Robot system and method for manufacturing component
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsTetsuro Izumi, Yukio Hashiguchi, Takuya Fukuda, Ryoichi Nagai
Life of this patent
Estimating the term…
Abstract
After a forward end of a workpiece is inserted into a through-hole and fitting is started, a follow operation of moving the workpiece to follow the shape of the through-hole is performed during the movement of the workpiece in a fitting direction. At this time, the workpiece is fitted into the through-hole while a control point of a robot is changed in a direction opposite to the fitting direction according to the amount of movement of the workpiece in the fitting direction.
Claims22
A robot system comprising:
- a robot having a robot arm mounted with a grasping portion configured to grasp a workpiece;
- and
- a control portion transmitting an operation command to the robot,
- the control portion having:
- a fitting operation control portion configured to control the grasping portion of the robot arm to grasp the workpiece and perform a fitting operation while changing a control point set for the robot arm such that the workpiece follows a shape of a workpiece fitted member into which the workpiece is fitted;
- and
- a control point setting portion configured to change the control point of the robot in a direction opposite to a fitting direction by an amount of movement of the workpiece in the fitting direction during the fitting operation.
A method for manufacturing a component employing a workpiece, comprising:
- grasping the workpiece by a grasping portion of a robot arm;
- moving a control point set for the robot arm such that the workpiece follows a shape of a workpiece fitted member into which the workpiece is fitted and performing a fitting operation;
- and
- changing the control point of the robot in a direction opposite to a fitting direction by an amount of movement of the workpiece in the fitting direction during the fitting operation.
Dependencies are inferred from the claim text.