Robot system and robot control method for adjusting position of coolant nozzle

Patent metadata

Field	Value
Publication number	US-2016236351-A1
Application number	US-201615043621-A
Country	US
Kind code	A1
Filing date	Feb 15, 2016
Priority date	Feb 16, 2015
Publication date	Aug 18, 2016
Grant date	—

Abstract

A robot system which can adjust the position of a coolant nozzle at a lower cost, that is, a robot system which comprises a robot, a robot controller which controls the operation of the robot, and a notification part which notifies the type of the workpiece which is processed by the machine tool to the robot controller. The robot controller determines the target position of the coolant nozzle with respect to the workpiece to be processed based on the type of the workpiece which is obtained from the notification part and makes the coolant nozzle move by the robot so as to place the coolant nozzle at the target position.

First claim

1 . A robot system for adjusting a position of a coolant nozzle provided at a machine tool, comprising:
a robot; a robot controller which controls an operation of the robot; and a notification part which notifies the robot controller of a type of a workpiece to be processed by the machine tool, wherein the robot controller:
determines a target position of the coolant nozzle with respect to the workpiece when processing, based on the type of the workpiece acquired from the notification part; and
moves the coolant nozzle by the robot so as to arrange the coolant nozzle at the target position.

2 . The robot system according to claim 1 , wherein the robot controller:
calculates a difference between the target position and a current position of the coolant nozzle; and moves the coolant nozzle by the robot so that the calculated difference becomes smaller.

3 . The robot system according to claim 2 , further comprises an imaging part, wherein
the robot controller identifies the current position of the coolant nozzle based on an image of the coolant nozzle imaged by the imaging part, and calculates the difference.

4 . The robot system according to claim 1 , further comprises an imaging part, wherein
the notification part identifies the type of the workpiece based on an image of the workpiece imaged by the imaging part, and notifies the robot controller of it.

5 . The robot system according to claim 3 , wherein the imaging part is mounted at a robot arm of the robot.

6 . The robot system according to claim 1 , further comprises a storage which pre-stores the target position in association with the type of the workpiece, wherein
the robot controller reads out from the storage the target position corresponding to the type of the workpiece acquired from the notification part.

7 . The robot system according to claim 1 , wherein the notification part is built in an external device or a host controller connected to the robot controller.

8 . A robot control method for adjusting a position of a coolant nozzle provided at a machine tool by means of a robot, comprising;
acquiring a type of a workpiece to be processed by the machine tool; determining a target position of the coolant nozzle with respect to the workpiece set at the machine tool, based on the acquired type of the workpiece; and moving the coolant nozzle by the robot so as to arrange the coolant nozzle at the target position.

Assignees

• Fanuc Corp

Inventors

• Kunihiro Keisuke

Classifications

• G05B2219/50248

  Control position of coolant nozzle as function of selected tool · CPC title

• B23Q17/249

  using image analysis, e.g. for radar, infrared or array camera images · CPC title

• B25J9/1697 Primary

  Vision controlled systems · CPC title

• Y10S901/47

  Optical · CPC title

• B23Q11/1076 Primary

  with a cutting liquid nozzle specially adaptable to different kinds of machining operations · CPC title