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    SELF-PROPELLED DEVICE
    3.
    发明公开
    SELF-PROPELLED DEVICE 审中-公开

    公开(公告)号：EP4206845A1

    公开(公告)日：2023-07-05

    申请号：EP20956230.5

    申请日：2020-09-30

    申请人： DMG Mori Co., Ltd.

    发明人： NAGASUE, Hideki ,  MAEDA, Ryota ,  NAKAGAWA, Masaaki ,  TANAKA, Hideaki ,  OBA, Yuta

    IPC分类号： G05D1/02

    摘要： A self-propelled device (100) includes a wheel-driven traveling body (10) and a laser sensor (105). The laser sensor (105) emits laser light while rotating the laser light around the laser sensor (105) and receives reflected light of the laser light to output two-dimensional distance data representing a distance to an object located around the laser sensor (105) for each angle around the laser sensor (105). The traveling body (10) includes a controller (101) that controls traveling of the traveling body (10) on the basis of the two-dimensional distance data output from the laser sensor (105). The laser sensor (105) is provided on the traveling body (10) such that a scan plane that is a region through which the laser light passes during rotation of the laser light has a predetermined angle with respect to a horizontal plane.

    RUNNING DEVICE
    4.
    发明公开
    RUNNING DEVICE 审中-公开

    公开(公告)号：EP4067214A1

    公开(公告)日：2022-10-05

    申请号：EP20918056.1

    申请日：2020-10-29

    申请人： DMG Mori Co., Ltd.

    发明人： NAGASUE, Hideki ,  MAEDA, Ryota ,  NAKAGAWA, Masaaki ,  TANAKA, Hideaki

    IPC分类号： B62D61/10 ,  B62D65/18

    摘要： Provided is a running device including a frame (11) and a first wheel part (15) and a second wheel part (35) arranged with an appropriate distance therebetween along a running direction (R). The first wheel part (15) includes a first left support arm (17) and a first right support arm (26) arranged on the frame (11) in a manner to be swingable within a plane extending along the running direction (R). The second wheel part (35) includes a second support arm (36) arranged on the frame (11) in a manner to be swingable within a plane perpendicular to the running direction (R). The first left support arm (17) has first left wheels (19, 21) respectively on both sides thereof, and the first right support arm (26) has first right wheels (28, 30) respectively on both sides thereof. The second support arm (36) has a second left wheel (38) and a second right wheel (40) respectively on both sides thereof.

    WORKPIECE PROCESSING SYSTEM
    5.
    发明公开
    WORKPIECE PROCESSING SYSTEM 审中-公开

    公开(公告)号：EP3511128A1

    公开(公告)日：2019-07-17

    申请号：EP17850507.9

    申请日：2017-06-22

    申请人： DMG Mori Co., Ltd.

    发明人： KASHIWAGI, Satoru ,  YODA, Tomoaki ,  NAKAGAWA, Masaaki ,  KITANISHI, Akira

    IPC分类号： B25J9/22 ,  G05B19/4093

    摘要： A workpiece processing system (1) includes a transfer robot (3), a control device (4) controlling operation of the transfer robot (3), and an operating part (5) performing a teaching operation to the transfer robot (3). The control device (4) has an approach point setter (6) setting in advance an approach point as a reference point for the transfer robot (3) to start operation to a workpiece processing device, a first program generator (7) generating a first program defining the operation of the transfer robot (3) from an operational zero point for the transfer robot (3) to the approach point, a second program generator (8) generating a second program defining the operation of the transfer robot (3) after the approach point based on the teaching operation, and a robot controller (9) controlling the operation of the transfer robot (3) in accordance with the first program and the second program.

    PRODUCTION SYSTEM
    7.
    发明公开
    PRODUCTION SYSTEM 审中-公开

    公开(公告)号：EP4019200A1

    公开(公告)日：2022-06-29

    申请号：EP20856131.6

    申请日：2020-08-26

    申请人： DMG Mori Co., Ltd.

    发明人： NAGASUE, Hideki ,  NAKAGAWA, Masaaki ,  OBA, Yuta

    IPC分类号： B25J9/10 ,  B25J5/00 ,  B25J13/08

    摘要： A production system includes a machine tool (10), a robot (25) having a camera (31), an automatic guided vehicle (35) having the robot (25) mounted thereon, and a controller (40) controlling the automatic guided vehicle (35) and the robot (25), and has an identification figure arranged in a machining area of the machine tool (10). The controller (40) stores, as a reference image, an image of the identification figure captured by the camera (31) with the robot (25) in an image capturing pose in a teaching operation. When repeatedly operating the automatic guided vehicle (35) and the robot (25), the controller (40) estimates an amount of error between a pose of the robot (25) in the teaching operation and a current pose of the robot (25) based on the reference image and an image of the identification figure captured by the camera (31) with the robot (25) in the image capturing pose, and corrects operating poses of the robot (25) based on the estimated amount of error.