Patent ID: 11926057
Assignee: YAMAHA HATSUDOKI KABUSHIKI KAISHA
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 0:
1. A robot system comprising:
a robot including a hand portion configured to grip and take out a workpiece from an accommodation unit in which a plurality of workpieces are accommodated, and transport the workpiece to a predetermined position;
a robot controller configured to control a conveyance operation of the robot of taking out the workpiece from the accommodation unit and transporting the workpiece to the predetermined position;
a processor configured to operate as a conveyance condition setting unit configured to set a conveyance condition regarding the conveyance operation and including, at least a grip prohibited region of the workpiece that is prohibited from being gripped by the hand portion, a grip position of the workpiece gripped by the hand portion and a transport speed of the workpiece; and
at least one camera configured to capture a first image of the workpiece in the accommodation unit before execution of the conveyance operation and a second image of the workpiece at the predetermined position after execution of the conveyance operation,
wherein the processor is configured to operate as a learning unit configured to acquire control information of the robot controller when the conveyance operation is executed, the first image and the second image captured by the at least one camera, and to learn the conveyance condition based on the control information, the first image, and the second image,
the robot controller is configured to control the robot based on the conveyance condition set by the conveyance condition setting unit,
the learning unit is configured to compare the first image and the second image with each other, to evaluate a change in outer appearance quality of the workpiece during the conveyance operation, and to learn a grip position in a region other than the grip prohibited region of the workpiece which allows for an increased transport speed as compared to other grip positions, based on a result of the evaluation, and
the conveyance condition setting unit modifies the conveyance condition based on a learning result of the learning unit.