Abstract: The article mainly talks about the application of Fanuc collaborative robots working with humans in automated production lines. Manually assist in the installation and pre-tightening of the parts, and after pre-installation, start the cooperative robot to take a visual photo of the workpiece with the tightening tool and calculate the offset for position compensation to automatically tighten. After tightening, the workpiece automatically flows to the next station to achieve man-machine cooperation. In this human-machine operation mode, workers only need to assist in installing some small workpieces that are inconvenient for robots to operate, which not only reduces the labor intensity of workers, but also reduces the complexity of robot work, making work more efficient, improving the safety of the workplace, and making deployment and operation more flexible.

Key words: Fanuc collaborative robot; Automated assembly lines; Man-machine cooperation

摘要： 文章阐述了在自动化生产线中，Fanuc 协作机器人与人工配合工作的应用。人工协助安 装零件并预拧紧，预安装完成后启动协作机器人带着拧紧工具对工件进行视觉拍照定位，并 计算偏移进行位置补偿来自动拧紧，拧紧完成后工件自动流到下一工站，实现人机配合工作。 这种人机作业模式，工人只需要辅助安装一些机器人不便操作的小工件，既减轻工人劳动强 度，又减少机器人工作的复杂程度，让工作更有效率，提高工作场所的安全性，部署和操作 也更加灵活。

关键词: Fanuc 协作机器人；自动化装配线；人机配合