Robot system

Patent metadata

Field	Value
Publication number	US-11220004-B2
Application number	US-202016776406-A
Country	US
Kind code	B2
Filing date	Jan 29, 2020
Priority date	Jan 30, 2019
Publication date	Jan 11, 2022
Grant date	Jan 11, 2022

Abstract

A robot system includes a work apparatus, a robot, and control circuitry. The work apparatus is configured to move a work module relatively to the work apparatus. The work module is configured to perform work. The work apparatus is connected the robot. The control circuitry is configured to control the robot to move so as to reduce a force generated by moving the work module by the work apparatus.

First claim

What is claimed as new and desired to be secured by Letters Patent of the United States is:

1. A robot system comprising:
a work apparatus configured to move a work module relatively to the work apparatus, the work module being configured to perform work;
a robot to which the work apparatus is connected; and
control circuitry configured to control the robot to move so as to reduce a force generated by moving the work module by the work apparatus to eliminate or minimize vibration caused by movement of the work module by the work apparatus.

2. The robot system according to claim 1 , wherein the control circuitry comprises
calculation circuitry configured to calculate the force, and
interference elimination circuitry configured to, based on the force calculated by the calculation circuitry, make the robot make an interference eliminating motion that makes the work apparatus move in a direction in which the force is canceled.

3. The robot system according to claim 2 , wherein the calculation circuitry is configured to calculate the force based on a movement track command to the work apparatus about the work module.

4. The robot system according to claim 3 ,
wherein the control circuitry comprises track command circuitry configured to output the movement track command to the work apparatus, and
wherein the track command circuitry is configured to buffer the movement track command and configured to output the movement track command that has been buffered.

5. The robot system according to claim 4 , wherein the interference elimination circuitry is configured to, based on a posture of the robot, change a gain used to convert the force into the interference eliminating motion.

6. The robot system according to claim 4 ,
wherein the work apparatus comprises
a horizontal link mechanism configured to support the work module and configured to make a representative point of the work module move along a first plane, and
a driving member configured to drive the horizontal link mechanism, and

wherein the calculation circuitry is configured to calculate the force based on work apparatus information regarding the work module, the horizontal link mechanism, and the driving member.

7. The robot system according to claim 6 ,
wherein the robot comprises a vertical multi-articular robot comprising an arm that has a receiving surface for the work apparatus at a leading end portion of the arm, and
wherein the work apparatus is mounted on the receiving surface such that a joint axis of the robot closest to the work apparatus is parallel to the first plane.

8. The robot system according to claim 3 , wherein the interference elimination circuitry is configured to, based on a posture of the robot, change a gain used to convert the force into the interference eliminating motion.

9. The robot system according to claim 3 ,
wherein the work apparatus comprises
a horizontal link mechanism configured to support the work module and configured to make a representative point of the work module move along a first plane, and
a driving member configured to drive the horizontal link mechanism, and

wherein the calculation circuitry is configured to calculate the force based on work apparatus information regarding the work module, the horizontal link mechanism, and the driving member.

10. The robot system according to claim 9 ,
wherein the robot comprises a vertical multi-articular robot comprising an arm that has a receiving surface for the work apparatus at a leading end portion of the arm, and
wherein the work apparatus is mounted on the receiving surface such that a joint axis of the robot closest to the work apparatus is parallel to the first plane.

11. The robot system according to claim 2 , wherein the interference elimination circuitry is configured to, based on a posture of the robot, change a gain used to convert the force into the interference eliminating motion.

12. The robot system according to claim 11 ,
wherein the work apparatus comprises
a horizontal link mechanism configured to support the work module and configured to make a representative point of the work module move along a first plane, and
a driving member configured to drive the horizontal link mechanism, and

wherein the calculation circuitry is configured to calculate the force based on work apparatus information regarding the work module, the horizontal link mechanism, and the driving member.

13. The robot system according to claim 2 ,
wherein the work apparatus comprises
a horizontal link mechanism configured to support the work module and configured to make a representative point of the work module move along a first plane, and
a driving member configured to drive the horizontal link mechanism, and

wherein the calculation circuitry is configured to calculate the force based on work apparatus information regarding the work module, the horizontal link mechanism, and the driving member.

14. The robot system according to claim 13 ,
wherein the robot comprises a vertical multi-articular robot comprising an arm that has a receiving surface for the work apparatus at a leading end portion of the arm, and
wherein the work apparatus is mounted on the receiving surface such that a joint axis of the robot closest to the work apparatus is parallel to the first plane.

15. The robot system according to claim 1 , wherein the control circuitry is configured to control the robot to move so as to cancel the force.

16. The robot system according to claim 1 , wherein the control circuitry comprises
calculation circuitry configured to calculate the force,
wherein the calculation circuitry is configured to calculate the force based on a movement track command to the work apparatus about the work module, and
wherein the calculation circuitry is further configured to calculate the force based on work apparatus information.

17. The robot system according to claim 16 , wherein the work apparatus information includes weights of the work module.

18. The robot system according to claim 17 , wherein the work apparatus information further includes motion characteristics of the work module.

19. The robot system according to claim 1 , wherein the control circuitry is configured to control the robot to move so as to reduce the force generated by moving the work module by the work apparatus by performing synchronization control between the work apparatus and the robot.

20. The robot system according to claim 1 , wherein the work apparatus is configured to perform laser machining, spraying of liquid, spraying of gas, coating, or welding.

Assignees

• Yaskawa Electric Corp

Inventors

• Maeda Yoshie
• Kamiya Yosuke
• Oga Sohei
• Ozono Ryo

Classifications

• G05B2219/39195

  Control, avoid oscillation, vibration due to low rigidity · CPC title

• B25J9/106

  with articulated links · CPC title

• B23K26/0884

  in at least three axial directions, e.g. manipulators, robots · CPC title

• B25J9/1633 Primary

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

• B23K26/364

  for making a groove or trench, e.g. for scribing a break initiation groove · CPC title