Working system provided with servo-controlled automatic operating door

Patent metadata

Field	Value
Publication number	US-9290334-B2
Application number	US-201414220619-A
Country	US
Kind code	B2
Filing date	Mar 20, 2014
Priority date	Mar 21, 2013
Publication date	Mar 22, 2016
Grant date	Mar 22, 2016

Abstract

A working system including: a working machine having a door operated so as to be closed at a time of working and be opened at a time of non-working; an automatic changer provided so as to enter and exit from an inside of the working machine through the door to change a worked object and/or a tool; and an actuator operating the door. The actuator is a servo motor dedicated to operating the door.

First claim

The invention claimed is:

1. A working system comprising:
a working machine having a door operated so as to be closed at a time of working and be opened at a time of non-working;
a working machine control apparatus controlling the working machine;
a multi-articulated robot provided so as to enter and exit from an inside of the working machine through the door to change a worked object and/or a tool;

a robot control apparatus controlling the multi-articulated robot; and
an actuator operating the door,
wherein the actuator is a servo motor dedicated to operating the door,
the working machine control apparatus and the robot control apparatus are separately arranged and each controller includes an individual processing system which has a CPU,
the CPU included in the processing system of the robot control apparatus performs a synchronous control for the servo motor dedicated to operating the door and a robot servo motor arranged in the multi-articulated robot, and
the robot control apparatus having the CPU performing the synchronous control obtains an operating position of the door and a position and a posture of the multi-articulated robot, controls the robot servo motor in accordance with an obtained operating position of the door while controlling the servo motor dedicated to operating the door in accordance with an obtained position and posture of the multi-articulated robot, further comprising a detecting part to detect the operating position of the door, wherein
the robot control apparatus controls the robot servo motor in accordance with the operating position of the door detected by the detecting part wherein the robot control apparatus has a judging part judging if the multi-articulated robot can enter the inside of the working machine based on a position information of the servo motor dedicated to operating the door which is detected by the detecting part and, makes the multi-articulated robot enter the inside of the working machine when the judging part judges that the multi-articulated robot can enter the inside of the working machine, wherein
the working machine control apparatus outputs a working end signal to the robot control apparatus when the work on the workpiece at the working machine ends,
the judging part judges if an opening operation of the door is necessary based on the working end signal,
the robot control apparatus controls the servo motor dedicated to operating the door so as to start the opening operation of the door when the judging part judges that the opening operation of the door is necessary by receiving the working end signal.

2. The working system according to claim 1 , further comprising an detecting part to detect the position and the posture of the robot, wherein
the robot control apparatus controls the servo motor dedicated to operating the door in accordance with the position and the posture of the robot which is detected by the detecting part.

Assignees

• Fanuc Corp

Inventors

• Oda Masaru

Classifications

• B23Q7/04 Primary

  by means of grippers {(B23Q7/1494 takes precedence)} · CPC title

• B65G47/74 Primary

  Feeding, transfer, or discharging devices of particular kinds or types · CPC title

• Y10T483/17

  including machine tool or component · CPC title

• B25J9/16

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

• Y10T483/16

  with means to transfer work · CPC title