Robot system with visual sensor and a plurality of robots

Patent metadata

Field	Value
Publication number	US-2017043477-A1
Application number	US-201615226980-A
Country	US
Kind code	A1
Filing date	Aug 3, 2016
Priority date	Aug 10, 2015
Publication date	Feb 16, 2017
Grant date	—

Abstract

A robot system includes a first robot for operation to which a work tool is attached, a second robot for delivery to which a hand is attached, a first visual sensor attached to the first robot, a first control device for controlling the first robot, and a second control device for controlling the second robot. The first control device detects the position of a workpiece when an operation is performed based on the image captured by the first imaging device. The second control device includes a second correction unit for calculating the amount of correction in the second robot which relates to a deviation of the position of the workpiece relative to the hand, based on the position of the workpiece which is acquired from the first control device.

First claim

1 . A robot system comprising:
a first robot for operation, to which a work tool is attached; a second robot for delivery, to which a hand for grasping a workpiece is attached; a first imaging device for capturing an image of the workpiece, which is attached to the first robot; a first control device for controlling the first robot; and a second control device for controlling the second robot, wherein the first control device and the second control device are connected by a communication line and can communicate with each other, the first control device includes a first image processing unit for detecting a position of the workpiece based on the image captured by the first imaging device, a first correction unit for calculating an amount of correction of a position and a posture of the first robot when the first robot performs the operation based on a detected position of the workpiece, and a first motion control unit for driving the first robot based on the amount of correction calculated by the first correction unit, and the second control device includes a second correction unit for calculating an amount of correction in the second robot, which relates to a deviation of a position of the workpiece relative to the hand, based on the position of the workpiece, which is acquired from the first control device via the communication line, and a second motion control unit for driving the second robot based on the amount of correction calculated by the second correction unit when the processed workpiece is conveyed to a predetermined position.

2 . The robot system according to claim 1 , wherein
the first control device and the second control device are configured to control positions and postures of the first robot and the second robot in a coordinate system which is common to the first robot and the second robot, and the second control device acquires the position of the workpiece in the same coordinate system from the first control device.

3 . The robot system according to claim 1 , comprising:
a carrier member for receiving the processed workpiece from the second robot; and a second imaging device for capturing an image of the carrier member, wherein the second control device includes a second image processing unit for detecting the position of the carrier member based on the image captured by the second imaging device, and the second correction unit calculates the amount of correction in the second robot, which relates to a deviation of a position of the carrier member, based on a detected position of the carrier member.

4 . The robot system according to claim 3 , wherein
the second imaging device is constituted by the first imaging device, and the first motion control unit controls the position and the posture of the first robot so that the first imaging device can capture an image of the carrier member.

Assignees

• Fanuc Corp

Inventors

• Kitayama Ayumu
• Itsukaichi Takashi

Classifications

• B25J9/1697

  Vision controlled systems · CPC title

• B25J9/0084 Primary

  comprising a plurality of manipulators · CPC title

• B25J19/023

  including video camera means · CPC title

• B25J9/1674 Primary

  characterised by safety, monitoring, diagnostic · CPC title

• B25J11/0075

  Manipulators for painting or coating · CPC title