Robot-mounted mobile device and positioning control method for system

Patent metadata

Field	Value
Publication number	US-2023415353-A1
Application number	US-202118035689-A
Country	US
Kind code	A1
Filing date	Oct 26, 2021
Priority date	Nov 5, 2020
Publication date	Dec 28, 2023
Grant date	—

Abstract

Based on a second identification position as a position of an identification figure when an image of the identification figure is captured by a camera ( 31 ) at a second device position different from a first device position, when the second identification position is within a predetermined range from the second device position, the position of a hand unit ( 29 ) is adjusted, and when the second identification position is out of the predetermined range from the second device position, the position of a moving unit ( 35 ) is adjusted by moving the moving unit ( 35 ).

First claim

1 . A robot-mounted mobile device including a robot performing an operation acting on a target object in a machine tool having an openable and closable door, wherein, as information related to a first device position as a position of the robot-mounted mobile device, a position of an identification figure at the first device position in a first axis and a second axis set in a plane parallel to the identification figure is set as a first identification position, the identification figure being arranged in the machine tool,
the robot-mounted mobile device comprising: the robot having a structure in which (i) a hand unit for gripping the target object; (ii) a second arm unit to which the hand unit is movably connected; and (iii) a first arm unit to which the second arm unit is movably connected are connected together in sequence, and having (iv) a camera arranged on the hand unit side opposite to the first arm unit; a control unit controlling a position of the hand unit of the robot; and a moving unit configured to be movable with the robot mounted thereon, wherein: the control unit is configured to detect an open/closed state of the door based on an image captured by the camera; and the control unit is configured to, based on a second identification position as a position of the identification figure in the plane when an image of the identification figure is captured by the camera at a second device position different from the first device position,
when the second identification position is within a predetermined range from the second device position, adjust the position of the hand unit, and
when the second identification position is not within the predetermined range from the second device position, adjust a position of the moving unit by moving the moving unit.

2 . A robot-mounted mobile device including a robot performing an operation acting on a target object in a machine tool, wherein, as information related to a first device position as a position of the robot-mounted mobile device, a position of an identification figure at the first device position in a first axis and a second axis set in a plane parallel to the identification figure is set as a first identification position, the identification figure being arranged in the machine tool,
the robot-mounted mobile device comprising: the robot having a structure in which (i) a hand unit for gripping the target object; (ii) a second arm unit to which the hand unit is movably connected; and (iii) a first arm unit to which the second arm unit is movably connected are connected together in sequence, and having (iv) a camera arranged on the hand unit side opposite to the first arm unit; a control unit controlling a position of the hand unit of the robot; and a moving unit configured to be movable with the robot mounted thereon, wherein the control unit is configured to, based on a second identification position as a position of the identification figure in the plane when an image of the identification figure is captured by the camera at a second device position different from the first device position,
when the second identification position is within a predetermined range from the second device position, adjust the position of the hand unit, and
when the second identification position is not within the predetermined range from the second device position, adjust a position of the moving unit by moving the moving unit in a direction opposite to a direction in which the moving unit is moved to front of the machine tool in order to capture the image with the camera.

3 . The robot-mounted mobile device according to claim 1 , wherein a moving speed of the moving unit for moving to the second device position is faster than a moving speed at which the moving unit is moved when the second identification position is out of the predetermined range from the second device position.

4 . The robot-mounted mobile device according to claim 1 , wherein:
the moving unit is slowed down to a moving speed slower than a moving speed for moving between machine tools, immediately before the moving unit is stopped at the first device position or the second device position; and thereafter, the moving unit is stopped at the first device position or the second device position.

5 . (canceled)

6 . (canceled)

Assignees

• Dmg Mori Co Ltd

Inventors

• Oba Yuta
• Koda Yorihito

Classifications

• B25J19/021

  Optical sensing devices · CPC title

• B25J5/00

  Manipulators mounted on wheels or on carriages (B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 {; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00}) · CPC title

• B25J13/087 Primary

  for sensing other physical parameters, e.g. electrical or chemical properties · CPC title

• G05B2219/40613

  Camera, laser scanner on end effector, hand eye manipulator, local · CPC title

• G05B2219/37097

  Marker on workpiece to detect reference position · CPC title