US 12,427,676 B2
Robot-mounted mobile device and positioning control method for system
Yuta Oba, Nara (JP); and Yorihito Koda, Nara (JP)
Assigned to DMG MORI CO., LTD., Nara (JP)
Appl. No. 18/035,689
Filed by DMG MORI CO., LTD., Nara (JP)
PCT Filed Oct. 26, 2021, PCT No. PCT/JP2021/039470
§ 371(c)(1), (2) Date May 5, 2023,
PCT Pub. No. WO2022/097536, PCT Pub. Date May 12, 2022.
Claims priority of application No. 2020-185030 (JP), filed on Nov. 5, 2020.
Prior Publication US 2023/0415353 A1, Dec. 28, 2023
Int. Cl. G06F 17/00 (2019.01); B25J 5/00 (2006.01); B25J 13/08 (2006.01); B25J 19/02 (2006.01)
CPC B25J 13/087 (2013.01) [B25J 5/00 (2013.01); B25J 19/021 (2013.01)] 4 Claims
OG exemplary drawing
 
1. A robot-mounted mobile device, comprising:
a robot performing an operation acting on a target object in a machine tool, the machine tool having an openable and closable door and an identification figure arranged in the machine tool, the robot having a hand unit for gripping the target object, a second arm unit to which the hand unit is movably connected, a first arm unit to which the second arm unit is movably connected, and a camera arranged on the hand unit side opposite to the first arm unit;
a control unit controlling a position of the hand unit of the robot; and
a moving unit configured to be movable and having the robot mounted thereon, wherein:
the control unit is configured to detect an open/closed state of the door based on an image captured by the camera;
the control unit is configured to cause the camera to capture a current image of the identification figure when the moving unit is at an operation position and to calculate compensation amounts to move the robot from a current robot position to a robot operation position;
the control unit is configured to
when the compensation amounts are within a predetermined movable range of the hand unit, adjust the position of the hand unit from the current robot position to the robot operation position, and
when the compensation amounts are not within the predetermined movable range of the hand unit, adjust the moving unit by moving the moving unit by the compensation amounts.