Robot system, machining method of robot, and machining program

Patent metadata

Field	Value
Publication number	US-2024261975-A1
Application number	US-202218294304-A
Country	US
Kind code	A1
Filing date	Jul 29, 2022
Priority date	Aug 3, 2021
Publication date	Aug 8, 2024
Grant date	—

Abstract

A robot system 100 includes a robot 1 that processes a processing portion B of an object W, a storage 32 that holds an image of the object W and three-dimensional information on the object W, a selector 9 that selects the processing portion B from the image, and a controller 3 that controls the robot 1. The controller 3 derives the processing portion B in the three-dimensional information based on a portion selected in the image by the selector 9 and the three-dimensional information, and moves the robot 1 based on the three-dimensional information on the processing portion B to cause the robot 1 to process the processing portion B.

First claim

1 . A robot system comprising:
a robot that processes a processing portion of an object; a storage that holds an image of the object and three-dimensional information of the object; a selector that selects the processing portion from the image; and a controller that controls the robot, wherein the controller is configured to perform operations comprising:
deriving the processing portion in the three-dimensional information based on a portion selected in the image by the selector and the three-dimensional information; and
moving the robot based on three-dimensional information on the processing portion to cause the robot to process the processing portion.

2 . The robot system of claim 1 , wherein
processing by the robot is removal processing.

3 . The robot system of claim 2 , wherein
the controller is configured to perform operations further comprising:
deriving the processing portion and a reference surface of the object, on which the processing portion is present, in the three-dimensional information based on the portion selected in the image by the selector and the three-dimensional information; and
causing the robot to remove the processing portion until the robot reaches the reference surface.

4 . The robot system of claim 3 , wherein
the controller is configured to perform operations further comprising: receiving selection of the reference surface from the selector in addition to the processing portion in the image; and deriving the reference surface in the three-dimensional information based on the selection of the reference surface in the image by the selector.

5 . The robot system of claim 3 , wherein
the controller is configured to perform operations further comprising deriving the processing portion in the three-dimensional information and deriving a surface around the processing portion as the reference surface based on the portion selected in the image by the selector and the three-dimensional information.

6 . The robot system of claim 3 , wherein
the controller is configured to perform operations further comprising determining a start position of the removal processing based on the three-dimensional information on the processing portion.

7 . The robot system of claim 6 , wherein
the controller is configured to perform operations further comprising moving the robot such that the robot removes the processing portion in a removal operation performed multiple times in which the robot is moved toward the reference surface.

8 . The robot system of claim 2 , further comprising:
an imager that acquires an image of the object; and a three-dimensional information acquirer that acquires three-dimensional information on the object, wherein the storage holds the image of the object acquired by the imager and the three-dimensional information acquired on the object by the three-dimensional information acquirer.

9 . The robot system of claim 2 , wherein
the removal processing by the robot comprises grinding, cutting, or polishing.

10 . A robot processing method comprising:
selecting a processing portion of an object in an image of the object; deriving the processing portion in three-dimensional information on the object based on a portion selected in the image and the three-dimensional information; and moving a robot based on three-dimensional information on the processing portion to cause the robot to process the processing portion.

11 . A non-transitory storage medium storing a processing program for causing a robot to process a processing portion of an object, the program, when read and executed, causing a computer to perform operations comprising:
receiving selection of the processing portion in an image of the object, deriving the processing portion in three-dimensional information on the object based on a portion selected in the image and the three-dimensional information and moving the robot based on three-dimensional information on the processing portion to cause the robot to process the processing portion.

Assignees

• Kawasaki Heavy Ind Ltd

Inventors

• Azuma Kentaro
• Akamatsu Masahiko
• Kozuki Takanori
• Kinoshita Hiroki
• Hasunuma Hitoshi
• Kurashima Kazuki
• Nishio Shoichi
• Tanaka Hiroki
• Takahashi Hiroki

Classifications

• B25J13/08

  by means of sensing devices, e.g. viewing or touching devices · CPC title

• B25J19/023

  including video camera means · CPC title

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title

• B25J9/1697 Primary

  Vision controlled systems · CPC title

• B25J13/00

  Controls for manipulators (programme controls B25J9/16) · CPC title