Fanuc Corporation

Tadanori Suzuki

Atsushi Watanabe

Masaru Oda

Kazuhisa Otsuka

Kazuhiko Akiyama

A robot system includes a part supply robot for supplying a part to a workpiece. A tip of an arm of the part supply robot is equipped with a master plate of a tool changer. A part holding jig includes a tool plate detachably attached to the master plate, a pull/release mechanism pulled onto and released from the workpiece in accordance with an operation via the master plate, and a part pressing mechanism coupled to the pull/release mechanism for pressing the part against the workpiece in a state where the pull/release mechanism is pulled onto the workpiece.

Part holding jig, robot system, and part mounting method

There is a need for a technology for executing a high quality scraping process with a robot. A robot system includes a robot configured to move a scraper for scraping a surface of a workpiece and a control device configured to control the robot. The control device is configured to abut the scraper against the surface in a trajectory, which is inclined so as to form an acute angle with respect to the surface, by moving the scraper by the robot in a direction along the surface and in a direction toward the surface, and during the scraper abutting against the surface, control a position of the robot such that a pressing force, by which the robot presses the scraper against the surface, becomes a predetermined magnitude while moving the scraper by the robot in the direction along the surface, to perform the scraping process.

Robot system, method, and computer program for performing scraping process

An imaging control unit of this detection device controls the imaging orientation of a three-dimensional camera such that one end of a workpiece enters the field of view of the three-dimensional camera, and then controls the imagining orientation of the three-dimensional camera such that the other end of the workpiece enters the field of view of the three-dimensional camera. A coordinate acquisition unit acquires the position coordinates of one end acquired by the three-dimensional camera from three-dimensional information pertaining to the one end, and acquires the position coordinates of another end acquired by the three-dimensional camera from three-dimensional information pertaining to the other end.

Detection device and detection method

A grinding apparatus including a robot, a grinding tool attached to the robot, a force sensor configured to detect a force exerted on the grinding tool, and a controller connected with the force sensor and configured to control the robot. The controller includes a variation acquiring section configured to acquire the present position of the robot by pressing the grinding tool against a reference surface in such a manner that a pressing force detected by the force sensor is constant, and to acquire a difference between the acquired present position and a reference position of the robot stored in advance, the difference being acquired as a variation of the grinding tool.

Grinding apparatus

A robot system is provided with a robot, a hand, and a range sensor that acquires information about a distance to a workpiece. Claw parts of the hand include grip regions having a shape for gripping the workpiece. A controller stops the robot when the hand collides with the workpiece. The controller determines whether or not a target workpiece can be gripped by a part other than the grip regions of the hand. When it is determined that the target workpiece can be gripped by the part other than the grip regions, the controller performs control for gripping the target workpiece by using the hand, and for moving the target workpiece inside a container.

Robot system and control method of robot system for taking out workpieces loaded in bulk

A controller includes a generation unit that generates three-dimensional information, a deletion unit that deletes information about at least part of the measurement points in the three-dimensional information, and a determination unit that determines a state where the robot grips a workpiece. The generation unit generates first three-dimensional information before the robot implements an operation of gripping a target workpiece. The generation unit generates second three-dimensional information after the robot has implemented an operation of lifting the target workpiece. The deletion unit generates third three-dimensional information in which information about measurement points in the second three-dimensional information is deleted from the first three-dimensional information. The determination unit determines whether or not the workpiece in the third three-dimensional information matches the target workpiece.

An object pick-up system able to use a simpler configuration to place picked up objects at a predetermined location with the directions of the picked up objects aligned. The object pick-up system is provided with a robot hand, manipulator, vision sensor, arrangement determination part setting the position and posture of the robot hand when gripping an object, manipulator controller controlling the manipulator, and robot hand controller controlling the robot hand. The manipulator controller places the robot hand at a position and posture giving rise to a moment in the object. The robot hand controller prevents an object from dropping from the robot hand while the object is rotated by the action of gravity.

Object pick-up system and method for picking up stacked objects

A robot system and a method, by which a robot can effectively and sequentially take out a plurality of randomly located workpieces, while avoiding interference by a simple calculation. A first detection coordinate system for determining the motion of the robot is defined on the lateral surface of the workpiece. The first detection coordinate system is translated by a predetermined distance in the negative direction of a Z-axis, and then an X-Z plane is rotated about an X-axis of the workpiece so that the X-Z plane is perpendicular to an X-Y plane of a robot coordinate system, whereby a work coordinate system is obtained. Next, the work coordinate system is rotated about the X-axis by a target angle, and then is translated by a distance corresponding to a radius of the workpiece in the positive direction of the Z-axis, whereby a second detection coordinate system is obtained and output.

Workpiece taking out robot system having conversion-calculation function of position and orientation, and workpiece taking out method

A robot system for successively taking out bulk stacked workpieces of the same type, wherein a hand of a robot comprises: a base part attached to an arm, a cylinder device with a cylinder and a piston rod, and a gripping part attached to a front end part of the piston rod. The robot system further comprises a fluid pressure adjusting device which adjust a fluid pressure inside of the cylinder, a movement detecting device which detects a retracting movement of the piston rod, and a judgment device which judge if the hand is gripping a designated number of workpieces, based on a magnitude of fluid pressure inside the cylinder and detection results of the movement detecting device.

Robot system for taking out bulk stacked workpieces and judgment method for judging workpiece gripping state

An object handling apparatus capable of securely holding an object and precisely transferring the held object from a first place to a second place without need of a specific jig for positioning the object on a pallet. A position of an object supplied to the first place is detected by a first visual sensor to obtain a compensation amount for compensating a position displacement of the supplied object. The object is held by a robot hand having position/orientation compensated using the compensation amount and position/orientation of the object held by the robot hand relative to the robot hand is detected by a second visual sensor. A displacement of the position/orientation of the object held by the robot hand from a reference position/orientation is compensated based on the detected position/orientation of the object on the robot hand, so that the object held by the robot hand is precisely moved to have a predetermined position/orientation to be transferred to the second place. The robot hand may be a servo hand having fingers driven by one or more servomotors so that position and force of the fingers in holding the object is controlled.

Growing community of inventors

Yamanashi, Japan

Tadanori Suzuki