Title:
ROBOT SYSTEM, METHOD, AND COMPUTER PROGRAM FOR PERFORMING SCRAPING PROCESS
Document Type and Number:
WIPO Patent Application WO/2022/145299
Kind Code:
A1
Abstract:
In the past, operations for forming a plurality of recesses and protrusions lined up in one direction on the surface of a workpiece through a scraping process have been performed manually by skilled workers. This robot system 10 comprises a robot 12 that moves a scraper 16 for scraping the surface of a workpiece, and a control device 18 that controls the robot 12. The control device 18 executes a scraping process by having the robot 12 move the scraper 16 in a direction following the surface while pressing the scraper 16 against the surface. While the scraping process is being executed, the control device 18 controls the position of the robot 12 such that the pressing force with which the robot 12 presses the scraper 16 against the surface repeatedly increases and decreases, thereby causing the depth to which the surface is scraped to repeatedly increase and decrease.
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Inventors:
SUZUKI TADANORI (JP)
Application Number:
PCT/JP2021/047417
Publication Date:
July 07, 2022
Filing Date:
December 21, 2021
Export Citation:
Assignee:
FANUC CORP (JP)
International Classes:
B23D79/06; B23Q17/00; B25J9/10; B25J13/08
Foreign References:
| JP2004042164A | 2004-02-12 | |||
| JPH071229A | 1995-01-06 | |||
| JP2010240809A | 2010-10-28 | |||
| JPH05123921A | 1993-05-21 | |||
| JP2016137551A | 2016-08-04 | |||
| JP2017131974A | 2017-08-03 |
Other References:
AKIBA, TAKUMI ET AL.: "Development of scraping robot", PROCEEDINGS OF THE 2013 JSME CONFERENCE ON ROBOTICS AND MECHATRONIC;S TSUKUBA, JAPAN; MAY 22-25, 2013, 21 May 2013 (2013-05-21) - 25 May 2013 (2013-05-25), JP, pages 1137 - 1138, XP009537878
Attorney, Agent or Firm:
AOKI, Atsushi et al. (JP)
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