Robot system and processed object manufacturing method
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G05B-015/00
B25J-009/16
출원번호
US-0397682
(2012-02-16)
등록번호
US-9031696
(2015-05-12)
우선권정보
JP-2011-091398 (2011-04-15)
발명자
/ 주소
Nakahara, Yoshimitsu
출원인 / 주소
Kabushiki Kaisha Yaskawa Denki
대리인 / 주소
Mori & Ward, LLP
인용정보
피인용 횟수 :
0인용 특허 :
9
초록
In this robot system, a control portion is configured to control a robot to grasp an object to be grasped by a grasping portion, and control a first imaging portion to examine the object to be grasped while driving a robot arm to change a posture of the object to be grasped multiple times.
대표청구항▼
1. A robot system comprising: a robot including a robot arm mounted with a grasping portion to grasp an object to be grasped;a first imaging portion to examine the object in a state that the object is grasped by the grasping portion, disposed separately from the robot arm;a control portion configure
1. A robot system comprising: a robot including a robot arm mounted with a grasping portion to grasp an object to be grasped;a first imaging portion to examine the object in a state that the object is grasped by the grasping portion, disposed separately from the robot arm;a control portion configured to operate the robot and the first imaging portion; anda second imaging portion mounted to the robot arm,wherein the control portion is configured to operate the robot to grasp the object to be grasped by the grasping portion, and operate the first imaging portion to examine the object multiple times while operating the robot arm to change a posture of the object, andwherein the control portion is configured to detach the second imaging portion after taking an image of the object to be grasped and confirming a position of the object to be grasped by the second imaging portion, control the robot to grasp the object to be grasped by the grasping portion, and control the first imaging portion to examine the object grasped by the grasping portion while driving the robot arm to change the posture of the object grasped by the grasping portion multiple times. 2. The robot system according to claim 1, wherein the robot includes a vertical articulated robot capable of being driven about multiple axes, andthe control portion is configured to operate the robot to grasp the object by the grasping portion, and operate the first imaging portion to examine the object multiple times while driving the robot arm about the multiple axes to change the posture of the object. 3. The robot system according to claim 1, wherein the control portion is configured to operate the first imaging portion to take an image of the object and examine the object each time when the robot arm is operated to change the posture of the object multiple times. 4. The robot system according to claim 1, wherein the control portion is configured to examine whether or not the object to be grasped is a conforming article on the basis of an image of the object to be grasped taken by the first imaging portion. 5. The robot system according to claim 1, wherein the control portion is configured to examine a state of the object to be grasped that is being grasped by the grasping portion on the basis of an image of the object to be grasped taken by the first imaging portion. 6. The robot system according to claim 5, wherein the control portion is configured to examine at least either a position of the object to be grasped that is being grasped by the grasping portion or a posture of the object to be grasped that is being grasped by the grasping portion on the basis of the image of the object to be grasped taken by the first imaging portion. 7. The robot system according to claim 1, further comprising a lighting portion to emit light to the object to be grasped, arranged near the first imaging portion set separately from the robot. 8. The robot system according to claim 1, wherein the first imaging portion is arranged near a path to move the object to be grasped that is being grasped by the grasping portion to a prescribed processing position. 9. The robot system according to claim 1, further comprising an image processor to process an image taken by the first imaging portion, wherein the control portion is configured to examine the object to be grasped on the basis of an image processed by the image processor. 10. The robot system according to claim 1, wherein the control portion is configured to control the robot to grasp the object to be grasped by the grasping portion, and control the first imaging portion to examine the object to be grasped while driving the robot arm to change the posture of the object to be grasped multiple times before moving the object to be grasped that is being grasped by the grasping portion into a processing machine. 11. The robot system according to claim 1, further comprising a second imaging portion mounted to the robot arm, wherein the first imaging portion to examine the object to be grasped that is being grasped by the grasping portion and the second imaging portion mounted to the robot arm are constituted by a same imaging portion, andthe control portion is configured to detach the imaging portion and disposed the imaging portion after taking an image of the object to be grasped and confirming a position of the object to be grasped by the imaging portion mounted to the robot arm, control the robot to grasp the object to be grasped by the grasping portion, and control the imaging portion to examine the object to be grasped while driving the robot arm to change the posture of the object to be grasped multiple times. 12. The robot system according to claim 11, further comprising a placement portion to place the imaging portion detached from the robot arm, wherein the control portion is configured to detach the imaging portion and fixedly place the imaging portion on the placement portion after taking the image of the object to be grasped and confirming the position of the object to be grasped by the imaging portion mounted to the robot arm, control the robot to grasp the object to be grasped by the grasping portion, and control the imaging portion having been placed on the placement portion to examine the object to be grasped while driving the robot arm to change the posture of the object to be grasped multiple times. 13. The robot system according to claim 1, wherein the robot includes a pair of a first robot and a second robot each having a robot arm,the object to be grasped includes a first object to be grasped by a grasping portion of the first robot and a second object to be grasped by a grasping portion of the second robot, andthe control portion is configured to control the first imaging portion to examine a state of the first object to be grasped that is being grasped by the grasping portion of the first robot while driving the robot arm of the first robot to change a posture of the first object to be grasped multiple times after grasping the first object to be grasped by the grasping portion of the first robot, and combine the first object to be grasped that is being grasped by the grasping portion of the first robot and the second object to be grasped that is being grasped by the grasping portion of the second robot on the basis of the state of the first object to be grasped that is being grasped by the grasping portion of the first robot, having been examined by the first imaging portion. 14. A processed object manufacturing method comprising: taking an image of an object to be grasped by an imaging portion mounted to a robot arm;detaching the imaging portion from the robot arm after taking the image of the object to be grasped;grasping an object to be grasped by a grasping portion mounted to the robot arm;examining the object multiple times in a state that the object is grasped by the grasping portion by an additional imaging portion disposed separately from the robot arm while operating the robot arm to change a posture of the object that is being grasped by the grasping portion;putting the object to a processing machine; andprocessing the object by the processing machine. 15. An examination method employing a robot system, comprising: grasping an object to be grasped by a grasping portion mounted to a robot arm; andexamining the object in a state that the object is grasped by the grasping portion by a first imaging portion disposed separately from the robot arm while driving the robot arm to change a posture of the object grasped by the grasping portion multiple times, whereinwhen the object to be grasped is examined by the first imaging portion, a second imaging portion mounted to the robot arm is detached after an image of the object to be grasped is taken and a position of the object to be grasped is confirmed by the second imaging portion, the object to be grasped is grasped by the grasping portion, and the object grasped by the grasping portion is examined by the first imaging portion while the robot arm is driven to change the posture of the object grasped by the grasping portion multiple times. 16. The examination method employing a robot system according to claim 15, wherein the robot arm includes a robot arm of a vertical articulated robot capable of being driven about multiple axes, andwhen the object to be grasped is examined by the first imaging portion, the object to be grasped is grasped by the grasping portion, and the object to be grasped is examined by the first imaging portion while the robot arm is driven about the multiple axes to change the posture of the object to be grasped multiple times. 17. The examination method employing a robot system according to claim 15, wherein when the object to be grasped is examined by the first imaging portion, whether or not the object to be grasped is a conforming article is examined on the basis of an image of the object to be grasped taken by the first imaging portion. 18. The examination method employing a robot system according to claim 15, further comprising a lighting portion to emit light to the object to be grasped, arranged near the first imaging portion set separately from the robot arm.
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