DE112021001050B4 - Robotersystem - Google Patents

Robotersystem

Info

Publication number
DE112021001050B4
DE112021001050B4 DE112021001050.6T DE112021001050T DE112021001050B4 DE 112021001050 B4 DE112021001050 B4 DE 112021001050B4 DE 112021001050 T DE112021001050 T DE 112021001050T DE 112021001050 B4 DE112021001050 B4 DE 112021001050B4
Authority
DE
Germany
Prior art keywords
workpiece
line image
robot
image
base material
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.)
Active
Application number
DE112021001050.6T
Other languages
German (de)
English (en)
Other versions
DE112021001050T5 (de
Inventor
Yuta Namiki
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
Original Assignee
Fanuc Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of DE112021001050T5 publication Critical patent/DE112021001050T5/de
Application granted granted Critical
Publication of DE112021001050B4 publication Critical patent/DE112021001050B4/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • 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
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37208—Vision, visual inspection of workpiece
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40607—Fixed camera to observe workspace, object, workpiece, global
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45104—Lasrobot, welding robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
DE112021001050.6T 2020-04-28 2021-04-23 Robotersystem Active DE112021001050B4 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020079172A JP2022028096A (ja) 2020-04-28 2020-04-28 ロボットシステム
JP2020-079172 2020-04-28
PCT/JP2021/016401 WO2021220949A1 (ja) 2020-04-28 2021-04-23 ロボットシステム

Publications (2)

Publication Number Publication Date
DE112021001050T5 DE112021001050T5 (de) 2023-02-02
DE112021001050B4 true DE112021001050B4 (de) 2026-04-16

Family

ID=78373555

Family Applications (1)

Application Number Title Priority Date Filing Date
DE112021001050.6T Active DE112021001050B4 (de) 2020-04-28 2021-04-23 Robotersystem

Country Status (5)

Country Link
US (1) US12208529B2 (https=)
JP (2) JP2022028096A (https=)
CN (1) CN115397632B (https=)
DE (1) DE112021001050B4 (https=)
WO (1) WO2021220949A1 (https=)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61132274A (ja) 1984-12-03 1986-06-19 Ishikawajima Harima Heavy Ind Co Ltd 多層盛自動溶接装置
JPH01182704A (ja) 1988-01-14 1989-07-20 Matsushita Electric Ind Co Ltd 溶接線検出装置
JPH03207577A (ja) 1989-10-23 1991-09-10 Matsushita Electric Works Ltd 溶接位置の決定方法および溶接方法
JP2005334957A (ja) 2004-05-28 2005-12-08 Ishikawajima Harima Heavy Ind Co Ltd 溶接部可視化装置
JP2008155285A (ja) 1997-02-25 2008-07-10 Sanyo Mach Works Ltd 溶接状態の検査方法
DE102010041720A1 (de) 2010-09-30 2012-04-05 Robert Bosch Gmbh Schweißverfahren, Schweißvorrichtung und Verbundteil
KR20140016616A (ko) 2012-07-30 2014-02-10 현대제철 주식회사 라인 스캔 카메라 보정 장치 및 방법

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3282745B2 (ja) * 1993-03-16 2002-05-20 川崎製鉄株式会社 ２次元距離計を用いた板幅・蛇行測定装置
JP2004087785A (ja) * 2002-08-27 2004-03-18 Dt Circuit Technology Co Ltd プリント配線板の製造方法、プリント配線板の製造装置
CN203712189U (zh) * 2014-02-17 2014-07-16 华南理工大学 基于机器视觉的焊接轨迹校正专用测试装置
CN109694946B (zh) 2017-10-24 2020-06-23 宝山钢铁股份有限公司 快速加热冷轧带钢的装置与方法
US20230146947A1 (en) * 2017-10-30 2023-05-11 Cilag Gmbh International Method of hub communication with surgical instrument systems
CN109945839B (zh) * 2017-12-21 2021-04-13 沈阳新松机器人自动化股份有限公司 一种对接工件的姿态测量方法
US11424027B2 (en) * 2017-12-28 2022-08-23 Cilag Gmbh International Method for operating surgical instrument systems
US11998193B2 (en) * 2017-12-28 2024-06-04 Cilag Gmbh International Method for usage of the shroud as an aspect of sensing or controlling a powered surgical device, and a control algorithm to adjust its default operation

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61132274A (ja) 1984-12-03 1986-06-19 Ishikawajima Harima Heavy Ind Co Ltd 多層盛自動溶接装置
JPH01182704A (ja) 1988-01-14 1989-07-20 Matsushita Electric Ind Co Ltd 溶接線検出装置
JPH03207577A (ja) 1989-10-23 1991-09-10 Matsushita Electric Works Ltd 溶接位置の決定方法および溶接方法
JP2008155285A (ja) 1997-02-25 2008-07-10 Sanyo Mach Works Ltd 溶接状態の検査方法
JP2005334957A (ja) 2004-05-28 2005-12-08 Ishikawajima Harima Heavy Ind Co Ltd 溶接部可視化装置
DE102010041720A1 (de) 2010-09-30 2012-04-05 Robert Bosch Gmbh Schweißverfahren, Schweißvorrichtung und Verbundteil
KR20140016616A (ko) 2012-07-30 2014-02-10 현대제철 주식회사 라인 스캔 카메라 보정 장치 및 방법

Also Published As

Publication number Publication date
JPWO2021220949A1 (https=) 2021-11-04
JP7464799B2 (ja) 2024-04-09
US20230129918A1 (en) 2023-04-27
DE112021001050T5 (de) 2023-02-02
CN115397632B (zh) 2025-05-02
CN115397632A (zh) 2022-11-25
JP2022028096A (ja) 2022-02-15
US12208529B2 (en) 2025-01-28
WO2021220949A1 (ja) 2021-11-04

Similar Documents

Publication Publication Date Title
DE102019001038B4 (de) Simulationsvorrichtung, die den Arbeitsablauf eines Roboters simuliert
DE102018112820B4 (de) Teach-Positionskorrekturvorrichtung und Teach-Positionskorrekturverfahren
EP3108311B1 (de) Verfahren, bearbeitungsmaschine und computerprogrammprodukt zum bildbasierten platzieren von werkstückbearbeitungsvorgängen
DE102016115987B4 (de) Koordinatensystemeinstellungsverfahren, Koordinatensystemeinstellungsvorrichtung und Robotersystem mit Koordinatensystemeinstellungsvorrichtung
DE102017002608B4 (de) Positioniersystem unter Verwendung eines Roboters
DE602005000598T2 (de) Dreidimensionaler optischer Sensor
EP2132608B1 (de) Verfahren und vorrichtung zur steuerung von robotern zum schweissen von werkstücken
DE102018124712A1 (de) Arbeitssystem, Verfahren zum Durchführen von Arbeit an einem Objekt und Roboter
DE602005000512T2 (de) Verfahren und vorrichtung zum montieren von bauelementen
DE102015000589B4 (de) Datenerzeugungsvorrichtung für einen visuellen Sensor und ein Erfassungssimulationssystem
DE102015000587B4 (de) Roboterprogrammiervorrichtung zum Erstellen eines Roboterprogramms zum Aufnehmen eines Bilds eines Werkstücks
DE112022000335B4 (de) Robotersystem und Steuervorrichtung
DE102010032840A1 (de) Vorrichtung und Verfahren zum Messen der Position eines Werkzeugmittelpunktes eines Roboters
DE102016014384B4 (de) Verfahren und Vorrichtung zur Bestimmung der 3D-Koordinaten eines Objekts
DE19525561C2 (de) 3D-Meßvorrichtung
EP2075096A1 (de) Verfahren und System zum hochpräzisen Positionieren mindestens eines Objekts in eine Endlage im Raum
DE102019127880A1 (de) Kalibrierungsverfahren für einen laserbearbeitungsroboter
DE102018129166A1 (de) Roboter und Robotersystem
EP3308615B1 (de) Verfahren zur positionsgenauen bestückung eines schaltungsträgers
DE112021001050B4 (de) Robotersystem
DE112021008205T5 (de) Dreidimensionale Messvorrichtung
DE102013017878B4 (de) Verfahren und System zum Markieren platten- oder stabförmiger Objekte
DE102019130292B4 (de) Werkstückgreifhand, Handsystem und Robotersystem
DE112021008583B4 (de) Robotervorrichtung zur Erkennung der Störungen eines Roboterbauteils
DE112021007292T5 (de) Bildgebende vorrichtung zur berechnung der dreidimensionalen lage auf der grundlage eines von einem bild-sensor aufgenommenen bildes

Legal Events

Date Code Title Description
R012 Request for examination validly filed
R016 Response to examination communication
R018 Grant decision by examination section/examining division