Robot system and method for operating robot system
First Claim
Patent Images
1. A robot system comprising:
- a robot arm to be mounted with a grasping portion;
a first imaging portion to take an image of an object to be grasped and confirm a position of the object to be grasped, detachably mounted to the robot arm; and
a control portion configured to operate the robot arm and the grasping portion, whereinthe object to be grasped includes a plurality of objects to be grasped, andthe control portion is configured to operate the robot arm to detach the first imaging portion from the robot arm after taking an image of the plurality of unmoving objects to be grasped at one time and confirming positions of the plurality of objects to be grasped by the first imaging portion mounted to the robot arm before an object to be grasped of the plurality of objects to be grasped is firstly grasped by the grasping portion and is moved to a prescribed processing position, and then to move sequentially the object to be grasped that is being grasped by the grasping portion to a prescribed processing position.
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Abstract
This robot system includes a first imaging portion detachably mounted to a robot arm and a control portion controlling the operation of the robot arm and a grasping portion, and the control portion is so formed as to detach the first imaging portion from the robot arm before moving an object to be grasped that is being grasped by the grasping portion to a prescribed processing position.
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Citations
20 Claims
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1. A robot system comprising:
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a robot arm to be mounted with a grasping portion; a first imaging portion to take an image of an object to be grasped and confirm a position of the object to be grasped, detachably mounted to the robot arm; and a control portion configured to operate the robot arm and the grasping portion, wherein the object to be grasped includes a plurality of objects to be grasped, and the control portion is configured to operate the robot arm to detach the first imaging portion from the robot arm after taking an image of the plurality of unmoving objects to be grasped at one time and confirming positions of the plurality of objects to be grasped by the first imaging portion mounted to the robot arm before an object to be grasped of the plurality of objects to be grasped is firstly grasped by the grasping portion and is moved to a prescribed processing position, and then to move sequentially the object to be grasped that is being grasped by the grasping portion to a prescribed processing position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 19)
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14. A method for operating a robot system, comprising:
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taking an image of an object to be grasped and confirming a position of the object to be grasped by an imaging portion detachably mounted to a robot arm; detaching the imaging portion from the robot arm; grasping the object to be grasped by a grasping portion mounted to the robot arm; and moving the object to be grasped that is being grasped by the grasping portion to a prescribed processing position in a state where the imaging portion is detached from the robot arm, wherein the object to be grasped includes a plurality of objects to be grasped, and when the imaging portion is detached from the robot arm, the imaging portion is detached from the robot arm after taking an image of the plurality of unmoving objects to be grasped at one time and confirming positions of the plurality of objects to be grasped by the imaging portion mounted to the robot arm before an object to be grasped of the plurality of objects to be grasped is firstly grasped by the grasping portion and is moved to a prescribed processing position, and then to move sequentially the object to be grasped that is being grasped by the grasping portion to the prescribed processing position. - View Dependent Claims (15, 16, 17, 18, 20)
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Specification