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1. WO2016139766 - ASSEMBLY MOTION-TEACHING DEVICE

Publication Number WO/2016/139766
Publication Date 09.09.2016
International Application No. PCT/JP2015/056279
International Filing Date 04.03.2015
IPC
B25J 9/22 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
22Recording or playback systems
B23P 19/04 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
POTHER WORKING OF METAL; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
19Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
04for assembling or disassembling parts
B23P 19/06 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
POTHER WORKING OF METAL; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
19Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
04for assembling or disassembling parts
06Screw or nut setting or loosening machines
G05B 19/42 2006.01
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
42Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
CPC
B23P 19/04
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
POTHER WORKING OF METAL; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
19Machines for simply fitting together or separating metal parts, or metal and non-metal parts, whether or not involving some deformation
04for assembling or disassembling parts
B23P 19/06
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
POTHER WORKING OF METAL; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
19Machines for simply fitting together or separating metal parts, or metal and non-metal parts, whether or not involving some deformation
04for assembling or disassembling parts
06Screw or nut setting or loosening machines
G05B 19/42
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
42Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
Applicants
  • 株式会社日立製作所 HITACHI, LTD. [JP]/[JP]
Inventors
  • 田口 博文 TAGUCHI Hirofumi
  • 中須 信昭 NAKASU Nobuaki
Agents
  • 戸田 裕二 TODA Yuji
Priority Data
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) ASSEMBLY MOTION-TEACHING DEVICE
(FR) DISPOSITIF D'ENSEIGNEMENT DE MOUVEMENT D'ASSEMBLAGE
(JA) 組立動作教示装置
Abstract
(EN)
The purpose of the present invention is to implement an assembly motion-teaching technology capable of creating teaching data in a short time. An assembly motion-teaching device for a multi-arm robot is characterized: in being provided with a storage unit in which part information, robot information and hand/tool-part category information are stored; and in performing a process for extracting, from the part information, part assembly order and part category and on the basis thereof, assigning a tool or hand and an arm for handling a part to be assembled, and a process for extracting, from the robot information, possible part supply/placement positions that can be handled by said robot, establishing a coordinate system having the center position of the robot as the starting point, calculating the angle from a direction orthogonal to the front surface of the robot, and generating an arm movement path with respect to the part on the basis of said angle.
(FR)
L'objet de la présente invention est de mettre en œuvre une technique d'enseignement de mouvement d'assemblage permettant de créer des données d'enseignement en un temps court. Le dispositif d'enseignement de mouvement d'assemblage pour un robot multi-bras est caractérisé en ce que: il est équipé d'une unité de stockage dans laquelle des informations de pièce, des informations de robot et des informations de catégorie d'outil/de main sont stockées; il réalise un procédé permettant d'extraire, à partir des informations de pièce, un ordre d'assemblage de pièce et une catégorie de pièce et sur la base de ceux-ci, attribue un outil ou une main ou un bras pour manipuler une pièce devant être assemblée, et un procédé permettant d'extraire, à partir des informations de robot, des positions de fourniture/de placement de pièces possibles qui peuvent être manipulées par ledit robot, il établit un système de coordonnées comprenant la position centrale du robot comme point de départ, il calcule l'angle à partir d'une direction orthogonale à la surface avant du robot et génère un trajet de mouvement de bras par rapport à la pièce sur la base dudit angle.
(JA)
本発明の目的は、短時間で教示データの作成が可能な組立動作教示技術を実現することにある。 複数アーム型ロボットに対する組立動作教示装置であって、部品情報、ロボット情報およびハンド/ツール-部品種別を格納している記憶部と、 部品情報から部品の組立順序と部品種別を抽出し、これらに基づいて、組立部品に対して取扱うツールまたはハンド、およびアームを割当てる処理と、ロボット情報からそのロボットで取り扱える部品供給・配置位置候補を抽出し、前記ロボットの中心位置を原点とする座標系を設定し、前記ロボット正面に対して直交する方向からの角度を算出し、該角度に基づいて前記部品に対するアームの動作経路を生成する処理とを行うことを特徴とする組立動作教示装置。
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