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    PROCESSING SYSTEM
    2.
    发明公开
    PROCESSING SYSTEM 审中-公开

    公开(公告)号：EP3854520A1

    公开(公告)日：2021-07-28

    申请号：EP19863500.5

    申请日：2019-08-02

    申请人： DMG Mori Co., Ltd.

    发明人： HIGUCHI, Takayuki ,  YASUDA, Hiroshi ,  NAGASUE, Hideki

    IPC分类号： B23Q11/08

    摘要： A machining system includes: a cover body (131) having an opening (132) and defining a machining area (110) of a workpiece; a door portion (136) provided in the opening (132); an actuator (141) that operates the door portion (136) between a first position at which the opening (132) is closed and a second position at which the opening (132) is opened; a controller that controls the actuator (141); and a robot arm (212) that operates through the opening (132) to convey a workpiece between the machining area (110) and an external area outside the machining area (110). The controller controls the actuator (141) such that the door portion (136) is positioned at a third position when the robot arm (212) conveys the workpiece. An opening area of the opening (132) opened when the door portion (136) is positioned at the third position is smaller than an opening area of the opening (132) opened when the door portion (136) is positioned at the second position.

    SELF-PROPELLED DEVICE
    4.
    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
    5.
    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.

    SELF-PROPELLED DEVICE
    7.
    发明公开
    SELF-PROPELLED DEVICE 审中-公开

    公开(公告)号：EP4250043A1

    公开(公告)日：2023-09-27

    申请号：EP20965144.7

    申请日：2020-12-11

    申请人： DMG Mori Co., Ltd.

    发明人： NAGASUE, Hideki ,  MAEDA, Ryota

    IPC分类号： G05D1/02

    摘要： An autonomous traveling apparatus (100) includes a traveling body (10) with a wheel to be driven. The traveling body (10) includes a first wheel portion (15) and a second wheel portion (35) each provided along a traveling direction of the autonomous traveling apparatus (100) in the traveling body (10) with a predetermined space being interposed between the first wheel portion (15) and the second wheel portion (35). The second wheel portion (35) has a pair of wheels configured to be movable upward/downward with respect to the autonomous traveling apparatus (100). The autonomous traveling apparatus (100) further includes a laser sensor (105). The laser sensor (105) is configured to detect an object around the laser sensor (105) by emitting laser light while rotating the laser light with respect to the laser sensor (105) and by receiving reflected light of the laser light, and is provided on the traveling body (10) to avoid a portion above each of the pair of wheels such that a scanning plane is lower than a maximum reach point of a range of an upward/downward movement of each of the pair of wheels, the scanning plane being a range in which the laser light passes while rotating the laser light.

    PRODUCTION SYSTEM
    8.
    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.