Robot system provided with robot controller

• US 7,742,839 B2
• Filed: 07/14/2005
• Issued: 06/22/2010
• Est. Priority Date: 07/15/2004
• Status: Active Grant

• Current Assignee: Fanuc Ltd (Fanuc Corporation)
• Original Assignee: Fanuc Ltd (Fanuc Corporation)
• Inventors: Nagatsuka, Yoshiharu, Kobayashi, Hirohiko
• Primary Examiner(s): Tran; Khoi
• Assistant Examiner(s): Amin; Bhavesh V
• Application Number:
  US11/180,670
• Publication Number:
  US 20060015218A1
• Time in Patent Office: 1,804 Days
• Field of Search: 901 1- 50, 700245-264
• US Class Current: 700/250
• CPC Class Codes: B25J 9/1661 characterised by task planning, object-oriented languages
• CPC Class Codes: G05B 2219/36522 Select program using a management, workpiece number
• CPC Class Codes: G05B 2219/36523 Select with code on workpiece, fixture, clamp, object
• CPC Class Codes: G05B 2219/40383 Correction, modification program by detection type workpiece
• CPC Class Codes: G05B 2219/40395 Compose movement with primitive movement segments from database
• CPC Class Codes: G05B 2219/49302 Part, workpiece, code, tool identification
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

A robot controller capable of automatically preparing a job program for a workpiece configured of a plurality of job elements is disclosed. A plurality of teaching programs for teaching the job for each job element making up the workpiece are stored in advance. Each teaching program has registered therein attribute information including the item number (identification information) and the sequence of application of the teaching program to each workpiece. The robot controller retrieves teaching programs having registered therein, as attribute information, the same item number as the input item number of the workpiece and prepares a main program such that the retrieved teaching programs are called sequentially as subprograms in accordance with the application sequence specified by the attribute information. Further, commands for moving to the job starting position and the job end position are added before and after the main program thereby to complete the main program. Based on the main program thus prepared, the robot controller controls the robot operation.

Claims

1. A robot controller calling a teaching program related to a workpiece from a plurality of stored teaching programs and causing a robot to carry out a job in accordance with the called teaching program, said robot controller comprising:

a storage means storing a plurality of teaching programs, each teaching program having registered therein, as attribute information, identification information indicating the type of the workpiece to which that teaching program is applicable;

an input means inputting identification information indicating a type of a workpiece on which said robot will carry a job;

a teaching program retrieving means retrieving all teaching programs having registered therein, as attribute information, the same identification information as the input identification information, based on the input identification information, from said plurality of teaching programs stored in said storage means;

a main program preparation means preparing a main program to call and execute the retrieved teaching program as a subprogram; and

a main program execution means executing the prepared main program,

wherein the identification information indicting the type of workpiece is registered in each teaching program as the attribute information related to the sequence information indicating the job sequence, and the main program is prepared by said main program preparation means such that the retrieved teaching programs are called sequentially as subprograms in accordance with the sequence specified by the sequence information.

2. The robot controller according to claim 1, wherein the teaching program used for carrying out the job on a plurality of types of workpieces has registered therein, as the attribute information, the same number of sets of identification information as the number of the types of workpieces using the teaching program.

3. The robot controller according to claim 1, wherein said main program preparation means adds a command for moving said robot to a predetermined initial position before a command for calling the first subprogram.

4. The robot controller according to claim 1, wherein said main program preparation means adds a command for moving said robot to a predetermined final position after a command for calling the last subprogram.

5. The robot controller according to claim 1, further comprising a main program deletion means deleting the main program after execution thereof.

6. A robot system comprising:

a robot;

a robot controller according to claim 1 for causing said robot to carry out the job in accordance with the prepared main program; and

an input means for inputting identification information to said robot controller.

7. The robot system according to claim 6, wherein said input means comprises a visual sensor, and said robot controller identifies a type of the workpiece based on a visual feature obtained by imaging the workpiece with said visual sensor.

8. The robot system according to claim 6, wherein said input means comprises a bar code reader, and said robot controller obtains the type of the workpiece as the identification information by reading a bar code attached to the workpiece with said bar code reader.

9. The robot system according to claim 6, wherein said input means comprises an IC tag reader, and said robot controller obtains a type of the workpiece as the identification information by reading an IC tag attached to the workpiece with said IC tag reader.