Patent ID: 9481091
Filing Date: 2016-11-01
CPC Classification: B25J,Y10S

Claim Text:
1. A robot system for successively taking out bulk stacked workpieces of the same type, using a robot comprising an arm and a hand, wherein said hand comprises: a base part which is attached to said arm, a cylinder device which has a cylinder which extends downward in the vertical direction from said base part and a piston rod which projects out from a front end part in an extension direction of said cylinder and is configured to move in an opposite direction to the projecting direction due to fluid pressure inside said cylinder, and a gripping part which is attached to a front end part of said piston rod in the projecting direction and which is configured to grip a workpiece, and said robot system further comprises: a fluid pressure adjusting device which is configured to adjust a fluid pressure inside of said cylinder, a movement detecting device which detects movement of said piston rod in an opposite direction to said projecting direction, and a judgment device which judges when said hand is gripping a designated number of workpieces based on a magnitude of fluid pressure inside said cylinder and detection results of said movement detecting device, said fluid pressure adjusting device is configured to adjust the fluid pressure inside said cylinder such that said gripping part receives a force in the opposite direction from said projecting direction to be movable with said piston rod in the opposite direction from said projecting direction until said gripping part grips the workpiece.