Granted Patent B2

US 12,318,914 · App. 17/916,028 · Granted Jun 3, 2025

Inventors: Wanfeng Fu (Yamanashi, JP); Kyouhei Kokubo (Yamanashi, JP)

Assignee: FANUC CORPORATION

B25J13/089B25J9/0081B25J9/1697B25J19/023B25J9/1664G05B2219/40383G05B2219/40387

Abstract

Claims (51)

1. A device configured to correct a teaching position of a robot when an arrangement of a workpiece with respect to the robot changes, by using an index arranged at a predetermined position with respect to the workpiece, the device comprising a processor configured to:

acquire first position data of the robot when a hand-tip portion of the robot is arranged in a predetermined positional relationship with the index in a state where the hand-tip portion is arranged at a first orientation, before change of the arrangement of the workpiece;

acquire second position data of the robot when the hand-tip portion is arranged in the predetermined positional relationship with the index in the state where the hand-tip portion is arranged at the first orientation, after the change of the arrangement of the workpiece, the second position data being different from the first position data;

acquire orientation change data indicating a change amount in an orientation of the workpiece with respect to the robot due to the change of the arrangement, based on the first position data and the second position data;

acquire third position data of the robot when the hand-tip portion is arranged in the predetermined positional relationship with the index in a state where the hand-tip portion is arranged at a second orientation which is corrected from the first orientation by using the orientation change data;

acquire position change data indicating a change amount in a position of the workpiece with respect to the robot due to the change of the arrangement, based on the first position data and the third position data; and

control an operation of the robot, based on the orientation change data and the position change data.

2. The device of claim 1 , wherein the processor is further configured to:

control the operation of the robot so as to move the hand-tip portion and a vision sensor fixed with respect to the hand-tip portion;

acquire image data in which the index is imaged by the vision sensor moved by the operation of the robot; and

determine whether a position of the index in the image data is arranged at a predetermined target position, and

wherein the predetermined positional relationship is a positional relationship between the hand-tip portion and the index when the vision sensor images the image data for which the processor determines that the position of the index is arranged at the target position.

3. The device of claim 1 , wherein

a plurality of indices are arranged with respect to the workpiece, the plurality of indices including the index arranged at the predetermined position with respect to the workpiece, and

the processor is configured to:

acquire respective pieces of the first position data when the hand-tip portion is arranged in the predetermined positional relationship with respective indices among the plurality of indices, in the state where the hand-tip portion is arranged at the first orientation,

acquires acquire respective pieces of the second position data when the hand-tip portion is arranged in the predetermined positional relationship with the respective indices in the state where the hand-tip portion is arranged at the first orientation,

acquire the orientation change data, based on the respective pieces of the acquired first position data and the respective pieces of the acquired second position data,

acquire the third position data when the hand-tip portion is arranged in the predetermined positional relationship with one index of the plurality of indices in the state where the hand-tip portion is arranged at the second orientation, and

acquire the position change data, based on one piece of the first position data acquired for the one index and one piece of the acquired third position data.

4. The device of claim 1 , wherein the processor is further configured to acquire conversion data for correcting the teaching position defined in a work program of the robot, based on the orientation change data and the position change data.

5. A teaching device of a robot, comprising a device configured to correct a teaching position of the robot when an arrangement of a workpiece with respect to the robot changes, by using an index arranged at a predetermined position with respect to the workpiece, wherein the device comprises a processor configured to:

acquire first position data of the robot when a hand-tip portion of the robot is arranged in a predetermined positional relationship with the index in a state where the hand-tip portion is arranged at a first orientation, before change of the arrangement of the workpiece;

acquire second position data of the robot when the hand-tip portion is arranged in the predetermined positional relationship with the index in the state where the hand-tip portion is arranged at the first orientation, after the change of the arrangement of the workpiece, the second position data being different from the first position data;

acquire orientation change data indicating a change amount in an orientation of the workpiece with respect to the robot due to the change of the arrangement, based on the first position data and the second position data;

acquire third position data of the robot when the hand-tip portion is arranged in the predetermined positional relationship with the index in a state where the hand-tip portion is arranged at a second orientation which is corrected from the first orientation by using the orientation change data;

acquire position change data indicating a change amount in a position of the workpiece with respect to the robot due to the change of the arrangement, based on the first position data and the third position data; and

control an operation of the robot, based on the orientation change data and the position change data.

6. A robot system, comprising:

a robot; and

a device configured to correct a teaching position of the robot when an arrangement of a workpiece with respect to the robot changes, by using an index arranged at a predetermined position with respect to the workpiece, wherein the device comprises a processor configured to:

acquire first position data of the robot when a hand-tip portion of the robot is arranged in a predetermined positional relationship with the index in a state where the hand-tip portion is arranged at a first orientation, before change of the arrangement of the workpiece;

acquire second position data of the robot when the hand-tip portion is arranged in the predetermined positional relationship with the index in the state where the hand-tip portion is arranged at the first orientation, after the change of the arrangement of the workpiece, the second position data being different from the first position data;

acquire orientation change data indicating a change amount in an orientation of the workpiece with respect to the robot due to the change of the arrangement, based on the first position data and the second position data;

acquire third position data of the robot when the hand-tip portion is arranged in the predetermined positional relationship with the index in a state where the hand-tip portion is arranged at a second orientation which is corrected from the first orientation by using the orientation change data;

acquire position change data indicating a change amount in a position of the workpiece with respect to the robot due to the change of the arrangement, based on the first position data and the third position data; and

control an operation of the robot, based on the orientation change data and the position change data.

7. A method of correcting a teaching position of a robot when an arrangement of a workpiece with respect to the robot changes, by using an index arranged at a predetermined position with respect to the workpiece, the method comprising:

acquiring first position data of the robot when a hand-tip portion of the robot is arranged in a predetermined positional relationship with the index in a state where the hand-tip portion is arranged at a first orientation, before change of the arrangement of the workpiece;

acquiring second position data of the robot when the hand-tip portion is arranged in the predetermined positional relationship with the index in the state where the hand-tip portion is arranged at the first orientation, after the change of the arrangement of the workpiece, the second position data being different from the first position data;

acquiring orientation change data indicating a change amount in an orientation of the workpiece with respect to the robot due to the change of the arrangement, based on the first position data and the second position data;

acquiring third position data of the robot when the hand-tip portion is arranged in the predetermined positional relationship with the index in a state where the hand-tip portion is arranged at a second orientation which is corrected from the first orientation by using the orientation change data;

acquiring position change data indicating a change amount in a position of the workpiece with respect to the robot due to the change of the arrangement, based on the first position data and the third position data; and

controlling an operation of the robot, based on the orientation change data and the position change data.

8. A non-transitory computer-readable storage medium that stores a computer program for correcting a teaching position of a robot when an arrangement of a workpiece with respect to the robot changes, by using an index arranged at a predetermined position with respect to the workpiece, the computer program, when executed by a computer, causing the computer to execute:

acquiring first position data of the robot when a hand-tip portion of the robot is arranged in a predetermined positional relationship with the index in a state where the hand-tip portion is arranged at a first orientation, before change of the arrangement of the workpiece;

acquiring second position data of the robot when the hand-tip portion is arranged in the predetermined positional relationship with the index in the state where the hand-tip portion is arranged at the first orientation, after the change of the arrangement of the workpiece, the second position data being different from the first position data;

acquiring orientation change data indicating a change amount in an orientation of the workpiece with respect to the robot due to the change of the arrangement, based on the first position data and the second position data;

acquiring third position data of the robot when the hand-tip portion is arranged in the predetermined positional relationship with the index in a state where the hand-tip portion is arranged at a second orientation which is corrected from the first orientation by using the orientation change data;

acquiring position change data indicating a change amount in a position of the workpiece with respect to the robot due to the change of the arrangement, based on the first position data and the third position data; and

controlling an operation of the robot, based on the orientation change data and the position change data.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (28)