公开(公告)号：EP4013578A1

公开(公告)日：2022-06-22

申请号：EP20864229.8

申请日：2020-09-10

申请人： DMG Mori Co., Ltd. ,  Skylla Technologies

发明人： OBA, Yuta ,  SAKURAI, Tsutomu ,  NAGASUE, Hideki ,  NAKAGAWA, Masaaki ,  WEAVER, Kota ,  PARWAL, Anand

IPC分类号： B25J9/16

公开(公告)号：EP4144494A1

公开(公告)日：2023-03-08

申请号：EP21885886.8

申请日：2021-10-12

申请人： DMG Mori Co., Ltd. ,  Skylla Technologies

发明人： OBA, Yuta ,  SAKURAI, Tsutomu ,  NAGASUE, Hideki ,  NAKAGAWA, Masaaki ,  TANAKA, Hideaki ,  WEAVER, Kota ,  PARWAL, Anand

IPC分类号： B25J19/04 ,  B23Q17/24 ,  B25J5/00

摘要： The present invention includes a machine tool (10), a robot (25) having a camera (31), and a transportation device (35) having the robot (25) mounted thereon, and an identification figure is arranged in a machining area of the machine tool (10).

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.

公开(公告)号：EP4227043A1

公开(公告)日：2023-08-16

申请号：EP21889089.5

申请日：2021-10-26

申请人： DMG Mori Co., Ltd.

发明人： OBA, Yuta ,  KODA, Yorihito

IPC分类号： B25J5/00 ,  B25J13/08

摘要： Based on a second identification position as a position of an identification figure when an image of the identification figure is captured by a camera (31) at a second device position different from a first device position, when the second identification position is within a predetermined range from the second device position, the position of a hand unit (29) is adjusted, and when the second identification position is out of the predetermined range from the second device position, the position of a moving unit (35) is adjusted by moving the moving unit (35).

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.