JP6285405B2 - 工作機械及びロボットを備えた複合システム - Google Patents
工作機械及びロボットを備えた複合システム Download PDFInfo
- Publication number
- JP6285405B2 JP6285405B2 JP2015237538A JP2015237538A JP6285405B2 JP 6285405 B2 JP6285405 B2 JP 6285405B2 JP 2015237538 A JP2015237538 A JP 2015237538A JP 2015237538 A JP2015237538 A JP 2015237538A JP 6285405 B2 JP6285405 B2 JP 6285405B2
- Authority
- JP
- Japan
- Prior art keywords
- robot
- workpiece
- interference
- axis
- fixing jig
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000002131 composite material Substances 0.000 claims description 11
- 230000008859 change Effects 0.000 claims description 10
- 238000000034 method Methods 0.000 description 10
- 238000001514 detection method Methods 0.000 description 9
- 230000007246 mechanism Effects 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4061—Avoiding collision or forbidden zones
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
- G05B19/41825—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell machine tools and manipulators only, machining centre
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36262—Input workpiece mounting position, setup
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50362—Load unload with robot
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Quality & Reliability (AREA)
- Robotics (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Description
2 工作機械
3 ロボットシステム
4 ネットワーク
5 ワーク固定治具
6 ワーク
21 数値制御装置
22 テーブル
32 ロボット筐体
33 ロボットハンド
34 ロボットコントローラ
41 干渉判定部
42 干渉回避部
211 第1のメモリ
212 第1のCPU
341 第2のメモリ
342 第2のCPU
Claims (2)
- 数値制御装置、該数値制御装置の制御によって移動可能なテーブル、及び該テーブル上に設けられ、テーブルと一体となって移動可能なワーク固定治具を有する工作機械と、
前記工作機械とは独立して設置され、ワークを把持可能なロボットハンドを備え、前記ワーク固定治具に対してワークの供給及び取出しを行うロボット、及び該ロボットの制御を行うロボットコントローラを有するロボットシステムと、
少なくとも前記数値制御装置と前記ロボットコントローラとの間で情報伝達を行うネットワークと、
前記ワーク固定治具にワークを供給し又は取出す際に前記ロボットの各軸の外乱値から前記ワーク固定治具と前記ワークの干渉を判定する干渉判定部と、
前記干渉判定部により干渉があると判定されたときに、前記ロボットの動作を停止するとともに、前記ロボットの各軸の外乱値に基づき、前記テーブルを少なくとも1つの軸方向へ移動して干渉を回避する干渉回避部と、
を備えた、複合システム。 - 前記干渉回避部は、少なくとも2軸を用いた前記テーブルの移動に伴う前記ロボットの各軸の外乱値の変化に基づいて、干渉を回避するための前記テーブルの移動方向の探査を行う、請求項1に記載の複合システム。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015237538A JP6285405B2 (ja) | 2015-12-04 | 2015-12-04 | 工作機械及びロボットを備えた複合システム |
CN201610991793.7A CN106826362B (zh) | 2015-12-04 | 2016-11-10 | 具备机床以及机器人的复合系统 |
DE102016014155.7A DE102016014155B4 (de) | 2015-12-04 | 2016-11-25 | Kombiniertes System mit Werkzeugmaschine und Roboter |
US15/367,203 US10386813B2 (en) | 2015-12-04 | 2016-12-02 | Combined system having machine tool and robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015237538A JP6285405B2 (ja) | 2015-12-04 | 2015-12-04 | 工作機械及びロボットを備えた複合システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017102825A JP2017102825A (ja) | 2017-06-08 |
JP6285405B2 true JP6285405B2 (ja) | 2018-02-28 |
Family
ID=58722827
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015237538A Active JP6285405B2 (ja) | 2015-12-04 | 2015-12-04 | 工作機械及びロボットを備えた複合システム |
Country Status (4)
Country | Link |
---|---|
US (1) | US10386813B2 (ja) |
JP (1) | JP6285405B2 (ja) |
CN (1) | CN106826362B (ja) |
DE (1) | DE102016014155B4 (ja) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6542839B2 (ja) * | 2017-06-07 | 2019-07-10 | ファナック株式会社 | 制御装置及び機械学習装置 |
JP6796557B2 (ja) * | 2017-06-30 | 2020-12-09 | 株式会社神戸製鋼所 | 溶接ロボットのトーチケーブル干渉評価情報出力装置、評価情報出力方法及びプログラム |
JP6549648B2 (ja) * | 2017-07-26 | 2019-07-24 | ファナック株式会社 | 数値制御装置 |
JP6633587B2 (ja) * | 2017-10-05 | 2020-01-22 | ファナック株式会社 | ロボットの構成部材の速度を制限する制御装置 |
CN107900765A (zh) * | 2017-11-22 | 2018-04-13 | 广东利迅达机器人系统股份有限公司 | 一种带有机器人的子母夹具上下料设备及其使用方法 |
JP7188880B2 (ja) * | 2017-12-05 | 2022-12-13 | オークマ株式会社 | 工作機械 |
JP7131162B2 (ja) * | 2018-07-20 | 2022-09-06 | オムロン株式会社 | 制御システム、制御システムの制御方法、および制御システムのプログラム |
CN109249263B (zh) * | 2018-09-04 | 2024-08-02 | 新代科技(苏州)有限公司 | 往复式加工机与机械手臂取放整合系统 |
JP7111633B2 (ja) * | 2019-01-18 | 2022-08-02 | ファナック株式会社 | 加工品の自動三次元測定検査システム |
JP7414426B2 (ja) * | 2019-08-20 | 2024-01-16 | ファナック株式会社 | ロボットシステム |
CN114378840B (zh) * | 2021-12-20 | 2024-06-14 | 西安北方华创微电子装备有限公司 | 半导体工艺设备中传输系统的控制方法和半导体工艺设备 |
Family Cites Families (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60247421A (ja) * | 1984-05-24 | 1985-12-07 | Fanuc Ltd | タレツトパンチプレス用数値制御におけるワ−クホルダと工具との衝突防止装置 |
JP2779181B2 (ja) * | 1988-10-26 | 1998-07-23 | マツダ株式会社 | 治具自動設計装置および治具の設計方法 |
JPH05111886A (ja) * | 1991-10-21 | 1993-05-07 | Yaskawa Electric Corp | ロボツトマニピユレータのキヤリブレーシヨン点教示方法およびキヤリブレーシヨン作業方法 |
JP2732159B2 (ja) | 1991-10-29 | 1998-03-25 | ファナック株式会社 | 異常負荷検出方法 |
JP3300625B2 (ja) * | 1997-01-27 | 2002-07-08 | ファナック株式会社 | ロボットの制御方式 |
JP3436087B2 (ja) * | 1997-07-28 | 2003-08-11 | 松下電器産業株式会社 | ロボットの制御方法および装置 |
JP2001287033A (ja) * | 2000-04-03 | 2001-10-16 | Fanuc Ltd | ワイヤ供給装置 |
JP4168002B2 (ja) * | 2004-04-07 | 2008-10-22 | ファナック株式会社 | オフラインプログラミング装置 |
JP2007334678A (ja) * | 2006-06-15 | 2007-12-27 | Fanuc Ltd | ロボットシミュレーション装置 |
JP4261588B2 (ja) * | 2007-01-18 | 2009-04-30 | ファナック株式会社 | 制御装置 |
JP5061965B2 (ja) | 2008-03-05 | 2012-10-31 | 株式会社Ihi | ロボット生産システム |
JP4676544B2 (ja) * | 2009-05-29 | 2011-04-27 | ファナック株式会社 | 工作機械に対してワークの供給及び取り出しを行うロボットを制御するロボット制御装置 |
JP5218470B2 (ja) * | 2010-04-28 | 2013-06-26 | 株式会社安川電機 | ロボットの作業成否判定装置、および方法 |
JP5895376B2 (ja) | 2011-06-24 | 2016-03-30 | 日産自動車株式会社 | ロボットセルの位置合わせ方法及び位置合わせ制御装置 |
JP2013099815A (ja) * | 2011-11-08 | 2013-05-23 | Fanuc Ltd | ロボットプログラミング装置 |
JP5480340B2 (ja) * | 2012-07-26 | 2014-04-23 | ファナック株式会社 | ローラ装置を用いた取出しロボットシステム |
JP2015217451A (ja) * | 2014-05-14 | 2015-12-07 | ファナック株式会社 | 外力監視機能を有するワーク搬送方法システム |
JP6411964B2 (ja) * | 2015-07-27 | 2018-10-24 | ファナック株式会社 | 工作機械とロボットのリアルタイム干渉確認システム |
-
2015
- 2015-12-04 JP JP2015237538A patent/JP6285405B2/ja active Active
-
2016
- 2016-11-10 CN CN201610991793.7A patent/CN106826362B/zh active Active
- 2016-11-25 DE DE102016014155.7A patent/DE102016014155B4/de active Active
- 2016-12-02 US US15/367,203 patent/US10386813B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
CN106826362B (zh) | 2019-02-01 |
US20170160717A1 (en) | 2017-06-08 |
CN106826362A (zh) | 2017-06-13 |
DE102016014155A1 (de) | 2017-06-08 |
JP2017102825A (ja) | 2017-06-08 |
US10386813B2 (en) | 2019-08-20 |
DE102016014155B4 (de) | 2019-04-18 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6285405B2 (ja) | 工作機械及びロボットを備えた複合システム | |
TWI686263B (zh) | 工作機械 | |
KR102477934B1 (ko) | 공작기계 | |
JP6787688B2 (ja) | 工作機械 | |
TWI723301B (zh) | 工作機械 | |
JP5606685B2 (ja) | 被加工物の把持方法及び被加工物の心出し装置 | |
JP6709111B2 (ja) | 工作機械 | |
JP6542629B2 (ja) | 加工ツールの位置決め装置及び位置決め方法 | |
JP7219040B2 (ja) | 工作機械 | |
JP2010099784A (ja) | ピン嵌合方法及びピン引き抜き方法 | |
KR20180008177A (ko) | 자동 공구교환 장치 및 이를 이용한 자동 공구교환 방법 | |
JP6291750B2 (ja) | 工作機械及び工具交換方法 | |
US9724794B1 (en) | Machine tool protection | |
US10052762B2 (en) | Method of controlling robot with hand gripping two workpieces and robot control apparatus | |
JP2015096280A (ja) | 工作機械 | |
JP2018027599A (ja) | 工作機械の加工誤差の補正方法 | |
US20240058915A1 (en) | Machine Tool, Method of Estimating Force Applied to Tool, and Program for Estimating Force Applied to Tool | |
JP5466987B2 (ja) | 加工システム及び加工方法 | |
JP2018030180A (ja) | 工作機械 | |
JP2017087376A (ja) | ワーク搬送システム | |
WO2022202601A1 (ja) | 工作機械、工作機械の制御方法、および工作機械の制御プログラム | |
Koike et al. | Tool collision detection in high-speed feeding based on disturbance observer | |
Cutkosky et al. | Precision flexible machining cells within a manufacturing system | |
JP2019005870A (ja) | 干渉検出装置 | |
JP5266020B2 (ja) | 工作機械及び工作機械における誤差補正方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A871 | Explanation of circumstances concerning accelerated examination |
Free format text: JAPANESE INTERMEDIATE CODE: A871 Effective date: 20171023 |
|
A975 | Report on accelerated examination |
Free format text: JAPANESE INTERMEDIATE CODE: A971005 Effective date: 20171214 |
|
TRDD | Decision of grant or rejection written | ||
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20171221 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20180109 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20180201 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6285405 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |