A storage setup and method for robotic delivery and retrieval of crates from shelving blocks are disclosed. At least one shelving block in the setup comprises non-uniformly spaced apart storage surfaces. The storage surfaces are accessible to lift-robots. A computerized control system is configured to differentiate between storage locations based on which crate sizes from at least two different ranges of crate sizes a storage location can store. The storage may be automatically optimized by routing robots to store crates in storage locations sized in correlation with the size of the crate to be stored.

An automatic workpiece conveyance machine configured to perform centering without the addition of new mechanical structures, comprising: a workpiece gripping device configured to grip a workpiece between the workpiece gripping device and a receiving chuck of a work machine; a workpiece delivery device having a moving mechanism for moving the workpiece gripping device on a centering plane orthogonal to the center axis of the receiving chuck; and a control device, configured to control the driving of the receiving chuck and the workpiece gripping device, and configured to identify the centering position based on torque generated in a positioning motor constituting the workpiece delivery device with one of the receiving chuck and the workpiece gripping device, gripping the workpiece, while the other one gripping and releasing the workpiece.

A conveying apparatus that facilitates setting of an operation mode and setting of appropriate conditions during teaching is provided. An input determination section determines whether or not a combination of a conveyable weight and an operation mode input from an input portion is appropriate. A motor parameter determination section determines one or more motor parameters of at least one servoamplifier for one or more servomotors based on the operation mode and the conveyable weight determined as appropriate by the input determination section. The one or more motor parameters include a maximum speed and a maximum acceleration of the one or more servomotors. A parameter change section allows a speed and an acceleration of the one or more servomotors to be changed up to the maximum speed and the maximum acceleration, respectively.

A device for the automated charging and discharging of an object on a free-flying autonomously controlled drone includes a landing platform for the drone, a storage device for storing objects, a robot where the robot is configured to remove an object from the storage apparatus in an automated manner and to provide the object on the landing platform to be picked up by the drone and is configured to pick up in an automated manner an object that is provided on the landing platform by the drone and to deposit the object in the storage apparatus, and a controller where the robot is controllable by the controller.

A numerical control system 1 comprises a numerical control device 5 for generating a machine tool command signal and a robot command signal, and a robot control device 6 for controlling the operation of a robot 3 on the basis of the robot command signal. The numerical control device 5 includes a coordinate form information management unit 524 for managing coordinate information according to a designated coordinate format that is based on a numerical control program, and a robot command signal generation unit 525 for generating the robot command signal on the basis of said coordinate information and a robot numerical control program. The robot control device 6 acquires a coordinate value on each axis of control in the designated coordinate format when the designated coordinate format is configured or changed, and transmits the same to the numerical control device 5 The coordinate form information management unit 524 updates said coordinate information using the coordinate value transmitted from the robot control device 6.

The disclosure provides an appearance inspection system that can reduce subject blurring when an object is imaged while changing a relative position of an imaging device with respect to the object. A first control unit causes the imaging device to perform imaging when the imaging device reaches an imaging position corresponding to the inspection target position. A second control unit changes at least one of the position and the orientation of the imaging device in a direction in which a relative movement between a field of view of the imaging device and the inspection target position according to the change in the relative position along a designated path is canceled out during a predetermined period including a time point at which the imaging device reaches the imaging position.

A storage setup and method for robotic delivery and retrieval of crates from shelving blocks are disclosed. At least one shelving block in the setup comprises non-uniformly spaced apart storage surfaces. The storage surfaces are accessible to lift-robots. A computerized control system is configured to differentiate between storage locations based on which crate sizes from at least two different ranges of crate sizes a storage location can store. The storage may be automatically optimized by routing robots to store crates in storage locations sized in correlation with the size of the crate to be stored.

A machine tool includes a lower tool post for holding a cutting tool, a tool main spindle for holding a cutting tool, a storage unit capable of storing the cutting tool, an exchange mechanism for exchanging the cutting tools between the tool main spindle and the storage unit, an inside robot for exchanging the cutting tools between the lower tool post and the tool main spindle, and a controller. The controller performs control such that the cutting tools are exchanged between the lower tool post and the storage unit via the inside robot, the tool main spindle, and the exchange mechanism.

A device for the automated charging and discharging of an object on a free-flying autonomously controlled drone includes a landing platform for the drone, a storage device for storing objects, a robot where the robot is configured to remove an object from the storage apparatus in an automated manner and to provide the object on the landing platform to be picked up by the drone and is configured to pick up in an automated manner an object that is provided on the landing platform by the drone and to deposit the object in the storage apparatus, and a controller where the robot is controllable by the controller.

This machine tool system uses a plurality of mobile robots to convey workpieces to a plurality of machine tools, the machine tool system being provided with: machine tool control unit that issues work requests to the machine tools; a mobile robot control unit that determines workable times for the mobile robots on the basis of the work requests; and a determining unit that compares the workable times which are for the mobile robots and respectively planned by the mobile robots, and causes the mobile robot with the fastest workable time to execute the requested work.