Processing system and method of controlling robot

Patent metadata

Field	Value
Publication number	US-10913150-B2
Application number	US-201815916281-A
Country	US
Kind code	B2
Filing date	Mar 9, 2018
Priority date	Sep 11, 2015
Publication date	Feb 9, 2021
Grant date	Feb 9, 2021

Abstract

A processing system includes a robot including at least one arm each including a hand at an end of the at least one arm; a first position measurement sensor, which is to be grasped by the hand and moved by the at least one arm, and is configured to measure a position of a device to be used when the robot processes a processing target; and a robot control device configured to: cause the hand to grasp the first position measurement sensor; and cause the first position measurement sensor to measure the position of the device.

First claim

What is claimed is:

1. A processing system, comprising:
a robot including at least one arm, each arm including a hand at an end of the at least one arm;
a first position measurement sensor, which is to be grasped by the hand and moved by the at least one arm, and is configured to measure a position of a device to be used when the robot processes a target; and
a robot control device configured to:
cause the hand to grasp the first position measurement sensor; and
cause the first position measurement sensor to measure the position of the device,

the processing system further comprising a position reference instrument, which is fixed at a predetermined position,
wherein the robot control device is configured to compensate for deviation of a position at which the first position measurement sensor is grasped, by causing the first position measurement sensor to measure a position of the position reference instrument before measuring the position of the device with the hand grasping the first position measurement sensor.

2. The processing system according to claim 1 ,
wherein the first position measurement sensor includes a laser sensor, and
wherein the robot control device is configured to cause the hand to grasp the laser sensor so that a central axis of a tool and an optical axis of laser light of the laser sensor overlap with each other, said tool configured to be used for processing of the target when the tool is grasped by the hand.

3. The processing system according to claim 1 , wherein, when the robot control device causes the first position measurement sensor to measure the position of the device, the robot control device causes the hand to grasp the first position measurement sensor so that a direction crossing a longitudinal direction of the hand falls within a measurement range of the first position measurement sensor.

4. The processing system according to claim 1 , further comprising a second position measurement sensor, which is included in the robot, wherein the robot control device is configured to cause the robot to perform processing of the target using the device, based on the position of one of the device and the processing target measured by the second position measurement sensor.

5. A processing system, comprising:
a robot including at least one arm, each arm including a hand at an end of the at least one arm;
a first position measurement sensor, which is to be grasped by the hand and moved by the at least one arm, and is configured to measure a position of a device to be used when the robot processes a target; and
a robot control device configured to:
cause the hand to grasp the first position measurement sensor; and
cause the first position measurement sensor to measure the position of the device;

wherein the first position measurement sensor includes a plurality of handles to be grasped by the hand, and
wherein the robot control device is configured to select one of the plurality of handles of the first position measurement sensor to be grasped, depending on processing of the target using the device.

6. The processing system according to claim 5 ,
wherein the plurality of handles are provided so as to extend in different directions, and
wherein the robot control device is configured to set an angle of the hand to an angle corresponding to one of the directions in which the plurality of handles are provided, and is further configured to cause the hand to grasp any one of the plurality of handles.

7. The processing system according to claim 5 ,
wherein the first position measurement sensor includes a laser sensor, and
wherein the robot control device is configured to cause the hand to grasp the laser sensor so that a central axis of a tool and an optical axis of laser light of the laser sensor overlap with each other, said tool configured to be used for processing of the target when the tool is grasped by the hand.

8. The processing system according to claim 5 , wherein, when the robot control device causes the first position measurement sensor to measure the position of the device, the robot control device causes the hand to grasp the first position measurement sensor so that a direction crossing a longitudinal direction of the hand falls within a measurement range of the first position measurement sensor.

9. A method of controlling a robot, the method comprising:
grasping a measurement sensor by a hand, the hand being attached to an arm of a robot;
moving the measurement sensor grasped by the hand with the arm; and
measuring a position of a device to be used when the robot processes a target;
the method further comprising compensating for deviation of a position at which a first position measurement sensor is grasped, by causing the first position measurement sensor to measure a position of a position reference instrument before measuring the position of the device with the hand grasping the first position measurement sensor.

10. A processing system, comprising: a robot including an arm with a hand at an end of the arm; a first position measurement means for measuring a position of a device to be used when the robot processes a target, the first position measurement means configured to be grasped by the hand and moved by the arm; and a robot control means for causing the hand to grasp the first position measurement means and for causing the first position measurement means to measure the position of the devices the processing system further comprising a position reference instrument, which is fixed at a predetermined position, wherein the robot control means k configured to compensate for deviation of a position at which the first position measurement means is grasped, by causing the first position measurement means to measure a position of the position reference instrument before measuring the position of the device with the hand grasping the first position measurement means.

Assignees

• Yaskawa Electric Corp

Inventors

• Fukuda Takuya
• Hashiguchi Yukio
• Matsukuma Kenji
• Umeno Makoto

Classifications

• B25J9/1612 Primary

  characterised by the hand, wrist, grip control · CPC title

• B25J9/16

  Program controls (total factory control, i.e. centrally controlling a plurality of machines, G05B19/418) · CPC title

• B25J19/022

  using lasers · CPC title

• B25J9/1694

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title