ROBOT SYSTEM AND TRANSFER METHOD
First Claim
1. A robot system comprising:
- a robot provided with a holder configured to hold one of a plurality of workpieces contained in a container;
a shape sensor configured to detect a shape of the workpiece;
an inspection device configured to inspect a holding condition of the workpiece held by the robot;
a temporary placement table on which the workpiece is temporarily placed; and
a control device configured to control operations of the robot and the shape sensor, whereinthe control device is;
configured to, when the inspection device has determined that the holding condition of the workpiece is acceptable in a state in which the holder holds any of the workpieces in the container, transfer the workpiece to a subsequent step, andconfigured to, when the inspection device has determined that the holding condition of the workpiece is unacceptable, place the held workpiece on the temporary placement table, detect the shape of the workpiece by performing the detection on the temporary placement table using the shape sensor, and again hold the workpiece using the holder and transfer the workpiece to the subsequent step.
1 Assignment
0 Petitions
Accused Products
Abstract
A workpiece in a container is held by a robot based on a result of detection of shape information in the container by a shape sensor, a holding condition of the workpiece held by the robot is inspected by an inspection device, and the workpiece is transferred to a subsequent step by the robot when the inspection device has determined that the holding condition of the workpiece is acceptable. When the inspection device has determined that the holding condition of the workpiece is unacceptable, the held workpiece is placed on a temporary placement table, the shape of the workpiece is again detected by detecting the workpiece using the shape sensor, and the workpiece is held and transferred to the subsequent step by the robot based on a result of the detection.
46 Citations
15 Claims
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1. A robot system comprising:
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a robot provided with a holder configured to hold one of a plurality of workpieces contained in a container; a shape sensor configured to detect a shape of the workpiece; an inspection device configured to inspect a holding condition of the workpiece held by the robot; a temporary placement table on which the workpiece is temporarily placed; and a control device configured to control operations of the robot and the shape sensor, wherein the control device is; configured to, when the inspection device has determined that the holding condition of the workpiece is acceptable in a state in which the holder holds any of the workpieces in the container, transfer the workpiece to a subsequent step, and configured to, when the inspection device has determined that the holding condition of the workpiece is unacceptable, place the held workpiece on the temporary placement table, detect the shape of the workpiece by performing the detection on the temporary placement table using the shape sensor, and again hold the workpiece using the holder and transfer the workpiece to the subsequent step. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A robot system comprising:
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a robot provided with a holder configured to hold one of a plurality of workpieces contained in a container; a shape sensor configured to detect a shape of the workpiece; an inspection device configured to inspect a holding condition of the workpiece held by the robot; a temporary placement table on which the workpiece is temporary placed; and
;a control device configured to control operations of the robot and the shape sensor, wherein the control device includes; the holding information storage configured to store a best suited holding posture, a different holding posture, and a different execution condition for the different holding posture; an operation mode selector configured to select a holding posture that satisfies the execution condition, the selected holding posture being one of the plurality of holding postures stored in the holding information storage; and a robot operation controller configured to hold the workpiece based on the holding posture selected by the operation mode selector, and pick the workpiece from the container. - View Dependent Claims (12)
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13. A transfer method comprising:
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preparing a robot near a container that contains a plurality of workpieces; holding a workpiece in the container using the robot based on a result of detection performed using a shape sensor detecting shape information in the container; inspecting a holding condition of the workpiece held by the robot using an inspection device; transferring the workpiece using the robot to a subsequent step when the inspection device has determined that the holding condition of the workpiece is acceptable; and when the inspection device has determined that the holding condition of the workpiece is unacceptable, placing the held workpiece on a temporary placement table, again detecting the shape of the workpiece by detecting the workpiece using the shape sensor, and, based on a result of the detection, holding and transferring the workpiece to the subsequent step using the robot. - View Dependent Claims (14)
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15. A transfer method, comprising:
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preparing a robot near a container that contains a plurality of workpieces; selecting a holding posture by the robot when holding the workpiece in the container using the robot out of a plurality of holding postures based on the result of the detection performed by the shape sensor; holding the workpiece in the container by the selected holding posture using the robot; transferring the workpiece to a subsequent step using the robot when the selected holding posture is the best suited holding posture that has previously been set; and when the selected holding posture is a holding posture other than a best suited holding posture that has been previously set, placing the held workpiece on a temporary placement table, again detecting the shape of the workpiece by detecting the workpiece using the shape sensor, and, based on a result of the detection, holding the workpiece by the best suited holding posture and transferring the workpiece to the subsequent step using the robot.
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Specification