Movable robot

• US 10,293,499 B2
• Filed: 01/10/2018
• Issued: 05/21/2019
• Est. Priority Date: 02/06/2017
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: Nishi, Hiroji
• Primary Examiner(s): Moyer, Dale
• Application Number:
  US15/866,981
• Publication Number:
  US 20180222064A1
• Time in Patent Office: 496 Days
• CPC Class Codes: B25J 13/006 by means of a wireless system for controlling one or several manipulators
• CPC Class Codes: B25J 13/08 by means of sensing devices, e.g. viewing or touching devices
• CPC Class Codes: B25J 13/085 Force or torque sensors B25J13/082, B25J13/084 take precedence
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/1669 characterised by special application, e.g. multi-arm co-operation, assembly, grasping
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G05B 19/41825 machine tools and manipulators only, machining centre
• CPC Class Codes: G05B 2219/39045 Camera on end effector detects reference pattern
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

This movable robot includes a robot arm which performs an operation for a machine tool, a carriage for moving the robot arm to a predetermined installation position, a vision sensor which is supported by the carriage together with the robot arm and which captures an image of recognition information provided on the machine tool when the robot arm is placed at the predetermined installation position, a partner information receiving section for receiving a partner information regarding the machine tool for which the robot performs the operation, and a controller which determines whether the information obtained from the vision sensor corresponds with the partner information when the robot arm is placed at the predetermined installation position by the carriage, and when it corresponds, the robot arm is set to be a state in which the robot arm can perform the operation.

Claims

1. A movable robot comprising:

a robot arm which performs an operation for a machine tool;

a carriage which supports the robot arm and which moves the robot arm to a predetermined installation position so that the robot arm can perform the operation;

a vision sensor which is supported by the carriage together with the robot arm and which captures an image of recognition information provided on the machine tool when the robot arm is placed at the predetermined installation position;

a partner information receiving section which receives a partner information regarding the machine tool for which the robot performs the operation; and

a controller which determines whether the image captured by the vision sensor or information derived from the image corresponds with the partner information received by the partner information receiving section at the time the robot arm is placed at the predetermined installation position by the carriage and which sets the robot arm to be a state in which the robot arm can perform the operation.

2. The moveable robot according to claim 1, wherein the controller is configured to further determine whether the recognition information in the image captured by the vision sensor or the information derived from the image is within a reference shape range and a reference size range, and the controller is configured to set the robot arm to be the state in which the robot arm can perform the operation when the recognition information is within the reference shape range and the reference size range.

3. The moveable robot according to claim 1, wherein the vision sensor is configured to capture the image of the recognition information together with an image of an ID information display provided on the machine tool, and

the controller is configured to establish wireless communication with the machine tool by using ID information obtained from the ID information display.