Robot system and workpiece supply method
AssigneeFanuc Corporation
InventorMizuki TAGO
Life of this patent
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Abstract
A robot system includes a robot device for supplying a workpiece to a machine tool, a hand attached to a distal end of an arm of the robot device, a force sensor for detecting an external force applied to the hand, and a robot control device for controlling the robot device. The robot control device includes an operation control unit for controlling the robot device to correct the position and posture of the hand with respect to the machine tool, based on an output of the force sensor, and a storage unit to store data relating to the corrected position and posture of the hand.
Claims6
A robot system comprising:
- a robot device for supplying a workpiece to a machine tool;
- a workpiece gripping mechanism attached to a distal end of an arm of the robot device;
- a force sensor for detecting an external force applied to the workpiece gripping mechanism;
- and
- a control device for controlling the robot device, wherein
- the control device includes:
- a control unit for controlling the robot device to correct a position and posture of the work gripping mechanism with respect to the machine tool, based on an output of the force sensor;
- and
- a storage unit to store data relating to the corrected position and posture of the workpiece gripping mechanism.
A workpiece supply method for supplying a workpiece to a machine tool by a robot system including a robot device, a workpiece gripping mechanism attached to a distal end of an arm of the robot device, a force sensor for detecting an external force applied to the workpiece gripping mechanism, and a control device for controlling the robot device, the workpiece supply method comprising:
- controlling, by the control device, the robot device based on an output of the force sensor to move the workpiece gripping mechanism parallel to a vertical center line of a chuck surface of a chuck mechanism of the machine tool and press the workpiece against the chuck surface with a predetermined force;
- controlling, by the control device, the robot device based on the output of the force sensor to correct a posture of the workpiece gripping mechanism so as to reduce a force applied in a direction orthogonal to the vertical centerline while pressing the workpiece against the chuck surface;
- and
- controlling, by the control device, the robot device based on the output of the force sensor to correct a position of the workpiece gripping mechanism along the direction orthogonal to the vertical center line so as to reduce the force applied in the direction orthogonal to the vertical center line as the chuck mechanism is closed.
Dependencies are inferred from the claim text.