Work picking system
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsTakuya MURAYAMA, Jun GOTO, Shinji OGASAWARA
Life of this patent
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Abstract
A work picking system according to embodiments includes a three-dimensional measuring unit, a hand, a calculating unit, a determining unit, and an instructing unit. The three-dimensional measuring unit measures a three-dimensional shape of a work that is a gripping target. The hand is provided on a terminal movable unit of a multi-axis robot and includes a mechanism that changes a distance between gripping claws and a mechanism that changes a tip end direction of the gripping claws. The determining unit determines a tip end direction of the gripping claws based on the attitude of the work calculated by the calculating unit and a direction of a rotation axis of the terminal movable unit.
Claims14
A work picking system comprising:
- a three-dimensional measuring unit that measures a three-dimensional shape of a work that is a gripping target;
- a hand that is provided on a terminal movable unit of a multi-axis robot and includes a mechanism that changes a distance between gripping claws and a mechanism that changes a tip end direction of the gripping claws;
- a calculating unit that calculates an attitude of the work based on the three-dimensional shape measured by the three-dimensional measuring unit;
- a determining unit that determines a tip end direction of the gripping claws based on the attitude of the work calculated by the calculating unit and a direction of a rotation axis of the terminal movable unit;
- and
- an instructing unit that instructs to perform an operation of gripping the work while maintaining the direction of the rotation axis of the terminal movable unit and the tip end direction of the gripping claws determined by the determining unit.
A work picking system comprising:
- a three-dimensional measuring means for measuring a three-dimensional shape of a work that is a gripping target;
- a hand that is provided on a terminal movable unit of a multi-axis robot and includes a mechanism that changes a distance between gripping claws and a mechanism that changes a tip end direction of the gripping claws;
- a calculating means for calculating an attitude of the work based on the three-dimensional shape measured by the three-dimensional measuring means;
- a determining means for determining a tip end direction of the gripping claws based on the attitude of the work calculated by the calculating means and a direction of a rotation axis of the terminal movable unit;
- and
- an instructing means for instructing to perform an operation of gripping the work while maintaining the direction of the rotation axis of the terminal movable unit and the tip end direction of the gripping claws determined by the determining means.
Dependencies are inferred from the claim text.