Title:
MACHINING SYSTEM, MACHINING ROBOT CONTROL DEVICE, AND MACHINING METHOD
Document Type and Number:
Japanese Patent JP2023005332
Kind Code:
A
Abstract:
To improve machining quality and reliability by a robot using a machining tool without separately using a sensor for detecting the number of rotations of the machining tool.SOLUTION: A machining system includes: a machining tool 1; a robot arm 201 which can press the machining tool 1 to a machining object; a force sensor 202 which can detect external force applied to the robot arm 201 including vibration generated by a rotational motion of the machining tool 1; an external force data acquisition section 301 which acquires data indicating external force detected by the force sensor 202; a pressing force arithmetic section 302 which calculates pressing force on the basis of the data acquired by the external force data acquisition section 301; a tool number of rotation arithmetic section 303 which calculates the number of rotations of the machining tool 1 on the basis of the data acquired by the external force data acquisition section 301; a pressing force command value arithmetic section 304 which calculates a command value of the pressing force on the basis of the number of rotations; and a force control section 305 which controls the pressing force on the basis of the pressing force calculated by the pressing force arithmetic section 302 and the command value of the pressing force calculated by the pressing force command value arithmetic section 304.SELECTED DRAWING: Figure 1
Inventors:
SHIMIZU YASUSHI
TAWARA TETSUYA
TAWARA TETSUYA
Application Number:
JP2021107162A
Publication Date:
January 18, 2023
Filing Date:
June 29, 2021
Export Citation:
Assignee:
AZBIL CORP
International Classes:
B25J13/08
Attorney, Agent or Firm:
Patent Attorney Corporation Sanno Naigai Patent Office