Robot system

Patent metadata

Field	Value
Publication number	US-10357876-B2
Application number	US-201715670126-A
Country	US
Kind code	B2
Filing date	Aug 7, 2017
Priority date	Aug 15, 2016
Publication date	Jul 23, 2019
Grant date	Jul 23, 2019

Abstract

A robot system includes a conveying device, a robot, a control unit for controlling operation of the robot by transmitting a drive signal to a motor of the robot, and for outputting a driving speed control signal to the conveying device, and an encoder for detecting a conveying speed of the conveying device in a regular operation mode, where, when the robot is to be operated in a teach mode and a test mode, the control unit transmits a drive signal to the robot such that an operation speed is reduced by a received override value, and outputs the driving speed control signal such that the conveying speed of the conveying device is reduced by the override value.

First claim

The invention claimed is:

1. A robot system comprising:
a conveying device driven by a drive device to convey an object;
a robot driven by a plurality of robot driving motors to perform a predetermined action for the object conveyed by the conveying device; and
a control unit which controls operation of the robot by transmitting a drive signal to each of the plurality of robot driving motors and which is capable of transmitting, to the drive device, a driving speed control signal for controlling a driving speed of the drive device; and
an input device to which an operator can input a conveying speed of the conveying device
wherein the control unit is configured to receive a conveying speed of the conveying device input to the input device by the operator, the conveying speed is a speed in a working operation mode in which the predetermined action is performed by the robot on the object conveyed by the conveying device, and
wherein the control unit is configured to receive an override value for reducing an operation speed of the robot from a predetermined speed, and when the robot is to be operated in a teach mode and a test mode, the control unit is configured to transmit the drive signal such that driving speeds of the plurality of robot driving motors are each reduced by the received override value, and transmit the driving speed control signal such that a conveying speed of the conveying device is reduced from the conveying speed in the working operation mode by the override value.

2. A robot system comprising:
a conveying device driven by a drive device to convey an object;
a robot driven by a plurality of robot driving motors to perform a predetermined action for the object conveyed by the conveying device; and
a control unit which controls operation of the robot by transmitting a drive signal to each of the plurality of robot driving motors and which is capable of transmitting, to the drive device, a driving speed control signal for controlling a driving speed of the drive device,
wherein the control unit is configured to receive a driving speed of the drive device or a conveying speed of the conveying device in a working operation mode in which the predetermined action is performed by the robot on the object conveyed by the conveying device, and
wherein the control unit is configured to receive an override value for reducing an operation speed of the robot from a predetermined speed, and when the robot is to be operated in a teach mode and a test mode, the control unit is configured to transmit the drive signal such that driving speeds of the plurality of robot driving motors are each reduced by the received override value, and transmit the driving speed control signal such that a driving speed of the drive device or a conveying speed of the conveying device is reduced from the driving speed in the working operation mode or the conveying speed in the working operation mode by the override value,
wherein the drive device is an additional axis motor of the robot, and
wherein the control unit is configured to receive a driving speed of the additional axis motor, in the working operation mode, detected by a speed detection device provided in the additional axis motor.

Assignees

• Fanuc Corp

Inventors

• Koga Kentaro

Classifications

• G05B19/41815

  characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell · CPC title

• B65G43/08

  Control devices operated by article or material being fed, conveyed or discharged {(and controlling the discharging devices B65G47/42)} · CPC title

• G05B2219/39102

  Manipulator cooperating with conveyor · CPC title

• G05B19/19

  characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path · CPC title

• B25J9/1697

  Vision controlled systems · CPC title