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1. WO2017033350 - REMOTE CONTROL ROBOT SYSTEM AND OPERATION METHOD THEREOF

Publication Number WO/2017/033350
Publication Date 02.03.2017
International Application No. PCT/JP2016/002574
International Filing Date 27.05.2016
IPC
B25J 13/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
B25J 19/06 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
06Safety devices
CPC
A61B 34/32
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
32operating autonomously
A61B 34/35
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
35for telesurgery
A61B 34/37
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
37Master-slave robots
A61B 34/70
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
70Manipulators specially adapted for use in surgery
B23P 19/04
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; 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
04for assembling or disassembling parts
B23P 21/00
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
21Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
Applicants
  • 川崎重工業株式会社 KAWASAKI JUKOGYO KABUSHIKI KAISHA [JP]/[JP]
Inventors
  • 橋本 康彦 HASHIMOTO, Yasuhiko
  • 下村 信恭 SHIMOMURA, Nobuyasu
  • 掃部 雅幸 KAMON, Masayuki
  • 黒沢 靖 KUROSAWA, Yasushi
  • 田中 繁次 TANAKA, Shigetsugu
Agents
  • 特許業務法人 有古特許事務所 PATENT CORPORATE BODY ARCO PATENT OFFICE
Priority Data
2015-16547925.08.2015JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) REMOTE CONTROL ROBOT SYSTEM AND OPERATION METHOD THEREOF
(FR) SYSTÈME DE ROBOT À COMMANDE À DISTANCE ET SON PROCÉDÉ DE FONCTIONNEMENT
(JA) 遠隔操作ロボットシステム及びその運転方法
Abstract
(EN)
This remote control robot system is provided with multiple slave arms, which have multiple control modes, namely, an automatic mode for operation based on a task program, a manual mode for operation based on an operator's manipulation received by a master device, and a corrected automatic mode for operation based on a task program while being sequentially corrected by the operator's manipulations received by the master device. The operation sequence information includes automatic portions, in which a slave arm works in automatic mode, and selected portions, in which a slave arm works in the control mode selected from the multiple control modes, wherein the selected portions does not overlap in time among the multiple slave arms. The multiple slave arms are operated on the basis of this operation sequence information.
(FR)
L'invention concerne un système de robot à commande à distance qui est pourvu de multiples bras esclaves, ceux-ci ayant de multiples modes de commande, c'est-à-dire un mode automatique pour un fonctionnement en fonction d'un programme de tâches, un mode manuel pour le fonctionnement en fonction d'une manipulation d'opérateur reçue par un dispositif maître, et un mode automatique corrigé pour le fonctionnement en fonction d'un programme de tâches tout en étant séquentiellement corrigé par les manipulations de l'opérateur reçues par le dispositif maître. L'information de séquence de fonctionnement comprend des parties automatiques, dans lesquelles un bras esclave fonctionne en mode automatique, et des parties sélectionnées, dans lesquelles un bras esclave fonctionne dans le mode de commande choisi parmi les multiples modes de commande, les parties sélectionnées ne se chevauchant pas dans le temps parmi les multiples bras esclaves. Les multiples bras esclaves sont actionnés en fonction de cette information de séquence de fonctionnement.
(JA)
複数のスレーブアームを備えた遠隔操作ロボットシステムにおいて、スレーブアームは、タスクプログラムに基づいて動作する自動モードと、マスタ装置が受け付けたオペレータの操作に基づいて動作する手動モードと、マスタ装置が受け付けたオペレータの操作によって逐次修正されながらタスクプログラムに基づいて動作する修正自動モードとの複数の制御モードを備える。動作シーケンス情報は、スレーブアームが自動モードで作業を行う自動部分と、スレーブアームが複数の制御モードのうち選択された一つで作業を行う選択部分とを含み、選択部分は複数のスレーブアーム間で時間的に重複しない。この動作シーケンス情報に基づいて複数のスレーブアームを動作させる。
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