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    • 5. 发明授权
    • Work method and work device
    • 工作方法和工作装置
    • US09156626B2
    • 2015-10-13
    • US13937319
    • 2013-07-09
    • HONDA MOTOR CO., LTD.
    • Kensaku KaneyasuKaoru ShibataMitsutaka IgaueYushi AokiShoji MatsudaKazuki Akami
    • B23Q17/00B23P19/00B65G47/00B62D65/02B62D65/18F16F15/00B23P21/00
    • B65G47/00B23P21/008B62D65/028B62D65/18F16F15/002Y10T29/49774Y10T29/53539
    • High precision work is performed on a work target (workpiece) during conveyance, irrespective of the oscillations accompanying conveyance. A work method includes steps of: predicting a predicted oscillation pattern occurring in a workpiece (W) afterwards from the measurement results of oscillation occurring in the workpiece (W) during conveyance by way of a workpiece conveyance device (2); controlling a robot (131) so as to operate at an oscillation according to the predicted oscillation pattern thus predicted; detecting oscillation occurring in the robot (131) during the step of controlling; and comparing the oscillation occurring in the robot (131) with the predicted oscillation pattern, and in the case of differing, adjusting so that the oscillation of the robot (131) matches the predicted oscillation pattern, in which each of these steps is completed before the robot (131) performs work on the workpiece (W).
    • 运输过程中对工件(工件)进行高精度加工,不管伴随运输的振动如何。 工件方法包括以下步骤:通过工件传送装置(2)预测在工件(W)传送期间发生的振动的测量结果之后在工件(W)中发生的预测振动模式; 控制机器人(131),以便根据如此预测的预测振荡模式在振荡下操作; 检测在所述控制步骤期间发生在所述机器人(131)中的振荡; 并且将机器人(131)中发生的振荡与预测的振荡模式进行比较,并且在不同的情况下,进行调整,使得机器人(131)的振荡与预测的振荡模式匹配,其中这些步骤中的每一个在 机器人(131)对工件(W)进行加工。
    • 8. 发明申请
    • WORK METHOD AND WORK DEVICE
    • 工作方法和工作装置
    • US20140007398A1
    • 2014-01-09
    • US13937319
    • 2013-07-09
    • Honda Motor Co., Ltd.
    • Kensaku KaneyasuKaoru ShibataMitsutaka IgaueYushi AokiShoji MatsudaKazuki Akami
    • B65G47/00
    • B65G47/00B23P21/008B62D65/028B62D65/18F16F15/002Y10T29/49774Y10T29/53539
    • High precision work is performed on a work target (workpiece) during conveyance, irrespective of the oscillations accompanying conveyance. A work method includes steps of: predicting a predicted oscillation pattern occurring in a workpiece (W) afterwards from the measurement results of oscillation occurring in the workpiece (W) during conveyance by way of a workpiece conveyance device (2); controlling a robot (131) so as to operate at an oscillation according to the predicted oscillation pattern thus predicted; detecting oscillation occurring in the robot (131) during the step of controlling; and comparing the oscillation occurring in the robot (131) with the predicted oscillation pattern, and in the case of differing, adjusting so that the oscillation of the robot (131) matches the predicted oscillation pattern, in which each of these steps is completed before the robot (131) performs work on the workpiece (W).
    • 运输过程中对工件(工件)进行高精度加工,不管伴随运输的振动如何。 工件方法包括以下步骤:通过工件传送装置(2)预测在工件(W)传送期间发生的振动的测量结果之后在工件(W)中发生的预测振动模式; 控制机器人(131),以便根据如此预测的预测振荡模式在振荡下操作; 检测在所述控制步骤期间发生在所述机器人(131)中的振荡; 并且将机器人(131)中发生的振荡与预测的振荡模式进行比较,并且在不同的情况下,进行调整,使得机器人(131)的振荡与预测的振荡模式匹配,其中这些步骤中的每一个在 机器人(131)对工件(W)进行加工。