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US 9,067,316 B2Granted
Robot system and teaching method therefor
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsEiji Kihara, Jiro Nakagawa, Osamu Yoshida
Life of this patent
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Abstract
A robot system according to an aspect of an embodiment includes a robot and a work bench. The robot has a plurality of joints including a first joint that is provided so as to be rotatable relative to an installation surface. On the work bench, a fixing part, by which a work member used in operations of the robot is fixed, is provided on a plate surface of a top plate with a rotation axis of the first joint serving as a normal line thereof, along a circular arc having a center at an intersection between the plate surface and the rotation axis.
Claims21
A robot system comprising:
- a robot having a plurality of joints including a first joint that is provided so as to be rotatable relative to an installation surface:
- a work bench provided in a working envelope of the robot;
- and
- a fixing part including a plurality of installation positions, and provided on the work bench along a virtual circular arc having a radius from a rotation axis of the first joint to fix a work member used for a work by the robot or virtual circular arcs having different radii from the axis of the first joint to fix the work member which is used for the work by the robot,
- wherein the work member is loaded with a workpiece to be worked by the robot, and
- wherein the fixing part is configured to selectively fix the work member at any one of the plurality of installation positions for change of a position of the work member on the virtual circular arc.
3 more elements
A robot system comprising:
- a manipulating means including a joint that is provided so as to be rotatable relative to an installation surface;
- and
- a means for fixing a work member at a plurality of installation positions, the means for fixing being provided on a work bench along a virtual circular arc having a radius from a rotation axis of the joint to fix the work member used for a work by the manipulating means,
- wherein the work member is loaded with a workpiece to be worked the manipulating means, and
- wherein the means for fixing is confiqured to selectively fix the work member at any one of the plurality of installation ositions for change of a position of the work member on the virtual circular arc.
2 more elements
A teaching method for a robot system, the method comprising:
- a robot having a plurality of joints including a first joint that is provided so as to be rotatable relative to an installation surface;
- a work bench provided in a working envelope of the robot;
- and a fixing part including a plurality of installation positions, and provided on the work bench along a virtual circular arc having a radius from a rotation axis of the first joint to a fix a work member used for work by the robot, Wherein the work member is loaded with a workpiece to be worked by the robot, and wherein the fixing part is configured to selectively fix the work member at any one of the plurality of installation positions for change of a position of the work member on the virtual circular arc,
- acquiring teaching information indicating specific operations to be taught to the robot and rotation angle information indicating a rotation angle of the first joint;
- storing the teaching information and the rotation angle information in a memory:
- teaching the robot an operation of the robot based on the teaching information stored;
- in the memory;
- and
- teaching the robot a shift amount to change a rotation angle of the first joint based on the rotation angle information stored in the memory.
6 more elements
A teaching method for a robot system, the method comprising:
- a robot having a plurality of joints including a first joint that is provided so as to be rotatable relative to an installation surface;
- a work bench provided in a working envelope of the robot;
- and a fixing part including a plurality of installation positions, and provided on the work bench along a virtual circular arc having a radius from a rotation axis of the first joint to a fix a work member used for work by the robot, Wherein the work member is loaded with a workpiece to be worked by the robot, and wherein the fixing part is configured to selectively fix the work member at any one of the plurality of installation positions for change of a position of the work member on the virtual circular arc,
- a step for acquiring teaching information indicating specific operations to be taught to the robot and rotation angle information indicating a rotation angle of the first joint;
- a step for storing the teaching information and the rotation angle information in a memory;
- a step for teaching a robot an operation of the robot based on the teaching information stored in the memory;
- and
- a step for teaching the robot a shift amount to change a rotation angle of the first joint based on the rotation anele information stored in the memory.
5 more elements
A robot system comprising:
- a robot having a plurality of joints including a first joint that is provided so as to be rotatable relative to an installation surface;
- a work bench provided in a working envelope of the robot;
- and
- a fixing part provided on the work bench along a virtual circular arc around an axis of the first joint to fix a work member used in operations of the robot,
- wherein the fixing part selectively fixes the work member at one of a plurality of positions, and a relative position of the work member with respect to the axis of the first joint is same in each of the plurality of positions.
2 more elements
Dependencies are inferred from the claim text.