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Robot Simulator for Human Collaborative Robot System

A simulation device, robot technology, applied in general control system, control/regulation system, instrument, etc.

Active Publication Date: 2021-06-04
FANUC LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the conventional technology, it is necessary to predetermine the work content and movement speed of the robot and human before executing the simulation.
In addition, conventionally, the cycle time was optimized by changing the arrangement of robots and humans, and the operation program was not changed during optimization.

Method used

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  • Robot Simulator for Human Collaborative Robot System
  • Robot Simulator for Human Collaborative Robot System
  • Robot Simulator for Human Collaborative Robot System

Examples

Experimental program
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Embodiment Construction

[0018] figure 1 It is a figure which shows the example of the system structure of the robot simulation apparatus (hereinafter, also simply referred to as a simulation apparatus) 10 of the preferred embodiment of the present invention, figure 2 is a functional block diagram of the analog device. The simulation device 10 is, for example, a personal computer equipped with an input device such as a keyboard 12 and a mouse 14, and a robot 18 arranged in a virtual space (display) 16 shares a working space with a human (operator) 20 to carry one or more items 22 The simulation device of the human collaborative robot system of the collaborative work, the simulation device 10 is equipped with: the task distribution part 24, which is set according to each type of a plurality of tasks included in the cooperative work, which becomes the object of each task 22 weight, the carrying distance of the article 22, and the time required for each operation, assign a plurality of operations to th...

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Abstract

The invention provides a robot simulation device of a human cooperative robot system. A robot simulator capable of simulating a human collaborative robot system and calculating cycle time easily with less burden on a worker. The simulation device includes a job distribution unit that divides the plurality of jobs into one group based on the weight of the article to be the object of each job, the conveyance distance, and the time required for each job, which are set for each type of a plurality of jobs included in the cooperative job. Assigned to robots and humans, respectively; program generation section, which generates motion programs for robots and humans based on the job assignment results assigned by the job assignment section; and cycle time calculation section, which performs simulation of the motion program to calculate the cycle time of the motion program .

Description

technical field [0001] The present invention relates to a robot simulator for simulating a human collaborative robot system in an off-line system of a robot. Background technique [0002] In recent years, a human collaborative robot system using a human collaborative robot that cooperates with humans has been used in production systems for assembling parts and the like. In such a robot system, it is sometimes necessary to perform a simulation in an off-line system before operating the actual machine [0003] As a known technology related thereto, for example, Japanese Patent Application Laid-Open No. 2010-211726 describes a simulation method that includes: specifying a process, specifying the range of motion and the speed of movement of each body part of the operator. Action characteristics; and determining the process, for each combination of the configurable position of the operator and the configurable position of the robot, the required time for the production operation...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1661B25J9/1671G05B2219/40202
Inventor 木本裕树长塚嘉治
Owner FANUC LTD