ROBOT SYSTEM HAVING ROBOT OPERATED IN SYNCHRONIZATION WITH BENDING MACHINE

摘要

A robot system for carrying out a bending process with respect to a workpiece held by a robot, in which an arc interpolation motion of the robot can be easily and precisely taught. A user coordinate system is set so as to specify a rotation axis of the bending motion in the bending process by inputting the position and/or angle of each axis of the robot to a teaching pendant by the operator. Next, in a teaching program of the robot, a process start position and an operation form are defined so as to add a bending process command, and a rotation angle of the bending process and an angular velocity of a command line about the rotation axis are designated. By virtue of this, an internal program for carrying out an arc interpolation motion by the robot is generated in a robot controlling part.

主权项

1. A robot system comprising:
a robot having a hand for holding a plate-like workpiece; and a bending machine for carrying out a bending process with respect to the workpiece while the workpiece is held by the hand, wherein a rotation axis of a bending motion in the bending process and a tool center point coordinate system of a front end of the robot are previously defined in a robot controller for controlling the robot, wherein, based on a taught process start point, a command line velocity and a command rotation angle, the robot controller moves the tool center point coordinate system from the process start point at the command line velocity about the rotation axis by the command rotation angle, and wherein the robot controller and a bender controller for controlling the bending machine match a timing of initiation of movement of the tool center point coordinate system and a timing of initiation of bending motion of the bending machine, so as to carry out a synchronous control between the robot and the bending machine.