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1. WO2016151668 - TEACHING DEVICE AND METHOD FOR GENERATING CONTROL INFORMATION

Publication Number WO/2016/151668
Publication Date 29.09.2016
International Application No. PCT/JP2015/058427
International Filing Date 20.03.2015
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
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
B25J 9/161
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1602characterised by the control system, structure, architecture
161Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
B25J 9/163
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1628characterised by the control loop
163learning, adaptive, model based, rule based expert control
B25J 9/1664
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1656characterised by programming, planning systems for manipulators
1664characterised by motion, path, trajectory planning
G05B 13/0265
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
13Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
02electric
0265the criterion being a learning criterion
G05B 19/402
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
18Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
402characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
G05B 19/406
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
18Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
406characterised by monitoring or safety
Applicants
  • 富士機械製造株式会社 FUJI MACHINE MFG. CO., LTD. [JP]/[JP]
Inventors
  • 藤田 政利 FUJITA, Masatoshi
  • 児玉 誠吾 KODAMA, Seigo
Agents
  • 特許業務法人ネクスト NEXT INTERNATIONAL
Priority Data
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) TEACHING DEVICE AND METHOD FOR GENERATING CONTROL INFORMATION
(FR) DISPOSITIF D'ENSEIGNEMENT ET PROCÉDÉ DE GÉNÉRATION D'INFORMATIONS DE COMMANDE
(JA) ティーチング装置及び制御情報の生成方法
Abstract
(EN)
Provided is a teaching device capable of teaching not only movement tasks, but also more detailed task content. A teaching device (10) is equipped with an input unit (67) for inputting task information (D3) for a task in which a robot arm grips a work at a task position, or the like. When performing motion capture by moving a jig (15) (simulating a robot arm) provided with a marker section (43), a user operates the input unit 67 at appropriate timing and inputs the task content to be performed by the robot arm as the task information (D3), and as a result, it is possible to set detailed robot-arm task content in the teaching device (10). Thus, the teaching device (10) is capable of linking jig (15) position information (D2) or the like with the task information (D3), and generating control information (D5) for controlling the robot arm.
(FR)
L'invention concerne un dispositif d'enseignement permettant d'enseigner non seulement des tâches de mouvement, mais également un contenu de tâche plus détaillé. Le dispositif d'enseignement selon l'invention (10) est équipé d'une unité d'entrée (67) pour l'entrée d'informations de tâche (D3) pour une tâche dans laquelle un bras de robot saisit une pièce au niveau d'une position de tâche ou similaire(s). Lors de l'exécution d'une capture de mouvement par le déplacement d'un gabarit (15) (simulant un bras de robot) doté d'une section de marqueur (43), un utilisateur actionne l'unité d'entrée (67) au moment approprié et entre le contenu de la tâche devant être exécutée par le bras de robot comme informations de tâche (D3), et il est ainsi possible de régler un contenu de tâche de bras de robot détaillé dans le dispositif d'enseignement (10). Ainsi, le dispositif d'enseignement (10) permet de relier des informations de position (D2) de gabarit (15) ou similaire(s) aux informations de tâche (D3) et de générer des informations de commande (D5) pour la commande du bras de robot.
(JA)
移動作業だけでなく、より細かい作業内容も教示できるティーチング装置を提供すること。ティーチング装置(10)は、ロボットアームが作業位置において実施するワークを挟む作業等の作業情報(D3)を入力するための入力部(67)を備える。ユーザは、マーカー部(43)を設けた治具(15)(ロボットアームを模擬したもの)を動かしてモーションキャプチャーを実施する際に、適切なタイミングで入力部67を操作し、ロボットアームにさせたい作業内容を作業情報(D3)として入力することで、ティーチング装置(10)に対しロボットアームの細かい作業内容を設定することが可能となる。これにより、ティーチング装置(10)は、治具(15)の位置情報(D2)等と、作業情報(D3)とをリンクさせ、ロボットアームを制御する制御情報(D5)を生成することが可能となる。
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