INDUSTRIAL ROBOT SYSTEM

• US 20110288667A1
• Filed: 02/10/2010
• Published: 11/24/2011
• Est. Priority Date: 02/12/2009
• Status: Active Grant

• Current Assignee: Kyoto University, Mitsubishi Electric Corporation
• Original Assignee: Kyoto University, Mitsubishi Electric Corporation
• Inventors: Izui, Kazuhiro, Mizuyama, Hajime, Kouda, Takehisa, Okuda, Haruhisa, Sawaragi, Tetsuo, Utsuno, Hideo, Komori, Masaharu, Noda, Akio, Matsuhisa, Hiroshi, Horiguchi, Yukio, Yokokouji, Yasuyoshi, Tanaka, Kenichi, Nakanishi, Hiroaki
• Granted Patent: US 9,393,691 B2
• Time in Patent Office: Days
• US Class Current: 700/98
• CPC Class Codes: B25J 9/1661 characterised by task planning, object-oriented languages
• CPC Class Codes: G05B 19/42 Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
• CPC Class Codes: G05B 2219/36404 Adapt teached position as function of deviation 3-D, 2-D position workpiece
• CPC Class Codes: G05B 2219/39527 Workpiece detector, sensor mounted in, near hand, gripper
• CPC Class Codes: G05B 2219/40111 For assembly
• CPC Class Codes: G05B 2219/40613 Camera, laser scanner on end effector, hand eye manipulator, local

Abstract

Provided is an industrial robot system which enables a reduction in an installation/adjustment period, and an increase in a no-error continuous operation period, and includes an action planning section (4) for temporary halts, an error-inducing-task restraining section (5), a section (6) for teaching task, an operation mastering section (7), a hand library (8), an optimum-task-operation generating section (11), a specific task library (9), an error-recovery-task teaching section (12), an error recovery library (10), a finger-eye-camera measurement section (32), a three-dimensional recognition section (33), a controller (30), a manipulator (31), and a universal hand contained in a manipulation device group (34).

Claims

1. An industrial robot system including a robot having a manipulator and a hand, and used for a production system for assembling a product which is an object to be manufactured, comprising:

an action planning section for temporary halts for generating task information and a first work path in order to address a temporary halt which constitutes an obstacle to a teaching task when a production line is started up and adjusted, and an unattended continuous operation;

an error-inducing-task restraining section for generating error information used for restraining a task inducing an error based on the task information;

a section for teaching task for generating a second work path specifying absolute coordinates based on the first work path and the error information;

an operation mastering section for generating a third work path optimized for the robot based on the second work path;

a hand library formed by associating an assembly task of the robot and control software with each other;

an optimum-task-operation generating section for generating a operation sequence of specific tasks;

a specific task library for storing the operation sequence of specific tasks;

an error-recovery-task teaching section for teaching an error recovery task according to an error state based on an operation history in the section for teaching task;

an error recovery library for storing the error recovery task;

a finger-eye-camera measurement section and a three-dimensional recognition section for generating operation monitoring information on the robot, and inputting the operation monitoring information to the error-inducing-task restraining section, the section for teaching task, and the operation mastering section; and

a controller for controlling the robot based on the second work path and the third work path, and on the operation monitoring information, wherein;

the action planning section for temporary halts generates the first work path based on configuration information on the production system and the object to be manufactured including at least part connection information, geometric shape data, and facility layout data, information stored in the hand library, the specific task library, and the error recovery library, and the error information from the error-inducing-task restraining section;

the task information includes at least a check point for examining a temporary halt during the task, a recovery point returning to which enables the task to resume when the check point is not passed, a recovery path for returning to the recovery point, work paths connecting the respective points to each other, and a sequence describing the execution sequence of each of the work paths, and a synchronization point;

the section for teaching task, based on an input by an operator carrying out an input task using teaching task input means, warns the operator about a task operation causing a mistake when the second work path is being generated;

the error-recovery-task teaching section calculates error recovery information on components including the robot based on a cause for occurrence of the error and the operation history from the section for teaching task; and

the action planning section for temporary halts, the section for teaching task, and the operation mastering section generate program information including the third work path required for teaching the robot from the configuration information on the production system and the object to be manufactured.

2. An industrial robot system according to claim 1, further comprising a mashup section for realizing cooperation among the action planning section for temporary halts, the error-inducing-task restraining section, the section for teaching task, the operation mastering section, the hand library, the optimum-task-operation generating section, the specific task library, the error-recovery-task teaching section, the error recovery library, and the controller.

3. An industrial robot system according to claim 1, further comprising an offline teaching section having an error detection function,

wherein the offline teaching section has functions of the error-inducing-task restraining section and the hand library.

4. An industrial robot system according to claim 1, wherein the section for teaching task has a visual I/F and a teleoperation function.

5. An industrial robot system according to claim 1, further comprising an error recovery section that cooperates with the action planning section for temporary halts, the section for teaching task, the error-recovery-task teaching section, and the error recovery library,

wherein the error recovery section has an action control function, a function of enhancing the section for teaching task, and a teleoperation function.

6. An industrial robot system according to claim 1, further comprising a recognition section that cooperates with the section for teaching task, the operation mastering section, the finger-eye-camera measurement section, and the three-dimensional recognition section,

wherein the recognition section has an object recognition function for part picking, a hybrid vision correction function, a vision function for error detection, and a recognition application building support function.

7. An industrial robot system including a robot having a manipulator, and used for a production system for assembling a product which is an object to be manufactured, comprising:

an action planning section for temporary halts for generating task information and a first work path in order to address a temporary halt which constitutes an obstacle to a teaching task when a production line is started up and adjusted, and an unattended continuous operation;

an error-inducing-task restraining section for generating error information used for restraining a task inducing an error based on the task information;

a section for teaching task for generating a second work path specifying absolute coordinates based on the first work path and the error information; and

a controller for controlling the robot based on the second work path, wherein;

the action planning section for temporary halts generates the first work path based on configuration information on the production system and the object to be manufactured including at least part connection information, geometric shape data, and facility layout data, and the error information from the error-inducing-task restraining section;

the task information includes at least a check point for examining a temporary halt during the task, a recovery point returning to which enables the task to resume when the check point is not passed, a recovery path for returning to the recovery point, work paths connecting the respective points to each other, and a sequence describing the execution sequence of each of the work paths, and a synchronization point;

the section for teaching task, based on an input by an operator carrying out an input task using teaching task input means, warns the operator about a task operation causing a mistake when the second work path is being generated; and

the action planning section for temporary halts and the section for teaching task generate program information including the second work path required for teaching the robot from the configuration information on the production system and the object to be manufactured.