# US 12,117,817 B2 · Multi-function integrated work table and production system using the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,117,817 B2 - Document ID: US12117817B2 - Status: Granted - Kind: B2 - Application number: 17/045,466 - Filed: 2019-04-05 - Published: 2021-01-28 - Granted: 2024-10-15 - Earliest claimed: 2018-04-05 - Assignees: Kawada Robotics Corporation - Applicants: Kawada Robotics Corporation - Inventors: Takakatsu Isozumi; Naoto Shiroma; Makoto Mizukawa; Isao Aramaki; Tadahiro Fujiwara; Hironori Mizoguchi; Nobuyuki Murai; Shoichi Hayakawa - Web page: https://patentgrep.com/patent/US12117817B2 ## CPC - G05B 19/4182: {manipulators and conveyor only} - G05B 19/4189: {characterised by the transport system} - B25J 5/00: Manipulators mounted on wheels or on carriages (B25J1/00 takes precedence; program-controlled manipulators B25J9/00) - B25J 5/007: {mounted on wheels} - B25J 9/1687: {Assembly, peg and hole, palletising, straight line, weaving pattern movement} - B25J 13/00: Controls for manipulators (program controls B25J9/16) - G05B 19/418: Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] - G05B 19/41865: {characterised by job scheduling, process planning, material flow} - Y02P 90/02: Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS] - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS ## Abstract A robot and work equipment are disposed near a work table including a work table-side controller and a process planning and designing controller capable of being operated by a user. The work table-side controller executes a work process in which the robot and the work equipment operate in conjunction, by receiving signals carrying identification and state monitoring information from a robot-side controller and the work equipment and then sending these signals to the process planning and designing controller, and by sending operation command signals to the robot-side controller and the work equipment in accordance with the aforementioned work process and then receiving operation status signals from the robot-side controller and the work equipment. Based on the signals carrying the identification and state monitoring information on the robot and the work equipment, the process planning and designing controller plans and designs the aforementioned work process. ## Claims ### Claim 1 A multi-function integrated work table which configures a production system by combining at least one robot that is disposed in a distance from the work table and has a robot-side controller and at least one piece of work equipment that is disposed on the work table or in the distance from the work table and used in a work process performed with the robot, the work table being characterized in that: a work table-side controller and a process planning and designing controller that is capable of being operated by a user are provided in a state of being communicably connected to each other; the work table-side controller has work equipment communication and connection means that is compatible with one or more communication standards and capable of communicating with the work equipment, and robot communication and connection means that is capable of communicating with the robot-side controller; the work table-side controller receives signals carrying identification and state monitoring information on: the robot from the robot-side controller; and the work equipment from the work equipment; after receiving the signals, the work table-side controller sends the identification and the state monitoring information to the process planning and designing controller, and by further sending operation command signals to the robot-side controller and the work equipment in accordance with the work process in which the robot and the work equipment operate in conjunction with each other, and then receives operation status signals from the robot-side controller and the work equipment; based on the signals carrying the identification and the state monitoring information on the robot and the work equipment, the process planning and designing controller plans and designs the work process in which the robot and the work equipment operate in conjunction with each other; the pieces of work equipment are classified by equipment type; the work table-side controller has a work equipment communication and connection program corresponding to at least one equipment type; and when the at least one piece of work equipment includes pieces of work equipment which are connected to the work table-side controller and are of a same equipment type, the work equipment communication and connection program is able to communicate with these pieces of work equipment by the same work equipment communication and connection program, contains information on tasks that the pieces of work equipment connected to the work table-side controller are capable of executing, and provides the process planning and designing controller with information on executable tasks and information that aids creation of a program for executing these tasks in addition to identification information on the pieces of work equipment connected to the work table-side controller. ### Claim 2 (depends on 1) The multi-function integrated work table according to claim 1, wherein: a jig placement region in which a jig used in a work process using the robot is placed or a tool hanger that holds a hand tool used in a work process using the robot is disposed on the work table; the jig or the hand tool is provided with a data tag containing identification information on the jig or the hand tool; the work table further has, in the jig placement region or on the tool hanger, jig or hand tool identification means for identifying the jig or the hand tool on the work table by recognizing the data tag of the jig or the hand tool; and the work table-side controller is connected to the jig or hand tool identification means to acquire identification information on the jig or the hand tool from the jig or hand tool identification means. ### Claim 3 (depends on 2) The multi-function integrated work table according to claim 2, wherein at least one of the data tags of the jig or the hand tool is a two-dimensional bar code or an IC chip. ### Claim 4 (depends on 2) The multi-function integrated work table according to claim 2, wherein: the work table-side controller has a jig or hand tool recognition program; and the jig or hand tool recognition program contains information on tasks that the robot is capable of executing using a jig or a hand tool disposed on the work table, and presents the process planning and designing controller with information on executable tasks and information on a sample operation for executing these tasks in addition to identification information on the jig or the hand tool disposed on the work table. ### Claim 5 (depends on 1) The multi-function integrated work table according to claim 1, wherein: a jig placement region in which a jig used in a work process using the robot is placed or a tool hanger that holds a hand tool used in a work process using the robot is disposed on the work table; the jig or the hand tool is provided with a data tag containing identification information on the jig or the hand tool; and the work table further has, in the jig placement region or on the tool hanger, jig or hand tool identification means for identifying the jig or the hand tool on the work table by recognizing the data tag of the jig or the hand tool. ### Claim 6 (depends on 5) The multi-function integrated work table according to claim 5, wherein: the work table-side controller has a jig or hand tool recognition program; and the jig or hand tool recognition program contains information on tasks that the robot is capable of executing using a jig or a hand tool disposed on the work table, and presents the process planning and designing controller with information on executable tasks and information on a sample operation for executing these tasks in addition to identification information on the jig or the hand tool disposed on the work table. ### Claim 7 (depends on 5) The multi-function integrated work table according to claim 5, wherein: at least one of the data tags of the jig or the hand tool is a two-dimensional bar code or an IC chip; the work table-side controller has a jig or hand tool recognition program; and the jig or hand tool recognition program contains information on tasks that the robot is capable of executing using a jig or a hand tool disposed on the work table, and presents the process planning and designing controller with information on executable tasks and information on a sample operation for executing these tasks in addition to identification information on the jig or the hand tool disposed on the work table. ### Claim 8 A production system comprising: a multi-function integrated work table which configures the production system by combining at least one robot that is disposed in a distance from the work table and has a robot-side controller and at least one piece of work equipment that is disposed on the work table or in the distance from the work table and used in a work process performed with the robot, the work table being characterized in that: a work table-side controller and a process planning and designing controller that is capable of being operated by a user are provided in a state of being communicably connected to each other; the work table-side controller has work equipment communication and connection means that is compatible with one or more communication standards and capable of communicating with the work equipment, and robot communication and connection means that is capable of communicating with the robot-side controller; the work table-side controller receives signals carrying identification and state monitoring information on: the robot from the robot-side controller; and the work equipment from the work equipment; after receiving the signals, the work table-side controller sends the identification and the state monitoring information to the process planning and designing controller, and by further sending operation command signals to the robot-side controller and the work equipment in accordance with the work process in which the robot and the work equipment operate in conjunction with each other, and then receives operation status signals from the robot-side controller and the work equipment; based on the signals carrying the identification and the state monitoring information on the robot and the work equipment, the process planning and designing controller plans and designs the work process in which the robot and the work equipment operate in conjunction with each other; the at least one piece of work equipment is connected to the work table-side controller based on at least one communication standard; the work table-side controller executes the work process in which the robot and the work equipment used in the work process operate in conjunction with each other; the pieces of work equipment are classified by equipment type; the work table-side controller has a work equipment communication and connection program corresponding to at least one equipment type; and when the at least one piece of work equipment includes pieces of work equipment which are connected to the work table-side controller and are of a same equipment type, the work equipment communication and connection program is able to communicate with these pieces of work equipment by the same work equipment communication and connection program, contains information on tasks that the pieces of work equipment connected to the work table-side controller are capable of executing, and provides the process planning and designing controller with information on executable tasks and information that aids creation of a program for executing these tasks in addition to identification information on the pieces of work equipment connected to the work table-side controller. ### Claim 9 (depends on 8) The production system according to claim 8, wherein: the robot has a plurality of articulated arms, a head, a neck that is capable of changing a posture of the head, and a self-propelled cart that is capable of moving the robot to an arbitrary position and in an arbitrary direction; the robot-side controller controls operation of the articulated arm, the head, the neck, and the self-propelled cart; one of the articulated arms has a tool changer to which different hand tools are attachable, and a mechanism that supplies electricity or air required for operation of the hand tool; the head has a stereo camera, and an imaging direction of the stereo camera is changeable through operation of the neck; the work table has a power source or an air supply source; and the self-propelled cart has a connecting part that is separably connected to the work table, and when the connecting part is connected to the work table, electricity or air supplied from the power source or the air supply source of the work table through the connecting part is supplied to the robot, and also a battery mounted on the self-propelled cart is charged with electricity supplied from the electricity supply source of the work table through the connecting part. ### Claim 10 (depends on 9) The production system according to claim 9, wherein: the work table has a position recognition marker thereon for the robot to recognize a relative positional relationship between the work table and the robot; and when the connecting part of the self-propelled cart is connected to the work table, the robot takes an image of the position recognition marker by the stereo camera and shares a common coordinate system with the work table. ### Claim 11 (depends on 10) The production system according to claim 10, wherein: the process planning and designing controller is included in the work table and compiles, as robot operation information, at least one of a robot operation pattern for the robot to use the work equipment and a control pattern of a hand tool attached to the robot, and compiles an operation pattern of the work equipment as work equipment operation information, and constructs a production system by combining the robot operation information and the work equipment operation information; the robot operation information of robot and the work equipment operation information are input into and retained by the work table-side controller; and operation of the robot and operation of the work equipment are controlled by the work table-side controller. ### Claim 12 (depends on 10) The production system according to claim 10, wherein: the process planning and designing controller is included in the robot, and compiles, as robot operation information, at least one of a robot operation pattern for the robot to use the work equipment and a control pattern of a hand tool attached to the robot, or compiles an operation pattern of the work equipment as work equipment operation information, and constructs a production system by combining the robot operation information and the work equipment operation information; the compiled robot operation information is input into and retained by the robot-side controller; the compiled work equipment operation information is input into and retained by the work table-side controller; operation of the robot is controlled by the robot-side controller; and operation of the work equipment is controlled by the work table-side controller. ### Claim 13 (depends on 9) The production system according to claim 9, wherein: the process planning and designing controller is included in the work table, and compiles, as robot operation information, at least one of a robot operation pattern for the robot to use the work equipment and a control pattern of a hand tool attached to the robot, and compiles an operation pattern of the work equipment as work equipment operation information, and constructs a production system by combining the robot operation information and the work equipment operation information. ### Claim 14 (depends on 13) The production system according to claim 13, wherein: the process planning and designing controller is included in the work table; the robot operation information and the work equipment operation information are input into and retained by the work table-side controller; and operation of the robot and operation of the work equipment are controlled by the work table-side controller. ### Claim 15 (depends on 9) The production system according to claim 9, wherein: the process planning and designing controller is included in the robot; compiled robot operation information is input into and retained by the robot-side controller; compiled work equipment operation information is input into and retained by the work table-side controller; operation of the robot is controlled by the robot-side controller; and operation of the work equipment is controlled by the work table-side controller. ### Claim 16 (depends on 8) The production system according to claim 8, wherein: the process planning and designing controller is included in the work table, and compiles, as robot operation information, at least one of a robot operation pattern for the robot to use the work equipment and a control pattern of a hand tool attached to the robot, and compiles an operation pattern of the work equipment as work equipment operation information, and constructs a production system by combining the robot operation information and the work equipment operation information. ### Claim 17 (depends on 16) The production system according to claim 16, wherein: the process planning and designing controller is included in the work table; the robot operation information and the work equipment operation information are input into and retained by the work table-side controller; and operation of the robot and operation of the work equipment are controlled by the work table-side controller. ### Claim 18 (depends on 8) The production system according to claim 8, wherein: the process planning and designing controller is included in the robot; compiled robot operation information is input into and retained by the robot-side controller; compiled work equipment operation information is input into and retained by the work table-side controller; operation of the robot is controlled by the robot-side controller; and operation of the work equipment is controlled by the work table-side controller. ### Claim 19 (depends on 8) The production system according to claim 8, wherein: the production system includes a production management system that has a process management controller and manages an overall process including a work progress status of at least a process preceding or a process succeeding a current work process; and the work table-side controller communicates with the process management controller.