ROBOT SYSTEM AND TEACHING METHOD THEREFOR

• US 20140067122A1
• Filed: 02/19/2013
• Published: 03/06/2014
• Est. Priority Date: 08/31/2012
• Status: Active Grant

• Current Assignee: Kabushiki Kaisha Yaskawa Denki
• Original Assignee: Kabushiki Kaisha Yaskawa Denki
• Inventors: YOSHIDA, Osamu, KIHARA, Eiji, NAKAGAWA, Jiro
• Granted Patent: US 9,067,316 B2
• Time in Patent Office: Days
• US Class Current: 700/257
• CPC Class Codes: B25J 9/0081 with master teach-in means
• CPC Class Codes: B25J 9/0096 co-operating with a working support, e.g. work-table

Abstract

A robot system according to an aspect of an embodiment includes a robot and a work bench. The robot has a plurality of joints including a first joint that is provided so as to be rotatable relative to an installation surface. On the work bench, a fixing part, by which a work member used in operations of the robot is fixed, is provided on a plate surface of a top plate with a rotation axis of the first joint serving as a normal line thereof, along a circular arc having a center at an intersection between the plate surface and the rotation axis.

Claims

1. A robot system comprising:

a robot having a plurality of joints including a first joint that is provided so as to be rotatable relative to an installation surface;

a work bench provided in a working envelope of the robot; and

a fixing part provided on the work bench along a virtual circular arc around an axis of the first joint to fix a work member used in operations of the robot.

2. The robot system according to claim 1, wherein

the first joint is a torso that is provided so as to be rotatable relative to a base installed on the installation surface;

and

the robot comprises a robotic arm that is mounted on the torso and that has a plurality of joints.

3. The robot system according to claim 1, wherein the fixing part is provided along a plurality of such circular arcs having different radii from each other.

4. The robot system according to claim 2, wherein the fixing part is provided along a plurality of such circular arcs having different radii from each other.

5. The robot system according to claim 1, wherein the fixing part is provided at predetermined distance intervals along the circular arc.

6. The robot system according to claim 2, wherein the fixing part is provided at predetermined distance intervals along the circular arc.

7. The robot system according to claim 3, wherein the fixing part is provided at predetermined distance intervals along the circular arc.

8. The robot system according to claim 1, wherein the work member is provided with a fitting portion that is fitted to the fixing part.

9. The robot system according to claim 2, wherein the work member is provided with a fitting portion that is fitted to the fixing part.

10. The robot system according to claim 3, wherein the work member is provided with a fitting portion that is fitted to the fixing part.

11. The robot system according to claim 4, wherein the work member is provided with a fitting portion that is fitted to the fixing part.

12. The robot system according to claim 1, wherein the work bench is provided with the fixing part by which the work member is fixed along straight lines radially extending from the center of the virtual circular arc.

13. The robot system according to claim 2, wherein the work bench is provided with the fixing part by which the work member is fixed along straight lines radially extending from the center of the virtual circular arc.

14. The robot system according to claim 3, wherein the work bench is provided with the fixing part by which the work member is fixed along straight lines radially extending from the center of the virtual circular arc.

15. The robot system according to claim 4, wherein the work bench is provided with the fixing part by which the work member is fixed along straight lines radially extending from the center of the virtual circular arc.

16. The robot system according to claim 5, wherein the work bench is provided with the fixing part by which the work member is fixed along straight lines radially extending from the center of the virtual circular arc.

17. The robot system according to claim 1, further comprising:

an input unit that enters teaching information indicating specific operations to be taught to the robot and also enters rotation angle information indicating a rotation angle of the first joint;

a memory that stores the teaching information and the rotation angle information entered by the input unit; and

a teaching unit that teaches the robot the rotation angle of the first joint based on the rotation angle information stored in the memory, and also teaches the robot the specific operations based on the teaching information stored in the memory.

18. A robot system comprising:

a manipulating means including a joint that is provided so as to be rotatable relative to an installation surface; and

a means for fixing a work member used in operations of the manipulating means along a virtual circular arc around an axis of the joint.

19. A teaching method comprising:

teaching a robot an operation of the robot having a plurality of joints including a first joint that is provided so as to be rotatable relative to an installation surface; and

teaching the robot a shift amount to change a rotation angle of the first joint according to a position of a fixing part for fixing a work member used in the operation provided along a virtual circular arc around an axis of the first joint.

20. A teaching method comprising:

a step for teaching a robot an operation of the robot having a plurality of joints including a first joint that is provided so as to be rotatable relative to an installation surface; and

a step for teaching the robot a shift amount to change a rotation angle of the first joint according to a position of a fixing part for fixing a work member used in the operation provided along a virtual circular arc around an axis of the first joint.