公开(公告)号：US09272413B2

公开(公告)日：2016-03-01

申请号：US13688219

申请日：2012-11-29

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Masatoshi Furuichi ,  Yoshiki Kimura ,  Tomohiro Matsuo ,  Yoshihiro Kusama

IPC: B25J9/16 ,  B25J9/04 ,  H01L21/677

CPC classification number: B25J9/042 ,  B25J9/1664 ,  H01L21/677 ,  H01L21/67766 ,  Y10S901/02 ,  Y10S901/15

Abstract: A conveying system according to an embodiment includes a robot and a controller. The controller includes a switching unit. The robot includes an arm unit formed of a hand and a plurality of arms connected rotatably with respect to one another, and a base unit. An arm on a rear end side is connected to the base unit rotatably about a rotation axis, and the hand is rotatably connected to an arm on a front end side. The switching unit switches cylindrical coordinate control for controlling the arm unit such that a trajectory of the hand overlaps with any one of lines radiating from the rotation axis and rectangular coordinate control for controlling the arm unit such that the trajectory of the hand overlaps with none of the lines at a predetermined timing.

Abstract translation: 根据实施例的输送系统包括机器人和控制器。 控制器包括切换单元。 机器人包括由手和相对于彼此可旋转地连接的多个臂形成的臂单元和基座单元。 后端侧的臂与旋转轴可旋转地连接在基座上，手可旋转地与前端侧的臂连接。 切换单元切换用于控制臂单元的圆柱坐标控制，使得手的轨迹与从旋转轴辐射的线中的任何一个重叠，并且用于控制臂单元的直角坐标控制，使得手的轨迹与 线在预定的时间。