TECHNICAL FIELD

The present invention relates to a robot system and an operating method thereof.

BACKGROUND ART

A method for manufacturing an aircraft body is known, which aims to improve combination position accuracy of an aircraft fuselage and reduce the time required for combination and connection. In a method for manufacturing an aircraft body, position information of two fuselages is obtained, connecting position information when these fuselages are connected is calculated based on the obtained position information, and the two fuselages are moved based on the calculated connecting position information.

SUMMARY

A robot system includes a robot that self-travels along a traveling shaft and has an arm provided with a position detection sensor at a distal end, a support member that has a plurality of reference positions juxtaposed along an extending direction of the traveling shaft, and is configured to suspend and support a workpiece, a plurality of calibration members that are juxtaposed along the traveling shaft and each have a calibration position, and a control device, in which the control device is configured to cause the robot to move by a predetermined first distance set in advance along the traveling shaft, operate the robot so that the position detection sensor detects the calibration positions, calibrate position coordinates of the robot based on position coordinates of the calibration positions detected by the position detection sensor, subsequently operate the robot so that the position detection sensor detects the reference positions, and calibrate position coordinates of the workpiece based on position coordinates of the reference positions detected by the position detection sensor.

Thus, since calibration of the position coordinates of the workpiece is performed after the position coordinates of the robot are calibrated, positioning with respect to the workpiece can be performed with higher accuracy.

Further, since the workpiece is suspended and supported, the position coordinates are calibrated with the plurality of reference positions even when the workpiece is bent, and thus positioning with respect to the workpiece can be performed with higher accuracy.

Further, an operating method of a robot system in which the robot system includes a robot that self-travels along a traveling shaft and has an arm provided with a position detection sensor at a distal end, a support member that has a plurality of reference positions juxtaposed along an extending direction of the traveling shaft, and is configured to suspend and support the workpiece, and a plurality of calibration members that are juxtaposed along the traveling shaft and each have a calibration position, in which the operating method includes (A) causing the robot to move by a predetermined first distance set in advance along the traveling shaft, (B) operating the robot so that the position detection sensor detects the calibration positions, (C) calibrating position coordinates of the robot based on position coordinates of the calibration positions detected by the position detection sensor, (D) operating, after the (C), the robot so that the position detection sensor detects the reference positions, and (E) calibrating position coordinates of the workpiece based on position coordinates of the reference positions detected by the position detection sensor.

Thus, since calibration of the position coordinates of the workpiece is performed after the position coordinates of the robot are calibrated, positioning with respect to the workpiece can be performed with higher accuracy.

Further, since the workpiece is suspended and supported, the position coordinates are calibrated with the plurality of reference positions even when the workpiece is bent, and thus positioning with respect to the workpiece can be performed with higher accuracy.

