ROBOT SYSTEM AND METHOD FOR PICKING WORKPIECE

• US 20160083199A1
• Filed: 09/17/2015
• Published: 03/24/2016
• Est. Priority Date: 09/18/2014
• Status: Abandoned Application

• Current Assignee: Kabushiki Kaisha Yaskawa Denki
• Original Assignee: Kabushiki Kaisha Yaskawa Denki
• Inventors: KAWANO, Tomoki, NISHIZAKA, Yoshitaka, NAKAMURA, Ken, UCHIDA, Yutaro
• Application Number:
  US14/857,763
• Publication Number:
  US 20160083199A1
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B25J 19/021 Optical sensing devices
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 9/0093 co-operating with conveyor means
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: B65G 47/905 Control arrangements
• CPC Class Codes: B65G 47/907 with at least two picking-up heads
• CPC Class Codes: G05B 19/4182 manipulators and conveyor only
• CPC Class Codes: G05B 2219/37555 Camera detects orientation, position workpiece, points of workpiece
• CPC Class Codes: G05B 2219/39102 Manipulator cooperating with conveyor
• CPC Class Codes: G05B 2219/40007 Optimize sequence of pick and place operations upon arrival of workpiece on conveyor
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
• CPC Class Codes: Y10S 901/02 Arm motion controller

Abstract

A robot system includes a conveyor, a robot, and a controller. The conveyor is configured to convey a workpiece. The robot includes a plurality of holders configured to hold the workpiece. The controller is configured to control the robot to hold the workpiece conveyed on the conveyor and transfer the workpiece to a predetermined place using at least one holder among the plurality of holders. The controller includes a divided area setter and an allocator. The divided area setter is configured to set a plurality of divided areas on the conveyor in a width direction of the conveyor, and is configured to store the plurality of divided areas in a storage. The allocator is configured to allocate the plurality of holders respectively to the plurality of divided areas so as to hold the workpiece when the workpiece is conveyed in the plurality of divided areas.

Claims

1. A robot system comprising:

a conveyor configured to convey at least one workpiece;

a robot comprising a plurality of holders configured to hold the at least one workpiece; and

a controller configured to control the robot to hold the at least one workpiece conveyed on the conveyor and transfer the at least one workpiece to a predetermined place using at least one holder among the plurality of holders, the controller comprising;

a divided area setter configured to set a plurality of divided areas on the conveyor in a width direction of the conveyor, and configured to store the plurality of divided areas in a storage; and

an allocator configured to allocate the plurality of holders respectively to the plurality of divided areas so as to hold the at least one workpiece when the at least one workpiece is conveyed in the plurality of divided areas.

2. The robot system according to claim 1, further comprising a detector configured to detect a conveyance situation in which the at least one workpiece is conveyed on the conveyor,

wherein a first holder among the plurality of holders is allocated to a first divided area among the plurality of divided areas to hold the at least one workpiece when the at least one workpiece is conveyed in the first divided area, and

wherein when the detector detects another workpiece being conveyed to the first divided area while the first holder is holding the at least one workpiece in the first divided area, and when a second holder that is among the plurality of holders and that is not allocated to the first divided area is not being used, the controller is configured to control the robot to hold the another workpiece in the first divided area using the second holder.

3. The robot system according to claim 1,

wherein the plurality of holders are parallel to each other relative to a robot hand of the robot, and

wherein when the robot holds the at least one workpiece, the controller is configured to control the robot to take a basic posture in which the robot hand is positioned above the conveyor with the plurality of holders aligned in a direction parallel to the width direction of the conveyor.

4. The robot system according to claim 3, wherein when the robot is in the basic posture, the allocator is configured to allocate one holder among the plurality of holders to one divided area among the plurality of divided areas that is closest to the one holder.

7. The robot system according to claim 2,

wherein the plurality of holders are parallel to each other relative to a robot hand of the robot, and

wherein when the robot holds the at least one workpiece, the controller is configured to control the robot to take a basic posture in which the robot hand is positioned above the conveyor with the plurality of holders aligned in a direction parallel to the width direction of the conveyor.

8. The robot system according to claim 7, wherein when the robot is in the basic posture, the allocator is configured to allocate one holder among the plurality of holders to one divided area among the plurality of divided areas that is closest to the one holder.

5. A method for picking a workpiece, the method comprising:

conveying at least one workpiece using a conveyor through a movable area of a robot comprising a plurality of holders;

detecting a conveyance situation in which the at least one workpiece is conveyed on the conveyor;

identifying, based on the conveyance situation, a divided area to which the at least one workpiece corresponds from among a plurality of divided areas of the conveyor that are divided in a width direction of the conveyor; and

operating the robot to hold the at least one workpiece using one holder among the plurality of holders that is allocated to the divided area.

6. The method according to claim 5, wherein when the detecting step detects another workpiece being conveyed to the divided area while the one holder is holding the workpiece in the divided area, and when another holder that is among the plurality of holders and that is not allocated to the divided area is not being used, the operating step comprises operating the robot to hold the another workpiece in the divided area using the another holder.