ROBOT SYSTEM AND A METHOD FOR PRODUCING A TO-BE-PROCESSED MATERIAL

• US 20140277734A1
• Filed: 03/13/2014
• Published: 09/18/2014
• Est. Priority Date: 03/14/2013
• Status: Abandoned Application

• Current Assignee: Kabushiki Kaisha Yaskawa Denki
• Original Assignee: Kabushiki Kaisha Yaskawa Denki
• Inventors: ICHIMARU, Yuji, HORIUCHI, Tomoyuki
• Application Number:
  US14/207,663
• Publication Number:
  US 20140277734A1
• Time in Patent Office: Days
• US Class Current: 700/259
• CPC Class Codes: B25J 9/1682 Dual arm manipulator; Coordination of several manipulators
• CPC Class Codes: B25J 9/1687 Assembly, peg and hole, palletising, straight line, weaving pattern movement
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/39109 Dual arm, multiarm manipulation, object handled in cooperation

Abstract

A robot system includes a first robot, a second robot, a stocker, and a controller. The first robot includes a first sensor. The second robot includes a second sensor. The stocker is configured to accommodate a plurality of workpieces that are to be held by at least one of the first robot and the second robot. The controller is configured to control the first robot and the second robot. When the first robot holds a first workpiece among the plurality of workpieces, the controller is configured to control the first sensor to recognize shapes of the plurality of workpieces in the stocker and control the second sensor to detect a holding state of the first workpiece held by the first robot.

Claims

1. A robot system comprising:

a first robot comprising a first sensor;

a second robot comprising a second sensor;

a stocker configured to accommodate a plurality of workpieces that are to be held by at least one of the first robot and the second robot; and

a controller configured to control the first robot and the second robot, the controller being configured to, when the first robot holds a first workpiece among the plurality of workpieces, control the first sensor to recognize shapes of the plurality of workpieces in the stocker and control the second sensor to detect a holding state of the first workpiece held by the first robot.

2. The robot system according to claim 1, wherein when the second robot holds a second workpiece among the plurality of workpieces, the controller is configured to control the second sensor to recognize the shapes of the plurality of workpieces in the stocker and control the first sensor to detect a holding state of the second workpiece held by the second robot.

3. The robot system according to claim 2, wherein the controller is configured to control the first robot and the second robot to respectively hold the first workpiece and the second workpiece after the holding state of the first workpiece and the holding state of the second workpiece have been detected, configured to correct at least one of a position and a posture of each of the first workpiece and the second workpiece, and configured to combine the first workpiece and the second workpiece together.

4. A method for producing a to-be-processed material, comprising:

holding a first workpiece among a plurality of workpieces accommodated in a stocker using a first robot;

in response to the holding step of holding the first workpiece using the first robot, recognizing shapes of the plurality of workpieces in the stocker using a first sensor mounted to the first robot; and

simultaneously with the recognizing step of recognizing the shapes of the plurality of workpieces in the stocker using the first sensor, detecting a holding state of the first workpiece held by the first robot using a second sensor mounted to a second robot.

5. The method for producing a to-be-processed material according to claim 4, further comprising, in response to the holding step of holding the first workpiece using the first robot, recognizing the shapes of the plurality of workpieces in the stocker using the first sensor, and detecting the holding state of the first workpiece held by the first robot using the second sensor.

6. The method for producing a to-be-processed material according to claim 5, further comprising, controlling the first robot and the second robot to respectively hold the first workpiece and a second workpiece after the holding state of the first workpiece and a holding state of the second workpiece have been detected, and then controlling the first robot and the second robot to correct at least one of a position and a posture of each of the first workpiece and the second workpiece and to combine the first workpiece and the second workpiece together.