Patent ID: 8954182
Filing Date: 2015-02-10
Classification: B25J,G05B,Y10S

Abstract:
1. A robot system, comprising: a manipulator; a work table arranged within a movement extent of the manipulator; an imaging unit for taking a two-dimensional image of workpieces loaded on the work table; a workpiece supply unit for supplying the workpieces onto the work table; and a control system for controlling operations of the manipulator and the imaging unit, the control system including an imaging control unit for controlling the imaging unit to take the two-dimensional image of the workpieces loaded on the work table when the workpieces are supplied onto the work table by the workpiece supply unit, a workpiece detecting unit for detecting a position and a posture of each of the qualified workpieces loaded on the work table by comparing the two-dimensional image taken by the imaging unit with templates stored in advance, and a manipulator control unit for operating the manipulator to perform a work with respect to the workpieces detected by the workpiece detecting unit, wherein the manipulator is a double-arm manipulator including a swiveling body and a first and a second arm provided to the body, the double-arm manipulator serving as the workpiece supply unit, and wherein the system further comprises: a workpiece rack for storing a plurality of workpiece boxes in which a plurality of workpieces is accommodated on a kind-by-kind basis; a raking tool for raking out workpieces from the workpiece boxes; and an assortment table for supporting an assortment box divided into a plurality of compartments, wherein the double-arm manipulator further includes a first hand provided at a tip end of the first arm through a first force sensor and a second hand provided at a tip end of the second arm through a second force sensor, the first hand having a first gripping unit for gripping one of the workpieces loaded on the work table and a tool holder for holding the raking tool, and the second hand having a second gripping unit for gripping one of the workpiece boxes, and wherein the double-arm manipulator is configured to perform, with the second gripping unit, an operation of gripping said one of the workpiece boxes and taking out said one of the workpiece boxes from the workpiece rack, to perform, with the raking tool held by the tool holder, an operation of raking out workpieces from said one of the workpiece boxes onto the work table and to perform, with the first gripping unit, an operation of gripping said one of the workpieces on the work table and transferring the gripped workpiece to one of the compartments of the assortment box.