of the camera 40.
  • the present invention is not limited to the imaging device, and a detection device such as an optical sensor may be used.
  • FIG. 2 is a block diagram of the robot system 1 according to the first embodiment.
  • FIG. 2 only the components necessary for the description of the robot system 1 are shown, and descriptions of general components are omitted.
  • control device 50 In the description using FIG. 2, the internal configuration of the control device 50 will be mainly described, and the description of various devices already shown in FIG. 1A may be simplified.
  • the control device 50 includes a control unit 51 and a storage unit 52.
  • the control unit 51 further includes a work information acquisition unit 51a and an instruction unit 51b.
  • the storage unit 52 is a storage device such as a hard disk drive or a nonvolatile memory, and stores work information 52a, work identification information 52b, and teaching information 52c.
  • control device 50 not all of the components of the control device 50 shown in FIG. 2 need be arranged in the control device 50 alone.
  • any or all of the work information 52a, work identification information 52b, and teaching information 52c stored in the storage unit 52 may be stored in an internal memory of the robot 10.
  • the control unit 51 performs overall control of the control device 50.
  • the workpiece information acquisition unit 51a receives imaging data of the workpiece W from the camera 40 and stores it as workpiece information 52a.
  • the instruction unit 51b matches the workpiece information 52a and the workpiece identification information 52b to identify the type of the workpiece W.
  • the workpiece identification information 52b is information for identifying the type of the workpiece W such as the shape and size of the workpiece W and the position and size of the hole Wh.
  • Such work identification information 52b is registered in the storage unit 52 in advance.
  • the teaching information 52c is information including a “job” which is a specific program for actually operating the robot 10 according to a specific workpiece W, and is input via an input device (not shown) (for example, a programming pendant). Registered in advance.
  • the “job” includes a mode of attachment operation applied to the workpiece W (specifically, information such as which annular member P is used for which workpiece W and which jig J is used for the annular member P) ) Is included.
  • the instruction unit 51b generates an operation signal for operating the robot 10 based on the “job”.
  • the operation signal is generated as a pulse signal for the servo motor mounted on each joint portion of the robot 10, for example.
  • the instruction unit 51b causes the camera 40 to appropriately capture new imaging data at a predetermined timing in a series of operations performed by the robot 10.
  • the robot 10 includes a hand 14. As described above, since the robot 10 is a double-arm robot, the hand 14 is a generic term for a pair of left and right hands.
  • FIG. 3A is a schematic front view illustrating the configuration of the robot 10
  • FIG. 3B is a schematic plan view illustrating the configuration of the robot 10.
  • the robot 10 is a double-armed multi-axis robot. Specifically, the robot 10 includes a base part 11, a body part 12, a left arm part 13L, and a right arm part 13R.
  • the base portion 11 is fixed to the floor surface or the like inside the cell 2 (see FIG. 1A), and supports the trunk portion 12 at the tip so that it can turn around the axis SW (around the axis SW in FIG. 3A). (See the double arrow).
  • the trunk portion 12 is supported at the base end portion by the base portion 11, and supports the base end portion of the right arm portion 13R at the right shoulder so that the base end portion can be rotated around the axis S.
  • the base end portion of the left arm portion 13L is supported at the left shoulder so as to be rotatable around the axis S (see both double arrows around the axis S in the figure).
  • Each of the left arm portion 13L and the right arm portion 13R includes a plurality of links and joint portions, and can rotate around the axes S, E, and T at each joint portion from the base end portion to the distal end portion. (See double arrows around the axes S, E and T in the figure).
  • the left arm portion 13L and the right arm portion 13R can rotate about the axis L, the axis U, the axis R, and the axis B, respectively (the axis L, the axis U, (See double arrows around axis R and axis B). That is, the robot 10 has 7 axes per arm part.
  • the robot 10 performs various multi-axis operations combining the two 7-axis arms and the turning around the axis SW based on the operation instruction from the control device 50.
  • the right hand 14R is attached to the terminal movable part around the axis T of the right arm part 13R
  • the left hand 14L is attached to the terminal movable part around the axis T of the left arm part 13L.
  • FIG. 4 is a schematic perspective view showing the configuration of the hand 14.
  • the right hand 14R will be described as an example of the hand 14, but the left hand 14L may be used.
  • the right hand 14R is attached to the terminal movable portion of the right arm portion 13R.
  • the right hand 14R has a pair of gripping claws 14Ra, and grips the gripping object by closing the gripping claws 14Ra in the direction of the arrow 401 in the drawing and sandwiching the gripping target object.
  • the gripping object of the right hand 14R is a jig J.
  • a series of operations from the conveyance to the attachment of the annular member P including the configuration of the jig J will be described with reference to FIGS. 5A to 5H.
  • FIGS. 5A to 5H are schematic views (No. 1) to (No. 8) for explaining a series of operations from the conveyance to the attachment of the annular member P.
  • FIG. A series of operations performed by the robot 10 described below with reference to FIGS. 5A to 5H are performed based on an instruction from the instruction unit 51b as described above.
  • the jig J has a shape formed in a substantially rod shape.
  • the jig J includes a main body portion Ja and a handle portion Jb.
  • the main body portion Ja is a portion that is inserted into the hole of the annular member P, and the outer diameter thereof is formed to be substantially the same as the inner diameter (that is, the diameter of the hole) of the annular member P.
  • the grip portion Jb is a portion that is gripped by the right hand 14R, and the shape thereof is formed to be constant even if the inner diameter of the annular member P is different.
  • the jig J has a mass to which a larger gravitational force than a frictional force generated between the jig J and the annular member P when inserted into the hole of the annular member P is applied.
  • the instruction unit 51b instructs the robot 10 to grip the jig J using the gripping claws 14Ra of the right hand 14R when transporting the annular member P.
  • the instruction unit 51 b drives the right arm unit 13 ⁇ / b> R while holding the jig J, and holds the annular member held by the parts feeder 31 included in the supply base 30.
  • the robot 10 is instructed to insert the jig J into the hole P (see arrow 501 in the figure).
  • the annular member P is locked to the jig J by the frictional force generated between the annular member P and the inserted jig J. Then, the instruction unit 51b operates the robot to move the annular member P locked to the jig J to the mounting base 21 by driving the right arm portion 13R while holding the jig J. 10 (see arrow 502 in the figure).
  • the instruction unit 51b instructs the robot 10 to insert the jig J into the hole Wh of the workpiece W placed on the mounting base 21 (see the arrow 503 in the figure). ).
  • the hole Wh of the workpiece W has a concentric shape in plan view with the flange Wf, and the first inner diameter d1 and the second inner diameter d2 are Have.
  • the first inner diameter d1 is substantially the same as the outer diameter of the annular member P.
  • the second inner diameter d2 is larger than the outer diameter Jd of the jig J and smaller than the first inner diameter d1. Therefore, it can be said that the hole Wh has a shape that allows only the jig J to pass therethrough and holds the annular member P inside.
  • the mounting table 21 and the work table 20 are provided with a hole 21a and a hole 20a in association with the position of the hole Wh of the workpiece W, respectively. Therefore, the upper surface of the workpiece W is penetrated from the lower surface of the work table 20 through the holes Wh, 21a and 20a.
  • the inner diameters of the hole portion 21a and the hole portion 20a are at least equal to or greater than the above-described second inner diameter d2.
  • a jig receiving portion 22 having a space communicating with the hole portion 20a is provided on the lower surface of the work table 20.
  • the jig receiving portion 22 is provided with an opening into which at least one set of gripping claws 14Ra can be inserted.
  • the instruction unit 51b performs an operation on the robot 10 to open the gripping claw 14Ra and release the gripped jig J from the state where the jig J is inserted into the hole Wh of the workpiece W. (See arrow 504 in the figure). Then, the jig J released from the robot 10 falls into the hole Wh (see arrow 505 in the figure).
  • the jig J moves through the holes Wh, 21a, and 20a while leaving the annular member P to the flange portion Wf by a gravitational action larger than the frictional force with the annular member P. It falls to the receiving part 22. Thereby, the annular member P is attached to the hole Wh of the workpiece W.
  • the jig J that has dropped onto the jig receiving unit 22 is collected when the instruction unit 51b instructs the robot 10 to perform a collecting operation, and is used for the next conveyance and attachment of the annular member P.
  • the collecting operation is an operation of inserting and holding the gripping claws 14Ra from the opening of the jig receiving portion 22 and transporting the gripping claws 14Ra to the mounting base 21.
  • the annular member P is held and transported by the robot 10 using the jig J corresponding to the type of the annular member P. There is no need for special equipment for transport. Therefore, an efficient system with reduced installation space and cost can be configured.
  • the annular member P is moved to the workpiece W by using the gravity action generated by inserting and dropping the jig J that holds the annular member P into the hole Wh of the workpiece W. We decided to attach to. Therefore, even the small annular member P can be efficiently and reliably attached to the workpiece W without causing the robot 10 to perform complicated operations.
  • the robot system includes a robot and an instruction unit.
  • the robot includes a robot hand including a mechanism for gripping an object to be gripped.
  • the instruction unit holds the annular member while holding the jig formed in a substantially rod shape as the object to be grasped, and instructs the robot to perform an operation of transporting the jig together with the jig. .
  • the small annular member can be transported and attached efficiently and reliably.
  • (Second Embodiment) 6A to 6E are schematic views (No. 1) to (No. 5) for explaining a series of operations according to the second embodiment.
  • the robot system 1 ′ according to the second embodiment (not shown, but hereinafter, given the sign “1 ′” for convenience) is mainly the same as the robot system 1 according to the first embodiment described above. Different parts will be described, and descriptions of common components may be simplified or omitted.
  • the robot 10 includes a right hand 14 ⁇ / b> R and a left hand 14 ⁇ / b> L.
  • the left hand 14L has the same configuration as the right hand 14R shown in FIG.
  • the gripping claws of the left hand 14L are denoted by “14La” for convenience.
  • FIGS. 6A and 6B the parts feeder 31 'of the supply base 30 is different from the first embodiment.
  • 6A is a schematic diagram in a side view
  • FIG. 6B is a schematic diagram in a plan view.
  • the parts feeder 31 ′ is formed, for example, in a substantially U shape in plan view so as to have an opening 31 ′ a partially opened, and the annular member P It has a structure to hold.
  • the lower part of the parts feeder 31 ' is opened to such an extent that a pair of gripping claws 14La of the left hand 14L can be inserted.
  • the instruction unit 51b holds the jig J with the right hand 14R and the annular member P held by the parts feeder 31 ′.
  • the robot 10 is instructed to insert the jig J into the hole (see arrow 601 in the figure).
  • the instruction unit 51b instructs the robot 10 to grip the tip of the inserted jig J using the gripping claws 14La of the left hand 14L (see arrow 602 in the figure).
  • the instruction unit 51b pulls the annular member P together with the jig J from the opening 31'a while holding the jig J with both the right hand 14R and the left hand 14L, and the right arm unit 13R and the left arm unit 13L is driven to instruct the robot 10 to carry the annular member P to the mounting base 21 (see arrow 603 in the figure).
  • the instruction unit 51b uses the right hand 14R after positioning the tip of the jig J to the upper part of the hole Wh of the work W and releasing the jig J by the left hand 14L.
  • the robot 10 is instructed to insert the jig J into the hole Wh (see arrows 604 and 605 in the figure).
  • the instruction unit 51b instructs the robot 10 to move the left hand 14L, which has been released from the jig J, to the lower surface side of the workpiece W (see an arrow 606 in the drawing).
  • the mounting table 21 and the work table 20 are not shown for convenience of explanation.
  • the instruction unit 51b grips the tip of the jig J inserted through the hole Wh using the left hand 14L and holds the jig J by the right hand 14R.
  • the robot 10 is instructed to unravel (see arrow 607 in the figure).
  • the instruction unit 51b instructs the robot 10 to drive the left arm unit 13L and pull out the jig J from the lower surface side of the workpiece W using the left hand 14L (see arrow 608 in the figure). ). Thereby, after the jig J is pulled out, the annular member P is attached to the hole Wh of the workpiece W.
  • the annular member P is held and transported between the right hand 14R and the left hand 14L. Therefore, for example, even when there is a possibility that the annular member P is loosely fitted to the jig J due to variations in the annular member P, the annular member P can be reliably conveyed.
  • the jig J is pulled out from the lower surface side of the workpiece W using the left hand 14 ⁇ / b> L, so that the annular member P can be reliably attached to the workpiece W.
  • the exclusive apparatus for conveying the annular member P etc. are not required similarly to 1st Embodiment, the efficient system which suppressed installation space and cost can be comprised.
  • the annular member has been described as being made of a soft material such as rubber. However, each of the embodiments described above is also applicable when the annular member is made of a hard member such as metal. May apply.
  • the dual-arm robot is exemplified, but the present invention is not limited to this.
  • a multi-arm robot having three or more arms may be used.
  • Two single-arm robots having one arm may be provided.
  • a multi-axis robot having seven axes per arm is illustrated, but the number of axes is not limited.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Automatic Assembly (AREA)
  • Manipulator (AREA)

Abstract

La présente invention a pour objet de résoudre le problème consistant à acheminer de manière efficiente et fiable de petits éléments annulaires et à les fixer, et concerne un système robotique (1) comportant un robot (10) et une unité (51b) d'instructions. Le robot (10) comporte une main robotique (14) comprenant un mécanisme qui saisit des objets à saisir. L'unité (51b) d'instructions donne pour consigne au robot (10) d'effectuer une opération consistant à maintenir un élément annulaire (P) en saisissant un appareillage (J) réalisé sensiblement en forme de barreau, en utilisant ledit appareillage comme objet à saisir, en l'insérant dans un trou de l'élément annulaire (P) et en acheminant chaque appareillage (J).
PCT/JP2013/055466 2013-02-28 2013-02-28 Système robotique Ceased WO2014132400A1 (fr)

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PCT/JP2013/055466 WO2014132400A1 (fr) 2013-02-28 2013-02-28 Système robotique
JP2015502661A JPWO2014132400A1 (ja) 2013-02-28 2013-02-28 ロボットシステム

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PCT/JP2013/055466 WO2014132400A1 (fr) 2013-02-28 2013-02-28 Système robotique

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016203280A (ja) * 2015-04-17 2016-12-08 セイコーエプソン株式会社 ロボット、及び制御装置
JP2016209964A (ja) * 2015-05-11 2016-12-15 株式会社安川電機 生命工学・医薬品化学用自動作業セル、生命工学・医薬品化学用自動作業方法、及び自動作業セル

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1177450A (ja) * 1997-09-02 1999-03-23 Koganei Corp 弾性リングの組み付け方法およびその装置

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1177450A (ja) * 1997-09-02 1999-03-23 Koganei Corp 弾性リングの組み付け方法およびその装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016203280A (ja) * 2015-04-17 2016-12-08 セイコーエプソン株式会社 ロボット、及び制御装置
JP2016209964A (ja) * 2015-05-11 2016-12-15 株式会社安川電機 生命工学・医薬品化学用自動作業セル、生命工学・医薬品化学用自動作業方法、及び自動作業セル
US10588994B2 (en) 2015-05-11 2020-03-17 Kabushiki Kaisha Yaskawa Denki Life-science and/or medicinal chemistry automated manufacturing cell, life-science and/or medicinal chemistry automated manufacturing method, and automated manufacturing cell

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