ROBOT SYSTEM, CONTAINER OPENING METHOD, AND MANUFACTURING METHOD OF OBJECT TO BE PROCESSED

• US 20150166208A1
• Filed: 12/08/2014
• Published: 06/18/2015
• Est. Priority Date: 12/13/2013
• Status: Active Grant

• Current Assignee: Kabushiki Kaisha Yaskawa Denki
• Original Assignee: Kabushiki Kaisha Yaskawa Denki
• Inventors: MIYAUCHI, Kohei
• Granted Patent: US 10,196,165 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1612 characterised by the hand, wrist, grip control
• CPC Class Codes: B65B 69/00 Unpacking of articles or materials, not otherwise provided for
• CPC Class Codes: G01N 2035/0405 manipulating closing or opening means, e.g. stoppers, screw caps, lids or covers
• CPC Class Codes: G01N 35/0099 comprising robots or similar manipulators robots per se B25J
• CPC Class Codes: Y10S 901/02 Arm motion controller
• CPC Class Codes: Y10S 901/31 Gripping jaw

Abstract

A robot system includes a robot, a hand attached to the robot, and a controller configured to control operation of the robot. The controller includes an initial control unit configured to rotate the hand in a state where the hand holds the screw cap tightened onto a conical tube in a first attitude, and a normal control unit configured to rotate the hand in a state where the hand holds the screw cap in a second attitude different from the first attitude after the hand is operated by the initial control unit.

Claims

1. A robot system comprising:

a first robot;

a first hand attached to the first robot; and

a control device configured to control an operation of the first robot, wherein

the control device includes;

an initial control unit configured to rotate the first hand in a state where the first hand holds a screw cap tightened onto a predetermined container in a first attitude; and

a normal control unit configured to rotate the first hand in a state where the first hand holds the screw cap in a second attitude different from the first attitude after the first hand is operated by the initial control unit.

2. The robot system according to claim 1, wherein

the first robot includes a plurality of joints capable of being rotary driven,

the initial control unit rotates the first hand by driving the plurality of joints simultaneously, and

the normal control unit rotates the first hand by driving a one of the joints.

3. The robot system according to claim 1, wherein the first hand includes a pair of holding members, a relative distance between which is adjustable.

4. The robot system according to claim 2, wherein the first hand includes a pair of holding members, a relative distance between which is adjustable.

5. The robot system according to claim 1, wherein at least one of positions and angles at which the screw cap and the first hand come in contact with each other are different in the first attitude and the second attitude.

6. The robot system according to claim 2, wherein at least one of positions and angles at which the screw cap and the first hand come in contact with each other are different in the first attitude and the second attitude.

7. The robot system according to claim 3, wherein at least one of positions and angles at which the screw cap and the first hand come in contact with each other are different in the first attitude and the second attitude.

8. The robot system according to claim 1, further comprising:

a second robot; and

a second hand attached to the second robot, wherein

the control device controls operation of the second robot to cause the second hand to hold the predetermined container and to keep the predetermined container at a predetermined operation position.

9. The robot system according to claim 8, wherein the second hand holds the predetermined container using a predetermined holding tool.

10. The robot system according to claim 8, further comprising a common body to which the first robot and the second robot are attached.

11. The robot system according to claim 9, further comprising a common body to which the first robot and the second robot are attached.

12. The robot system according to claim 1, wherein the first robot is a seven-axis robot.

13. The robot system according to claim 8, wherein the first robot is a seven-axis robot.

14. The robot system according to claim 9, wherein the first robot is a seven-axis robot.

15. The robot system according to claim 10, wherein the first robot is a seven-axis robot.

16. The robot system according to claim 11, wherein the first robot is a seven-axis robot.

17. A container opening method comprising:

rotating a first hand, which is attached to a first robot, in a state where the first hand holds a screw cap tightened onto a predetermined container in a first attitude; and

thereafter rotating the first hand in a state where the first hand holds the screw cap in a second attitude different from the first attitude.

18. A manufacturing method of an object to be processed including a container body and a screw cap tightened onto the container body, the method comprising:

rotating a first hand, which is attached to a first robot, in a state where the first hand holds the screw cap in a first attitude; and

thereafter rotating the first hand in a state where the first hand holds the screw cap in a second attitude different from the first attitude.