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

Claim 5:
6. The robot system according to claim 2, wherein:
the processor is configured to operate as a first storage unit configured to store the conveyance condition of the workpiece,
the processor is configured to operate as a second storage unit which is configured to store past arrangement information of a workpiece in the accommodation unit and past quality information of a workpiece in the accommodation unit,
the conveyance condition includes an approaching method of approaching the workpiece by the hand portion for taking out the workpiece from the accommodation unit, and
the learning unit is configured to learn to adopt an approaching method different from that of the conveyance condition in a case where workpiece arrangement information acquired from the first image is similar to the past workpiece arrangement information and is similar to workpiece arrangement information recognized to have a conveyance operation failure based on quality information of a workpiece in the accommodation unit.