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Handling robot system

  • US 7,580,773 B2
  • Filed: 09/16/2005
  • Issued: 08/25/2009
  • Est. Priority Date: 09/16/2004
  • Status: Active Grant
First Claim
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1. A handling robot system, comprising:

  • a table having a placement surface for placing a plurality of articles;

    an article dispersing mechanism for dispersing the articles placed on said placement surface of said table across said placement surface;

    a vision sensor for detecting each of the articles dispersed on said placement surface of said table; and

    a robot operating, based on article detection data from said vision sensor, to hold the articles one by one;

    said article dispersing mechanism comprising;

    a partition member capable of producing a relative motion in relation to said table, said partition member being disposed in proximity to said placement surface with a gap defined therebetween, to divide a space adjoining said placement surface into a first region to which the articles are brought and a second region at which said robot operates to hold the articles transferred from said first region; and

    a drive control section for causing said relative motion between said table and said partition member in accordance with a program describing a mode of said relative motion;

    wherein said drive control section causes, in accordance with said program, said relative motion in a first direction and said relative motion in a second direction opposite to said first direction, andwherein a certain number of articles are dispersed, as a result of said relative motion in said first direction and said relative motion in said second direction produced under a control of said drive control section, to permit the articles to pass through said gap on said placement surface, and are transferred from said first region to said second region.

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