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Robot system and processed product producing method

A robot system and robot arm technology, applied in the direction of robots, manufacturing tools, general control systems, etc., can solve the troublesome and complicated problems of robot system teaching

Inactive Publication Date: 2014-05-07
YASKAWA DENKI KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] However, in the robot system described in Patent Document 1 above, there is a problem that the user needs to move to the vicinity of the robot system to hold the grip portion of the end effector and move the end effector (robot arm). It is troublesome (complicated) to teach the desired motion

Method used

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  • Robot system and processed product producing method
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  • Robot system and processed product producing method

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no. 1 approach ）

[0043] First, refer to figure 1 and figure 2 , the configuration of the robot system 100 of the first embodiment will be described.

[0044] Such as figure 1 As shown, the robot system 100 includes a robot 1 , a robot controller 2 , and a personal computer (PC) 3 . In addition, a stand 4 on which an imaging unit 15 to be described later is placed is provided near the robot 1 . Further, a workpiece 201 placed on a table 200 is arranged near the robot 1 . Furthermore, the workpiece 201 is made of, for example, a metal plate, and is formed into a curved surface so as to be curved upward (in the direction of the arrow Z1 ). In addition, a plurality of white lines 202 indicating processing positions (grinding positions) are provided in advance on the workpiece 201 . Also, the robot controller 2 is an example of a "controller". Also, PC3 is an example of an "input receiving unit". Also, the white line 202 is an example of a "processing position indicator".

[0045] Such as ...

no. 2 approach ）

[0073] Next, refer to Figure 16 and Figure 17 A second embodiment will be described. In this second embodiment, unlike the above-mentioned first embodiment in which the entire workpiece 201 is imaged by the imaging unit 15 at one imaging position, the case where the workpiece 201 is imaged by the imaging unit 15 at a plurality of imaging positions is performed. illustrate.

[0074] Such as Figure 16 and Figure 17 As shown, in the second embodiment, the robot controller 2 is configured to use the imaging unit 15 to image the workpiece 201 at a plurality of imaging positions by operating the robot arm 13, and to divide the images of the workpiece 201 at the plurality of imaging positions. The images are combined into one image. For example, in the second embodiment, the workpiece 201 is photographed by the imaging unit 15 at ten imaging positions along the X direction, and the workpiece 201 is photographed by the imaging unit 15 at ten imaging positions along the Y dire...

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Abstract

The invention provides a robot system and a processed product producing method which allow easily teaching of desired operation. The robot system (100) includes a robot arm (13) equipped with a tool (18), a robot controller (2), an imager (15) used for picking up an image of a workpiece (201), a display device (31) displaying the image of the workpiece (201), and a PC (3) configured to receive an input of a processing position where the workpiece (201) is to be processed based on the image of the workpiece (201) displayed on the display device (31). The robot controller (2) is configured to control the robot arm (13) based on the processing position, received by the PC (3), of the workpiece (201) so as to process the workpiece (201).

Description

technical field [0001] The invention relates to a robot system and a method for manufacturing a workpiece. Background technique [0002] Conventionally, a robot system including a robot arm to which an end effector (tool) is attached is known (for example, refer to Patent Document 1). Patent Document 1 above discloses a robot system including a robot arm, an end effector attached to the robot arm, and a grasping unit attached to the end effector. This robot system is configured such that a user directly teaches a desired movement to the robot system by holding a grip part attached to the end effector and moving the end effector (robot arm). [0003] Patent Document 1: Japanese Patent Laid-Open No. 2009-214257 [0004] However, in the robot system described in Patent Document 1 above, there is a problem that the user needs to move to the vicinity of the robot system to hold the grip portion of the end effector and move the end effector (robot arm). Teaching desired motions...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/08B25J19/04
CPCG05B19/042B25J9/1656Y10S901/02G05B19/42
Inventor 中原义光
Owner YASKAWA DENKI KK
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