US 12,434,387 B2
Part holding jig, robot system, and part mounting method
Tadanori Suzuki, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Appl. No. 18/015,663
Filed by FANUC CORPORATION, Yamanashi (JP)
PCT Filed Jul. 21, 2021, PCT No. PCT/JP2021/027252
§ 371(c)(1), (2) Date Jan. 11, 2023,
PCT Pub. No. WO2022/024897, PCT Pub. Date Feb. 3, 2022.
Claims priority of application No. 2020-126664 (JP), filed on Jul. 27, 2020.
Prior Publication US 2023/0302649 A1, Sep. 28, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 9/00 (2006.01); B25J 15/04 (2006.01)
CPC B25J 9/1682 (2013.01) [B25J 9/0096 (2013.01); B25J 15/04 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A robot system comprising:
a part supply robot configured to supply a part to a workpiece;
a hand, disposed at a tip of an arm of the part supply robot, configured to grip the part;
a part holding jig configured to hold the part on the workpiece; and
a mounting robot configured to attach the part to the workpiece,
wherein:
the part holding jig is detachably attached to the tip of an arm of the part supply robot;
the part holding jig comprises a pull/release mechanism configured to be detachable and attachable to the workpiece, and a part pressing mechanism configured to hold the part on the workpiece;
the part holding jig is transferred together with the part by the part supply robot, in a state where the part is held by the hand;
after the part holding jig is transferred together with the part, the part is released from the hand;
after the part is released from the hand, the part holding jig holds the part on the workpiece, thereby supporting the mounting robot to mount the part on the workpiece; and
the robot system includes a detachment/attachment mechanism that comprises a master plate disposed at an end of the arm and a tool plate disposed at the part holding jig, such that the detachment/attachment mechanism causes the part holding jig to be attached to and detached from the end of the arm, by supplying and stopping pneumatic or electrical signals to the master plate.