Robot-mounted mobile device and positioning control method for system
AssigneeDmg Mori Co., Ltd.
InventorsYuta Oba, Yorihito Koda
Life of this patent
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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).
Claims4
A robot-mounted mobile device, comprising:
- a robot performing an operation acting on a target object in a machine tool, the machine tool having an openable and closable door and an identification figure arranged in the machine tool, the robot having a hand unit for gripping the target object, a second arm unit to which the hand unit is movably connected, a first arm unit to which the second arm unit is movably connected, and 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 and having 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;
- the control unit is configured to cause the camera to capture a current image of the identification figure when the moving unit is at an operation position and to calculate compensation amounts to move the robot from a current robot position to a robot operation position;
- the control unit is configured to
- when the compensation amounts are within a predetermined movable range of the hand unit, adjust the position of the hand unit from the current robot position to the robot operation position, and
- when the compensation amounts are not within the predetermined movable range of the hand unit, adjust the moving unit by moving the moving unit by the compensation amounts.
A robot-mounted mobile device including a robot performing an operation acting on a target object in a machine tool, the machine tool having an identification figure arranged in the machine tool, the robot having a hand unit for gripping the target object, a second arm unit to which the hand unit is movably connected, a first arm unit to which the second arm unit is movably connected, and 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 and having the robot mounted thereon, wherein:
- the control unit is configured to cause the camera to capture a current image of the identification figure when the moving unit is at an operation position and to calculate compensation amounts to move the robot from a current robot position to a robot operation position;
- the control unit is configured to,
- when the compensation amounts are within a predetermined movable range of the hand unit, adjust the position of the hand unit from the current robot position to the robot operation position, and
- when the compensation amounts are not within the predetermined movable range of the hand unit, adjust the moving unit by moving the moving unit in a direction opposite to a direction in which the moving unit is moved to a front of the machine tool in order to capture the current image of the identification figure with the camera.
Dependencies are inferred from the claim text.