Working system provided with servo-controlled automatic operating door

• US 9,290,334 B2
• Filed: 03/20/2014
• Issued: 03/22/2016
• Est. Priority Date: 03/21/2013
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: Oda, Masaru
• Primary Examiner(s): Amin, Bhavesh V
• Application Number:
  US14/220,619
• Publication Number:
  US 20140286734A1
• Time in Patent Office: 733 Days
• Field of Search: 414/222, 483/14, 483/16
• US Class Current: 1/1
• CPC Class Codes: B23Q 11/0891 arranged between the working area and the operator
• CPC Class Codes: B23Q 7/04 by means of grippers B23Q7/1494 takes precedence
• CPC Class Codes: B25J 9/16 Programme controls programme controls in general G05B19/00, e.g. numerical pogramme controls G05B19/18; recording or playback systems G05B19/42
• CPC Class Codes: B65G 47/74 Feeding, transfer, or discharging devices of particular kinds or types
• CPC Class Codes: Y10T 483/16 with means to transfer work
• CPC Class Codes: Y10T 483/17 including machine tool or component

Abstract

A working system including: a working machine having a door operated so as to be closed at a time of working and be opened at a time of non-working; an automatic changer provided so as to enter and exit from an inside of the working machine through the door to change a worked object and/or a tool; and an actuator operating the door. The actuator is a servo motor dedicated to operating the door.

Claims

1. A working system comprising:

a working machine having a door operated so as to be closed at a time of working and be opened at a time of non-working;

a working machine control apparatus controlling the working machine;

a multi-articulated robot provided so as to enter and exit from an inside of the working machine through the door to change a worked object and/or a tool;

a robot control apparatus controlling the multi-articulated robot; and

an actuator operating the door,

wherein the actuator is a servo motor dedicated to operating the door,

the working machine control apparatus and the robot control apparatus are separately arranged and each controller includes an individual processing system which has a CPU,

the CPU included in the processing system of the robot control apparatus performs a synchronous control for the servo motor dedicated to operating the door and a robot servo motor arranged in the multi-articulated robot, and

the robot control apparatus having the CPU performing the synchronous control obtains an operating position of the door and a position and a posture of the multi-articulated robot, controls the robot servo motor in accordance with an obtained operating position of the door while controlling the servo motor dedicated to operating the door in accordance with an obtained position and posture of the multi-articulated robot, further comprising a detecting part to detect the operating position of the door, wherein

the robot control apparatus controls the robot servo motor in accordance with the operating position of the door detected by the detecting part wherein the robot control apparatus has a judging part judging if the multi-articulated robot can enter the inside of the working machine based on a position information of the servo motor dedicated to operating the door which is detected by the detecting part and, makes the multi-articulated robot enter the inside of the working machine when the judging part judges that the multi-articulated robot can enter the inside of the working machine, wherein

the working machine control apparatus outputs a working end signal to the robot control apparatus when the work on the workpiece at the working machine ends,

the judging part judges if an opening operation of the door is necessary based on the working end signal,

the robot control apparatus controls the servo motor dedicated to operating the door so as to start the opening operation of the door when the judging part judges that the opening operation of the door is necessary by receiving the working end signal.

2. The working system according to claim 1, further comprising an detecting part to detect the position and the posture of the robot, wherein

the robot control apparatus controls the servo motor dedicated to operating the door in accordance with the position and the posture of the robot which is detected by the detecting part.