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1. WO2020067241 - ROBOT CONTROL DEVICE AND ROBOT CONTROL METHOD

Publication Number WO/2020/067241
Publication Date 02.04.2020
International Application No. PCT/JP2019/037761
International Filing Date 26.09.2019
IPC
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
G05B 19/4155 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
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
4155characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
CPC
B25J 19/06
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; 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
G05B 19/4155
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
4155characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
Applicants
  • 日本電産株式会社 NIDEC CORPORATION [JP]/[JP]
Inventors
  • 若林 宣幸 WAKABAYASHI,Nobuyuki
Priority Data
2018-18392228.09.2018JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) ROBOT CONTROL DEVICE AND ROBOT CONTROL METHOD
(FR) DISPOSITIF DE COMMANDE DE ROBOT ET PROCÉDÉ DE COMMANDE DE ROBOT
(JA) ロボット制御装置及びロボット制御方法
Abstract
(EN)
This robot control device is provided with: a recording unit for recording a path along which a robot arm has moved without collision; an identification unit for identifying at least one part of a path the robot arm is to move along; and a determination unit for determining, prior to causing the robot arm to move along at least said one part of the path identified by the identification unit, whether at least said one part of the path identified by the identification unit coincides with a corresponding part of the path recorded by the recording unit. According to the present invention, it is possible to determine whether a robot arm is to move along a path, the safety of which is not assured.
(FR)
L'invention concerne un dispositif de commande de robot, lequel dispositif comporte : une unité d'enregistrement pour enregistrer un trajet le long duquel un bras de robot s'est déplacé sans collision ; une unité d'identification pour identifier au moins une partie d'un trajet le long duquel le bras de robot doit se déplacer ; et une unité de détermination pour déterminer, avant d'amener le bras de robot à se déplacer le long d'au moins ladite partie du trajet identifié par l'unité d'identification, si au moins ladite partie du trajet identifié par l'unité d'identification coïncide ou non avec une partie correspondante du trajet enregistré par l'unité d'enregistrement. Selon la présente invention, il est possible de déterminer si un bras de robot doit ou non se déplacer le long d'un trajet, dont la sécurité n'est pas assurée.
(JA)
ロボット制御装置は、ロボットアームが非衝突で移動できた経路を記録する記録部と、前記ロボットアームが移動しようとする経路の少なくとも一部を特定する特定部と、前記特定部が特定した前記経路の少なくとも一部に従って前記ロボットアームを移動させる前に、前記特定部が特定した前記経路の少なくとも一部が、前記記録部に記録された経路の対応部分に一致するか否かを判定する判定部と、を備える。本発明によれば、安全性が確保されていない経路をロボットアームが移動しようとしているのが判定できる。
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