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Robot system and method for forming three-dimensional model of workpiece

A technology of a robot system and a three-dimensional model, which is applied in the field of forming a three-dimensional model of a robot system and a workpiece, can solve the problems of a larger proportion of data production costs, a huge amount of data, and an increase in data production costs.

Pending Publication Date: 2022-05-13
KAWASAKI HEAVY IND LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] However, in the display system disclosed in Patent Document 1, the programmer needs to create three-dimensional data such as a three-dimensional robot model and an animated three-dimensional robot model.
Therefore, if the types of workpieces to be operated by the robot increase, the amount of data to be created will increase, and the cost of creating data will increase.
In particular, when there are a small number of workpieces, the ratio of the production cost of data in the production cost becomes large.
[0008] Therefore, in the display system disclosed in the above-mentioned Patent Document 1, there is still room for improvement from the viewpoint of improving production efficiency.

Method used

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  • Robot system and method for forming three-dimensional model of workpiece
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  • Robot system and method for forming three-dimensional model of workpiece

Examples

Experimental program
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Effect test

Embodiment approach 1

[0037] [Structure of robot system]

[0038] figure 1 It is a schematic diagram showing the schematic configuration of the robot system according to the first embodiment. The robot system 100 includes a robot 101 , a first manipulator 121 , a 3D camera 103 , a sensor 104 , a display device 105 , a first control device 111 , and a second control device 112 . The robot 101 and the second control device 112 are arranged in the work area 201 , and the sensor 104 , the display device 105 and the first control device 111 are arranged in the operation area 202 . In addition, the first operator 121 is held (held) by the operator within the operation area 202 for operation. The 3D camera 103 is arranged at the front end of the first manipulator 121 .

[0039] In addition, in Embodiment 1, the 3D camera 103 is arranged at the front end of the first manipulator 121, but the 3D camera 103 may not be arranged at the first manipulator 121, and the 3D camera 103 and the first manipulator 1...

Deformed example 1

[0109] Figure 10 It is a schematic diagram showing a schematic configuration of a robot system according to Modification 1 of the first embodiment. The robot system 100 according to the first modification differs from the robot system 100 according to the first embodiment in that the detector 12 and the transmitter 13 are arranged on the first manipulator 121 . The detector 12 detects position information and posture information of the first manipulator 121 and the 3D camera 103 through wireless communication. The detector 12 is, for example, a gyro sensor or a camera. In Modification 1 in which the transmitter 13 transmits the position information and orientation information detected by the detector 12 to the first control device 111 , the detector 12 and the transmitter 13 correspond to the sensor 104 . In addition, the detector 12 may not detect position information and posture information, and the detector 12 may detect only position information, or may detect only post...

Deformed example 2

[0112] Figure 11 It is a schematic diagram showing a schematic configuration of a robot system according to Modification 2 of the first embodiment. The robot system 100 according to the second modification differs from the robot system 100 according to the first embodiment in that the 3D camera 103 is arranged at the tip of the robot arm 102 and in that the second manipulator 122 is additionally provided.

[0113] The robot arm 102 may be a vertical articulated robot arm, or a horizontal articulated robot. The robot arm 102 is operated by a second manipulator 122 . For the second manipulator 122 , for example, known manipulators such as a joystick, a keyboard, ten keys, and a teaching pendant can be used. A switch 122B for instructing start and stop of imaging by the 3D camera 103 is arranged on the second operator 122 .

[0114] In addition, a mode in which the first manipulator 121 doubles as the second manipulator 122 may also be employed. In this case, a switcher (swi...

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Abstract

This robot system (100) is provided with: a robot (101) that is provided within a work area (201) and that is controlled by a second control device (112); a 3D camera (103) operated by an operator; a sensor (104) that is disposed in an operation area (202), which is a space different from the work area (201), and that wirelessly detects position information and orientation information of the 3D camera (103); a display device (105); and a first control device (111) that acquires image information of the workpiece (300) captured by the 3D camera (103), acquires position information and orientation information from the sensor (104) when the workpiece (300) is captured by the 3D camera (103), displays the acquired image information on the display device (105), and displays the workpiece (300) on the display device (105) on the basis of the image information and the acquired position information and orientation information. A three-dimensional model of a workpiece (300) is formed, the formed three-dimensional model is displayed on a display device (105), and first data, which is data of the formed three-dimensional model, is output to a second control device (112).

Description

[0001] Cross References to Related Applications [0002] This application claims the priority of Japanese Patent Application No. 2019-225562 filed with the Japan Patent Office on December 13, 2019, the entirety of which is incorporated by reference as the contents constituting a part of this application. technical field [0003] The present disclosure relates to a robotic system and a method of forming a three-dimensional model of a workpiece. Background technique [0004] There is known a display system that displays a three-dimensional image showing a work cell of a robot on various mobile terminals (for example, refer to Patent Document 1). In the display system disclosed in Patent Document 1, robot work cell data including a three-dimensional robot model and other structural models of the work cell are generated, and a display is provided to display three-dimensional renderings such as the generated three-dimensional robot model. [0005] In addition, in the display sys...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/00B25J13/08B25J11/00
CPCB25J9/16B25J9/1697B25J9/1694B25J13/08B25J13/00B25J11/00B25J13/065B25J9/1689G05B2219/40195B25J9/1671B25J9/1605G05B2219/40131B25J13/089
Inventor 扫部雅幸杉山裕和田中佑树
Owner KAWASAKI HEAVY IND LTD