US 12,030,147 B2
Robot machining system
Tamotsu Sakai, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Filed by FANUC CORPORATION, Yamanashi (JP)
Filed on Mar. 22, 2019, as Appl. No. 16/362,422.
Claims priority of application No. 2018060379 (JP), filed on Mar. 27, 2018.
Prior Publication US 2019/0299350 A1, Oct. 3, 2019
Int. Cl. B23Q 15/12 (2006.01); B23Q 15/08 (2006.01); B25J 9/06 (2006.01); B25J 9/16 (2006.01); B25J 11/00 (2006.01); B25J 13/08 (2006.01); G05B 19/416 (2006.01)
CPC B23Q 15/12 (2013.01) [B23Q 15/08 (2013.01); B25J 9/06 (2013.01); B25J 9/1664 (2013.01); B25J 11/0055 (2013.01); B25J 13/085 (2013.01); G05B 19/4166 (2013.01); G05B 2219/50326 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A robot machining system, comprising:
a first multi-axis robot, wherein the first multi-axis robot is defined as a robot comprising a first plurality of joints and configured to change a position or posture of a first arm end of the first multi-axis robot by driving the first plurality of joints;
a second multi-axis robot, wherein the second multi-axis robot is defined as a robot comprising a second plurality of joints and configured to change a position or posture of a second arm end of the second multi-axis robot by driving the second plurality of joints;
a first auto tool changer attached to the first arm end, wherein the first arm end is movable about an x-axis, a y-axis, and a z-axis;
a second auto tool changer attached to the second arm end, wherein the second arm end is movable about the x-axis, the y-axis, and the z-axis;
a machining tool disposed on the first auto tool changer, wherein the machining tool is rotationally driven about a rotation axis parallel to the z-axis;
a hand attached to the second auto tool changer, wherein the hand is adapted to grip a workpiece;
a force sensor disposed in at least one of the first robot and the second robot, wherein the force sensor detects a force, in at least one of three mutually orthogonal directions, acting between the first robot and the second robot when the workpiece is being machined by the machining tool; and
a controller that controls at least one of the first robot and the second robot in accordance with the force detected by the force sensor,
wherein one of the first auto tool changer and the second auto tool changer is provided with guide surfaces that extend along a direction in which the first auto tool changer and the second auto tool changer are relatively moved when the workpiece is machined by the machining tool,
wherein the other of the first auto tool changer and the second auto tool changer is provided with guided portions that are brought into contact with the guide surfaces when the workpiece is machined by the machining tool, and
wherein the controller maintains a contact state between the guide surfaces and the guided portions during machining of the workpiece by the machining tool in a feed direction, and
wherein each of the first multi-axis robot and the second multi-axis robot is a vertical articulated robot.