Robot-mounted moving device, system, and machine tool

A system comprising:

• a machine tool performing predetermined machining on a workpiece;
• a robot having a camera for image capturing and an end effector acting on the workpiece, and performing an operation to the machine tool;
• a transfer device having the robot mounted thereon, and configured to be movable to an operating position set with respect to the machine tool;
• and
• a controller configured to, in accordance with an operation program containing a predetermined operation command, bring the robot in sequence into an operation starting pose, an image capturing pose for causing the camera to face an identification figure for pose compensation arranged in the machine tool and capture an image of the identification figure, and one or more operating poses for causing the end effector to act on the workpiece,
• the operation starting pose, the image capturing pose, and the one or more operating poses being set in advance by performing a teaching operation to the robot,
• the identification figure being formed on a predetermined plane and arranged in a machining area of the machine tool,
• the controller being configured to:
• in the teaching operation,
• cause the camera to capture a reference image of the identification figure with the robot in the image capturing pose, and
• in actual operation of the robot in accordance with the operation program,
• estimate, based on the reference image and a current image of the identification figure captured by the camera after the robot is brought into the image capturing pose from the operation starting pose when the transfer device is at the operating position, positional error amounts of the camera in a first axis and a second axis and a rotational error amount of the camera around a third axis between a current pose of the robot and a pose of the robot in the teaching operation, the first axis and the second axis being orthogonal to each other and set in a plane parallel to the identification figure, the third axis being orthogonal to the first axis and the second axis,
• calculate a compensation amount for the end effector in the one or more operating poses based on the estimated error amounts, and
• compensate a position of the end effector in each of the one or more operating poses based on the calculated compensation amount.

A system comprising:

• a machine tool performing predetermined machining on a workpiece;
• a robot having a camera for image capturing and an end effector acting on the workpiece, and performing an operation to the machine tool;
• a transfer device having the robot mounted thereon, and configured to be movable to an operating position set with respect to the machine tool;
• and
• a controller configured to, in accordance with an operation program containing a predetermined operation command, bring the robot in sequence into an operation starting pose, an image capturing pose for causing the camera to capture an image of an identification figure for pose compensation arranged in the machine tool, and one or more operating poses for causing the end effector to act on the workpiece,
• the operation starting pose, the image capturing pose, and the one or more operating poses being set in advance by performing a teaching operation to the robot,
• the identification figure being formed on a predetermined plane and arranged in a machining area of the machine tool,
• the controller being configured to:
• in the teaching operation,
• cause the camera to capture a reference image of the identification figure with the robot in the image capturing pose, and
• in actual operation of the robot in accordance with the operation program,
• estimate, based on the reference image and a current an image of the identification figure captured by the camera after the robot is brought into the image capturing pose from the operation starting pose when the transfer device is at the operating position, positional error amounts of the camera in a first axis, a second axis, and a third axis and rotational error amounts of the camera around the first axis, the second axis, and the third axis between a current pose of the robot and a pose of the robot in the teaching operation, the first axis and the second axis being orthogonal to each other and set in a plane parallel to the identification figure, the third axis being orthogonal to the first axis and the second axis, and
• compensate a position of the end effector in each of the one or more operating poses based on the estimated positional error amounts and rotational error amounts.

A machine tool for machining a workpiece, configured such that:

• a transfer device has a robot mounted thereon and is configured to transfer the robot to a first position to allow the robot to hold the workpiece, the robot having a camera for capturing a current image including an identification figure arranged in the machine tool, and an end effector acting on the workpiece;
• the camera captures a current image including the identification figure arranged in the machine tool after the transfer device transfers the robot to the first position;
• a second position of the end effector in an X-axis and a Y-axis in a three-dimensional space defined by the X-axis, the Y-axis, and a Z-axis is compensated by linearly and rotationally moving the end effector based on positional information of the identification figure in the current image of the identification figure and a reference image of the identification figure;
• and
• the end effector is caused to act on the workpiece in the machine tool after the second position is compensated,
• wherein the identification figure is arranged at a set position in a machining area of the machine tool.