ROBOT SYSTEM FOR TAKING OUT BULK STACKED WORKPIECES AND JUDGMENT METHOD FOR JUDGING WORKPIECE GRIPPING STATE

摘要

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.

主权项

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 from said base part and a piston rod which projects out from a front end part in an extension direction of said cylinder and can 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 can grip a workpiece, and said robot system further comprises: a fluid pressure adjusting device which can 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 if 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.