Robot

Patent metadata

Field	Value
Publication number	US-2016361818-A1
Application number	US-201615172350-A
Country	US
Kind code	A1
Filing date	Jun 3, 2016
Priority date	Jun 11, 2015
Publication date	Dec 15, 2016
Grant date	—

Abstract

A controller of a robot includes a storage that stores a main program, a point sequence containing statements arranged in sequence and containing kind information identifying control details to a work tool and coordinate information on a point on a work-piece, a point kind definition describing the control details identified by the kind information, and containing reference information to refer adjustment information for each work tool, and the adjustment information for each work tool prepared so as to correspond to the reference information, an executing unit executing the main program, and a referring unit referring the adjustment information based on the reference information when the point kind definition in the point sequence is inherited during the execution by the executing unit, and applying the adjustment information to the control details.

First claim

What is claimed is:

1 . A robot comprising:
a plurality of work tools performing a work on a point on a work-piece; a moving unit moving the plurality of work tools to the point; and a controller controlling the work tool and the moving unit in accordance with a main program, wherein the controller comprises:
a main program memory storing the main program;
a point sequence memory storing a point sequence comprising statements arranged in sequence for each point, the statement containing kind information identifying control details to the work tool, and coordinate information on the point;
a point kind definition memory storing a point kind definition describing the control details identified by the kind information, the point kind definition containing reference information to refer adjustment information for each of the work tools;
an adjustment information memory storing the adjustment information prepared for each of the work tools corresponding to the reference information;
an executing unit executing the main program in accordance with the point sequence; and
a referring unit applying the adjustment information to the control details by referring the adjustment information when the point kind definition contained in the point sequence is inherited during the execution by the executing unit.

2 . The robot according to claim 1 , wherein the adjustment information contains a tool position definition containing offset information for each of the work tools relative to a same coordinate on the work-piece.

3 . The robot according to claim 2 , further comprising:
a display unit displaying a list of names of the plurality of tool position definition when a position of the point in the point sequence is detected; a selecting unit selecting any tool position definition in accordance with the work tool from the list displayed on the display; and an adjusting unit applying the offset information set by the selected tool position definition when the detected position of the point is registered in the point sequence.

4 . The robot according to claim 3 , further comprising a registering unit registering, as a coordinate of the point in the point sequence, when the selecting unit selects the tool position definition corresponding to the work tool that is a camera, a value obtained by applying an offset to the detected coordinate by the camera based on the offset information.

5 . The robot according to a claim 1 , wherein the adjustment information contains an actuation condition definition defining an actuation condition indicating how each of the work tools is actuated.

6 . The robot according to claim 1 , wherein the adjustment information contains correction information for correcting a position of the work-piece.

7 . The robot according to claim 1 , wherein the point kind definition contains a first information indicating that another point kind definition is inherited, and a second information indicating that the reference information contained in the inherited point kind definition is also inherited.

8 . The robot according to claim 1 , further comprising a display unit displaying a list of the point kind definitions referring the adjustment information.

Assignees

• Janome Sewing Machine Co Ltd

Inventors

• Hiruma Kenichiro

Classifications

• B25J9/1692 Primary

  Calibration of manipulator · CPC title

• G05B2219/37555

  Camera detects orientation, position workpiece, points of workpiece · CPC title

• Y10S901/09

  Closed loop, sensor feedback controls arm movement · CPC title

• B25J9/1697

  Vision controlled systems · CPC title

• B25J9/1005

  comprising adjusting means · CPC title