CN117177846A - 设定安全参数的装置、示教装置以及方法 - Google Patents

设定安全参数的装置、示教装置以及方法 Download PDF

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Publication number
CN117177846A
CN117177846A CN202180097331.XA CN202180097331A CN117177846A CN 117177846 A CN117177846 A CN 117177846A CN 202180097331 A CN202180097331 A CN 202180097331A CN 117177846 A CN117177846 A CN 117177846A
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CN
China
Prior art keywords
sample
input
image
model
parameter
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202180097331.XA
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English (en)
Chinese (zh)
Inventor
大岛尚
稻叶豪
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
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Fanuc Corp
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Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of CN117177846A publication Critical patent/CN117177846A/zh
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Testing And Monitoring For Control Systems (AREA)
  • Numerical Control (AREA)
  • Safety Devices In Control Systems (AREA)
CN202180097331.XA 2021-04-28 2021-04-28 设定安全参数的装置、示教装置以及方法 Pending CN117177846A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/017077 WO2022230143A1 (ja) 2021-04-28 2021-04-28 安全パラメータを設定する装置、教示装置、及び方法

Publications (1)

Publication Number Publication Date
CN117177846A true CN117177846A (zh) 2023-12-05

Family

ID=82693727

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180097331.XA Pending CN117177846A (zh) 2021-04-28 2021-04-28 设定安全参数的装置、示教装置以及方法

Country Status (6)

Country Link
US (1) US20240165811A1 (https=)
JP (3) JP7111911B1 (https=)
CN (1) CN117177846A (https=)
DE (1) DE112021007154T5 (https=)
TW (2) TW202508791A (https=)
WO (1) WO2022230143A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2025179281A (ja) * 2022-10-26 2025-12-10 住友重機械工業株式会社 ロボット教示装置
EP4516463B1 (de) * 2023-08-29 2025-05-28 Sick Ag Berührungslose absicherung an einem kooperationsbereich einer maschine
JP7832421B1 (ja) * 2025-04-24 2026-03-17 ファナック株式会社 ロボットの動作を制御する制御装置及び方法、進入監視機能を設定する装置及び方法、並びに、コンピュータプログラム

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05297920A (ja) * 1992-04-20 1993-11-12 Hitachi Ltd ロボットの制御装置
JPH10161719A (ja) * 1996-11-29 1998-06-19 Daihen Corp 産業用ロボットのシステム構築シミュレーション装置
DE102005037650A1 (de) * 2005-08-05 2007-02-08 Reis Gmbh & Co. Kg Maschinenfabrik Verfahren und System zur Überwachung von Kollisionen zwischen Robotern und Personen
US20150151431A1 (en) * 2012-07-20 2015-06-04 Kabushiki Kaisha Yaskawa Denki Robot simulator, robot teaching device, and robot teaching method
US20160075025A1 (en) * 2014-09-16 2016-03-17 Fanuc Corporation Robot system for setting motion monitoring range of robot
CN107300891A (zh) * 2016-04-15 2017-10-27 发那科株式会社 参数设定装置以及参数设定方法
US20210053227A1 (en) * 2019-08-23 2021-02-25 Marek WARTENBERG Safe operation of machinery using potential occupancy envelopes

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0724762A (ja) * 1993-06-30 1995-01-27 Toyoda Mach Works Ltd ロボット制御装置
JP3537362B2 (ja) * 1999-10-12 2004-06-14 ファナック株式会社 ロボットシステム用グラフィック表示装置
DE102015204641B4 (de) * 2014-06-03 2021-03-25 ArtiMinds Robotics GmbH Verfahren und System zur Programmierung eines Roboters
JP5977314B2 (ja) * 2014-11-04 2016-08-24 本田技研工業株式会社 ロボットの干渉エリア設定方法及び干渉エリア設定装置
JP2016118893A (ja) * 2014-12-19 2016-06-30 株式会社アイエイアイ パラメータ設定装置、パラメータ設定方法、及び、プログラム
JP6309990B2 (ja) * 2016-03-24 2018-04-11 ファナック株式会社 複数の機構ユニットにより構成されたロボットを制御するロボットシステム、該機構ユニット、およびロボット制御装置
JP6457469B2 (ja) * 2016-12-08 2019-01-23 ファナック株式会社 移動ロボットの干渉領域設定装置
CN110494900A (zh) * 2017-02-07 2019-11-22 韦奥机器人股份有限公司 工作空间安全监控和设备控制
JP7036078B2 (ja) * 2019-03-28 2022-03-15 オムロン株式会社 制御システム、制御方法、および制御ユニット
JP7658148B2 (ja) * 2021-04-15 2025-04-08 セイコーエプソン株式会社 ロボット画像の表示方法、コンピュータープログラム、及び、ロボット画像の表示システム

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05297920A (ja) * 1992-04-20 1993-11-12 Hitachi Ltd ロボットの制御装置
JPH10161719A (ja) * 1996-11-29 1998-06-19 Daihen Corp 産業用ロボットのシステム構築シミュレーション装置
DE102005037650A1 (de) * 2005-08-05 2007-02-08 Reis Gmbh & Co. Kg Maschinenfabrik Verfahren und System zur Überwachung von Kollisionen zwischen Robotern und Personen
US20150151431A1 (en) * 2012-07-20 2015-06-04 Kabushiki Kaisha Yaskawa Denki Robot simulator, robot teaching device, and robot teaching method
US20160075025A1 (en) * 2014-09-16 2016-03-17 Fanuc Corporation Robot system for setting motion monitoring range of robot
CN107300891A (zh) * 2016-04-15 2017-10-27 发那科株式会社 参数设定装置以及参数设定方法
US20210053227A1 (en) * 2019-08-23 2021-02-25 Marek WARTENBERG Safe operation of machinery using potential occupancy envelopes

Also Published As

Publication number Publication date
JP2022170738A (ja) 2022-11-10
TW202241671A (zh) 2022-11-01
JP7708904B2 (ja) 2025-07-15
JP7444928B2 (ja) 2024-03-06
WO2022230143A1 (ja) 2022-11-03
DE112021007154T5 (de) 2023-12-21
JPWO2022230143A1 (https=) 2022-11-03
US20240165811A1 (en) 2024-05-23
TWI867284B (zh) 2024-12-21
JP7111911B1 (ja) 2022-08-02
JP2024046682A (ja) 2024-04-03
TW202508791A (zh) 2025-03-01

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