Control device and robot system

Patent metadata

Field	Value
Publication number	US-10792812-B2
Application number	US-201815880685-A
Country	US
Kind code	B2
Filing date	Jan 26, 2018
Priority date	Jan 27, 2017
Publication date	Oct 6, 2020
Grant date	Oct 6, 2020

Abstract

A control device includes a processor that is configured to execute computer-executable instructions so as to control driving of a robot capable of performing work including a screw-tightening process for tightening a screw, wherein the processor is configured to: receive an input of at least one of characteristics of an object including the screw used in the screw-tightening process; calculate, on the basis of the characteristics received, a value concerning screw-tightening torque at a time of the tightening of the screw by the robot; and cause a display to display the value concerning the screw-tightening torque.

First claim

What is claimed is:

1. A control device for controlling a robot that fixes a first object to a second object by tightening a screw, the control device comprising:
a memory configured to store computer-executable instructions;
a display configured to display screw-tightening information thereon; and
a processor that is configured to execute the computer-executable instructions so as to:
receive a characteristic, the characteristic being at least one of a screw strength classification, a material of the screw, a material of the first object, a material of the second object, a nominal diameter of the screw, or information concerning which type of a coarse thread or a fine thread the screw is;
calculate a value of a recommended screw-tightening torque at a time of the tightening of the screw by the robot based on the characteristic; and
display the value of the recommended screw-tightening torque on the display as the screw-tightening information.

2. A control method of a robot that fixes a first object to a second object by tightening a screw, the control method for causing a processor to execute a process, the method comprising executing on the processor the steps of:
receiving a characteristic, the characteristic being at least one of a screw strength classification, a material of the screw, a material of the first object, a material of the second object, a nominal diameter of the screw, or information concerning which type of a coarse thread or a fine thread the screw is;
calculating a first value of a recommended screw-tightening torque at a time of the tightening of the screw by the robot based on the characteristic; and
displaying the first value of the recommended screw-tightening torque.

3. The control method according to claim 2 , further comprising:
receiving a set screw-tightening torque, after the first value of the recommended screw-tightening torque is displayed.

4. The control method according to claim 3 , further comprising:
calculating a second value of a recommended screw-tightening speed at a time of the tightening of the screw by the robot based on the set screw-tightening torque; and
displaying the second value of the recommended screw-tightening speed.

5. The control method according to claim 4 , further comprising:
receiving a set screw-tightening speed after the second value of the recommended screw-tightening speed.

Assignees

• Seiko Epson Corp

Inventors

• Ueda Junya

Classifications

• B25J11/005

  Manipulators for mechanical processing tasks · CPC title

• B25J13/085

  Force or torque sensors (B25J13/082, B25J13/084 take precedence) · CPC title

• B25J9/1633 Primary

  compliant, force, torque control, e.g. combined with position control · CPC title

• G05B2219/45091

  Screwing robot, tighten or loose bolt · CPC title

• B25J9/1687

  Assembly, peg and hole, palletising, straight line, weaving pattern movement · CPC title