公开(公告)号：US20150019003A1

公开(公告)日：2015-01-15

申请号：US14505499

申请日：2014-10-03

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Hiroaki MURAKAMI ,  Ryosuke TSUTSUMI ,  Kenichi MOTONAGA ,  Yoshihisa NAGANO

IPC: B25J9/16 ,  B25J15/00 ,  B25J17/02

CPC classification number: B25J9/1602 ,  B25J9/0093 ,  B25J9/1612 ,  B25J15/0028 ,  B25J15/0047 ,  B25J15/103 ,  B25J17/02 ,  Y10S901/02 ,  Y10S901/31

Abstract: A robot system according to an aspect of an embodiment includes a robot, a determination unit (work determination unit), a selection unit (chucking direction selection unit), and an instruction unit. The robot has a robot hand (hand) including three or more chuck jaws. The determination unit obtains information on a member formed including a substantially ring shape, and determines a state of the member. The selection unit selects whether to hold the member with the chuck jaws from an inner peripheral side or outer peripheral side based on the determination result of the determination unit. The instruction unit instructs the robot to perform operations of transporting the member while holding the member with the chuck jaws based on the selection result of the selection unit, and assembling a predetermined processed product using the member.

Abstract translation: 根据实施例的一个方面的机器人系统包括机器人，确定单元（工作确定单元），选择单元（夹持方向选择单元）和指令单元。 机器人具有包括三个或更多个卡盘爪的机器人手（手）。 确定单元获得关于形成为大致环状的构件的信息，并且确定构件的状态。 选择单元基于确定单元的确定结果，从内周侧或外周侧选择是否夹持具有卡盘爪的构件。 指示单元指示机器人基于选择单元的选择结果来保持具有卡盘爪的构件来运送构件的操作，以及使用构件组装预定的加工产品。