Method of machining workpiece by cooperation of machine tool and robot

Patent metadata

Field	Value
Publication number	US-9937594-B2
Application number	US-201615276867-A
Country	US
Kind code	B2
Filing date	Sep 27, 2016
Priority date	Sep 29, 2015
Publication date	Apr 10, 2018
Grant date	Apr 10, 2018

Abstract

A method for machining a workpiece which can prevent a reduction in machining accuracy and production efficiency. The method includes pressing a clamp part against a first portion of the workpiece, to clamp the workpiece in cooperation with a workpiece receiving part, causing the clamp part to move away from the first portion, to release the workpiece, which has been clamped by the clamp part, operating a robot to cause a robot hand to grasp a second portion of the workpiece, which is different from the first portion, to restrict the movement of the workpiece relative to the workpiece receiving part without a change in the posture of the workpiece, and operating a machine tool to machine the first portion while restricting the movement of the workpiece relative to the workpiece receiving part.

First claim

The invention claimed is:

1. A method of machining a workpiece by cooperation of a machine tool including a workpiece receiving part on which the workpiece is placed and a clamp part which presses the workpiece against the workpiece receiving part, and a robot including a robot hand capable of gripping the workpiece, the method comprising:
operating the robot to grip the workpiece by the robot hand and place the workpiece on the workpiece receiving part;
pressing the clamp part against a first portion of the workpiece and clamping the workpiece between the clamp part and the workpiece receiving part;
moving the clamp part so as to separate away from the first portion and release the workpiece from the clamp part without changing the posture of the workpiece;
operating the robot so as to grip a second portion of the workpiece different from the first portion by the robot hand and restrict a movement of the workpiece relative to the workpiece receiving part without changing a posture of the workpiece; and
operating the machine tool so as to machine the first portion when restricting the movement of the workpiece relative to the workpiece receiving part.

2. The method according to claim 1 , wherein the robot includes a force sensor which measures a force applied to the robot hand,
wherein, when the second portion is gripped by the robot hand, a pressing force by which the robot hand presses the second portion is controlled to a predetermined value based on the force measured by the force sensor.

Assignees

• Fanuc Corp

Inventors

• Matake Kazuyoshi

Classifications

• B23Q2703/00

  Work clamping · CPC title

• B25J13/085 Primary

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

• B23C2220/48

  Methods of milling not otherwise provided for · CPC title

• B23C2270/08

  Clamping mechanisms or provision for clamping (B23C2210/16 takes precedence) · CPC title

• B23Q7/047 Primary

  the gripper supporting the workpiece during machining · CPC title