Robot system, robot apparatus, and method for picking workpiece

摘要

A robot system includes a first conveyor, a second conveyor, a robot, and a controller. The first conveyor conveys a plurality of kinds of workpieces. The second conveyor conveys workpiece groups each including a combination of the workpieces. The controller controls the robot, and includes a situation acquirer, a determiner, and an instructor. The situation acquirer acquires a situation in a predetermined monitor area on the first and second conveyors. The monitor area is set based on a movable range of the robot. Based on the situation, the determiner determines whether one of the workpieces on the first conveyor in the monitor area is a missing workpiece of one of the workpiece groups in the monitor area. The instructor instructs the robot to hold the one workpiece and to transfer the one workpiece from the first conveyor to the second conveyor.

主权项

1. A robot system comprising:
a first conveyor configured to convey a plurality of kinds of workpieces; a second conveyor configured to convey workpiece groups each comprising a combination of the plurality of kinds of workpieces; a robot; and a controller configured to control the robot, the controller comprising:
a situation acquirer configured to acquire a situation in a predetermined monitor area on the first conveyor and the second conveyor, the predetermined monitor area being set based on a movable range of the robot;a determiner configured to, based on the situation acquired by the situation acquirer, determine whether at least one workpiece among the plurality of kinds of workpieces on the first conveyor in the predetermined monitor area is a missing workpiece of at least one workpiece group among the workpiece groups in the predetermined monitor area; andan instructor configured to instruct the robot to hold the at least one workpiece determined as the missing workpiece by the determiner and to transfer the at least one workpiece from the first conveyor to the second conveyor.