Abstract: A self-propelled device includes a traveling body and a robot arm that is mounted on traveling body. Robot arm includes a base portion that is turnably connected to traveling body; an arm portion that is connected to base portion; and an end effector that is detachably attached to a distal end of arm portion and performs work on a target. Self-propelled device further includes an additional apparatus that includes at least one of an antenna, an imaging device, a laser sensor, an ultrasonic sensor, and a lighting device, and is attached to arm portion.

Abstract: An autonomous traveling apparatus includes a traveling body. The traveling body includes a first wheel portion and a second wheel portion each provided along a traveling direction of the autonomous traveling apparatus in the traveling body with a predetermined space being interposed between the first wheel portion and the second wheel portion. The second wheel portion has a pair of wheels. The autonomous traveling apparatus further includes a laser sensor. The laser sensor is configured to detect an object around the laser sensor, and is provided on the traveling body 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.

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

Abstract: 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.

Abstract: In a system (1) including a robot (25), a transportation device (35) moving with the robot (25) mounted thereon, and a controller, an operating pose of the robot (25) and an operation position of the transportation device (35) in a three-dimensional space formed by first, second, and third axes orthogonal to one another are set by a teaching operation. The transportation device (35) is moved to a predetermined operation position and this operation position is stored as a provisional operation position, and the robot (25) is brought into a predetermined operating pose and this operating pose is stored as a provisional operating pose. Subsequently, an acting part (29) of the robot (25) is moved along the first axis and the second axis to confirm whether movable amounts of the acting part (29) exceed positioning error amounts in the same directions of the transportation device (35).

Abstract: A self-propelled device includes a wheel-driven traveling body and a laser sensor. The laser sensor emits laser light while rotating the laser light around the laser sensor 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 for each angle around the laser sensor. The traveling body includes a controller that controls traveling of the traveling body on the basis of the two-dimensional distance data output from the laser sensor. The laser sensor is provided on the traveling body 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.

Abstract: 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.

Abstract: 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.

Abstract: A system includes a machine tool 10, a robot 25 having a camera 31, and a transfer device 35 having the robot 25 mounted thereon, and an identification figure is arranged in a machining area of the machine tool 10.

Abstract: 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.

Abstract: A system 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.

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