JP2021171855A - Robot system - Google Patents

Abstract

To improve versatility of a device that transfers tabular work-pieces one by one.SOLUTION: A robot system 100 comprises: a first robot arm 1 that transfers a work-piece w at an outermost layer of a work-piece bundle WB in which a plurality of tabular work-pieces w are laminated thereon to a second placement part 92, while adsorbing and holding the work-piece; and a counting part 7 that counts the number of the work-pieces w held by the first robot arm 1. The first robot arm 1 has a first arm main body 11 having a plurality of joints J1-J4, and a first end effector 12, connected to the first arm main body 11, which adsorbs the work-pieces w. The first robot arm 1, when the number of the work-pieces w counted by the counting part 7 is plural, executes detachment operation by which the plurality of work-pieces w are detached respectively and transfers the work-pieces w to the second placement part 92 one by one.SELECTED DRAWING: Figure 1

Description

The technology disclosed herein relates to a robot system.

Conventionally, there has been known an apparatus for transferring the outermost work from a work bundle in which a plurality of plate-shaped works are laminated to a predetermined place.

For example, Patent Document 1 discloses an apparatus in which the uppermost work is sucked and lifted by a suction portion, and then the work is transferred to a predetermined position. In this device, in order to transfer the works one by one, the work is sucked and lifted by the suction part, and then air is injected from the side to the work and the suction part is moved up and down. As a result, air is blown between the work on the uppermost layer and another work on the upper layer, and the suction portion can lift only the work on the uppermost layer.

Japanese Unexamined Patent Publication No. 6-40577

However, the above-mentioned device is a so-called dedicated machine, and it is difficult to cope with changes in the dimensions of the work, changes in the transfer location of the work, and the like.

The technique disclosed herein has been made in view of this point, and an object thereof is to improve the versatility of a device for transferring plate-shaped workpieces one by one.

The robot system disclosed here includes a first robot arm that holds the work of the outermost layer of a work bundle in which a plurality of plate-shaped works are laminated by suction and transfers the work to a predetermined mounting portion, and the first robot arm. The first robot arm includes a counting unit that counts the number of workpieces held by the robot arm, and the first robot arm is connected to a first arm main body having a plurality of joints and the first arm main body to attract workpieces. When the number of workpieces counted by the counting unit is a plurality of workpieces having one end effector, a peeling operation for peeling off the plurality of workpieces is executed, and one workpiece is transferred to the previously described placing portion. Reprint.

According to the robot system, it is possible to improve the versatility of the device for transferring plate-shaped workpieces one by one.

FIG. 1 is a schematic plan view showing a schematic configuration of the robot system according to the first embodiment. FIG. 2 is a schematic perspective view showing the arrangement of the first mounting portion, the second mounting portion, and the peeling station. FIG. 3 is a perspective view of the dual-arm robot. FIG. 4 is a front view of the dual-arm robot. FIG. 5 is a front view of the first end effector. FIG. 6 is a front view of the second end effector. FIG. 7 is a block diagram of the control unit. FIG. 8 is a diagram showing the relationship between the movement amount of the holding work and the output of the sensor. FIG. 9 is a schematic plan view showing the arrangement of the first and second end effectors when the work is conveyed to the peeling station. FIG. 10 is a schematic plan view showing the arrangement of the first and second end effectors immediately before the start of the peeling operation. FIG. 11 is a schematic side view showing the arrangement of the first and second end effectors immediately before the start of the peeling operation. FIG. 12 is a schematic front view showing a state when the first robot arm performs a separation operation in the peeling operation. FIG. 13 is a schematic front view showing a state in which the third suction portion is moved to the start position after the separation operation of the first robot arm in the peeling operation. FIG. 14 is a schematic front view showing a state in which the third suction portion is finally raised to the separated position in the peeling operation. FIG. 15 is a diagram showing a movement locus of the first suction portion in the separation operation according to the modified example. FIG. 16 is a diagram showing a movement locus of the first suction portion in the separation operation according to another modification. FIG. 17 is a diagram showing a movement locus of the first suction portion in the separation operation according to still another modification. FIG. 18 is a diagram showing a vertical movement locus of the first suction portion in the separation operation according to the modified example. FIG. 19 is a diagram showing a vertical movement locus of the first suction portion in the separation operation according to another modification. FIG. 20 is a diagram showing a vertical movement locus of the first suction portion in the separation operation according to still another modification. FIG. 21 is a diagram showing a vertical movement locus of the first suction portion in the separation operation according to still another modification. FIG. 22 is a schematic plan view showing a schematic configuration of the robot system according to the second embodiment. FIG. 23 is a front view of the second end effector according to the second embodiment. FIG. 24 is a schematic front view showing a state immediately before the first robot arm performs the first separation operation in the peeling operation. FIG. 25 is a schematic front view showing a state in which the first robot arm performs the first separation operation in the peeling operation. FIG. 26 is a schematic front view showing a state in which the second robot arm performs the second separation operation in the peeling operation. FIG. 27 is a schematic front view showing a state in which the second robot arm performs a holding operation in the peeling operation. FIG. 28 is a schematic front view showing a state in which the second robot arm performs the third separation operation in the peeling operation. FIG. 29 is a perspective view of the second end effector according to the third embodiment. FIG. 30 is a schematic plan view showing the arrangement of the first and second end effectors immediately before the start of the peeling operation. FIG. 31 is a schematic front view showing the arrangement of the first and second end effectors immediately before the start of the peeling operation. FIG. 32 is a schematic front view showing a state when the first robot arm performs a separation operation in the peeling operation. FIG. 33 is a perspective view of the first end effector according to the fourth embodiment. FIG. 34 is a schematic front view showing the arrangement of the first and second end effectors immediately before the start of the peeling operation. FIG. 35 is a schematic front view showing a state when the first robot arm performs a separation operation in the peeling operation. FIG. 36 is a schematic front view showing a state immediately before the first robot arm performs the first separation operation in the peeling operation according to the modified example of the fourth embodiment. FIG. 37 is a schematic front view showing a state in which the first robot arm performs the first separation operation in the peeling operation. FIG. 38 is a schematic side view for explaining the counting operation according to the modified example. FIG. 39 is a schematic side view illustrating a counting operation according to another modification. FIG. 40 is a schematic front view showing a state when the first robot arm performs a separation operation in the peeling operation of the robot system according to another embodiment.

Hereinafter, exemplary embodiments will be described in detail with reference to the drawings.

<< Embodiment 1 >>
First, the robot system 100 according to the first embodiment will be described. FIG. 1 is a schematic plan view showing a schematic configuration of the robot system 100. FIG. 2 is a schematic perspective view showing the arrangement of the first mounting portion 91, the second mounting portion 92, and the peeling station 93.

The robot system 100 transfers the work w from the work bundle WB in the first mounting portion 91 to the second mounting portion 92 one by one. The robot system 100 has a first robot arm 1 that holds the work w in the outermost layer of the work bundle WB by suction and transfers it to the second mounting portion 92, and the number of works w held by the first robot arm 1. It is provided with a counting unit 7 for counting. When the number of workpieces counted by the counting unit 7 is a plurality of workpieces, the first robot arm 1 executes a peeling operation for peeling off the plurality of workpieces w, and places one workpiece w in the second position. Reprinted to Part 92.

The robot system 100 further includes a second robot arm 3. The first robot arm 1 and the second robot arm 3 cooperate with each other to execute the peeling operation. The robot system 100 further includes a control unit 6 (see FIG. 7) that controls the first robot arm 1 and the second robot arm 3.

Specifically, the robot system 100 includes a dual-arm robot 10. The dual-arm robot 10 has a first robot arm 1, a second robot arm 3, a control unit 6, and a base 5. The control unit 6 is housed in the base 5. The first robot arm 1 and the second robot arm 3 are rotatably connected to the base 5. The dual-arm robot 10 is a so-called horizontal articulated robot. The first robot arm 1 and the second robot arm 3 operate independently of each other or cooperate with each other.

Here, the left-right direction, the front-back direction, and the up-down direction that are orthogonal to each other are set. In front of the dual-arm robot 10, a peeling station 93, which is a place where the first robot arm 1 and the second robot arm 3 perform a peeling operation, is arranged. The second mounting portion 92 is arranged on the right side of the peeling station 93. The first mounting portion 91 is arranged on the left side of the dual-arm robot 10. On the right side of the dual-arm robot 10, a temporary storage station 94 on which the work w is temporarily placed during the peeling operation is arranged.

A plurality of plate-shaped works w are laminated on the first mounting portion 91. For example, the work w is a sheet metal such as SPCC. The work w is laminated on the first mounting portion 91 in a state of being cut into a rectangular shape.

The second mounting portion 92 is a place for mounting one work w. In this example, the second mounting portion 92 is formed of a belt conveyor. The second mounting unit 92 conveys one mounted work w to the right side. On the right side of the second mounting portion 92, for example, a charging portion (not shown) of a processing machine (for example, a press machine or a laser processing machine) is arranged.

The peeling station 93 is a work table when the first robot arm 1 and the second robot arm 3 perform a peeling operation. A vision sensor 8 is arranged above the peeling station 93. The vision sensor 8 images the work w placed on the peeling station 93.

The temporary storage station 94 is used to temporarily place the work w, if necessary during the peeling operation.

<Structure of dual-arm robot>
FIG. 3 is a perspective view of the dual-arm robot 100. FIG. 4 is a front view of the dual-arm robot 100.

The first robot arm 1 has a first arm main body 11 having a plurality of joints, and a first end effector 12 connected to the first arm main body 11 and attracting a work w. The first arm main body 11 has an arm portion 13 and a wrist portion 14.

The arm portion 13 has a first link 21 and a second link 22. In each of the first link 21 and the second link 22, one end in the longitudinal direction is referred to as a first end, and the other end in the longitudinal direction is referred to as a second end. The first end portion 21a of the first link 21 is connected to a base shaft 51 provided on the upper portion of the base 5 via a rotary joint J1. The first link 21 is rotatable around the axis L1 via the rotary joint J1.

The first end 22a of the second link 22 is connected to the second end 21b of the first link 21 via a rotary joint J2. The second link 22 is rotatable around the axis L2 via the rotary joint J2. The first end 22a is arranged below the second end 21b.

The wrist portion 14 is connected to the second end portion 22b of the second link 22 via a linear motion joint J3. The wrist portion 14 can move linearly along the axis L3 via the linear motion joint J3.

A first end effector 12 is connected to a first end portion 14a, which is one end portion in the longitudinal direction of the wrist portion 14, via a rotary joint J4. The first end effector 12 can rotate around the axis L4 via the rotary joint J4.

The axial center L1, the axial center L2, the axial center L3, and the axial center L4 extend in parallel with each other. In this embodiment, the axial center L1, the axial center L2, the axial center L3, and the axial center L4 extend in the vertical direction. That is, the first link 21, the second link 22, and the first end effector 12 rotate in the horizontal plane, and the wrist portion 14 moves linearly in the vertical direction.

The second robot arm 3 has a second arm main body 31 having a plurality of joints, and a second end effector 32 connected to the second arm main body 31 and attracting the work w. The second arm main body 31 has an arm portion 33 and a wrist portion 34. The second arm main body 31 has substantially the same configuration as the first arm main body 11.

The arm portion 33 has a first link 41 and a second link 42. In each of the first link 41 and the second link 42, one end in the longitudinal direction is referred to as a first end, and the other end in the longitudinal direction is referred to as a second end. The first end portion 41a of the first link 41 is connected to the base shaft 51 of the base 5 via a rotary joint J5. The first link 41 can rotate around the axis L1 via the rotary joint J5.

The first end 41a is located below the first end 21a of the first link 21. That is, the base 51, the first link 41, and the first link 21 are arranged from the bottom to the top in this order.

The first end portion 42a of the second link 42 is connected to the second end portion 41b of the first link 41 via a rotary joint J6. The second link 42 can rotate around the axis L6 via the rotary joint J6. The first end portion 42a is arranged above the second end portion 41b.

The wrist portion 34 is connected to the second end portion 42b of the second link 42 via a linear motion joint J7. The wrist portion 34 can move linearly along the axial center L7 via the linear motion joint J7.

A second end effector 32 is connected to a first end portion 34a, which is one end portion in the longitudinal direction of the wrist portion 34, via a rotary joint J8. The second end effector 32 can rotate around the axis L8 via the rotary joint J8.

The axial center L1, the axial center L6, the axial center L7, and the axial center L8 extend in parallel with each other. In this embodiment, the axial center L1, the axial center L6, the axial center L7, and the axial center L8 extend in the vertical direction. That is, the first link 41, the second link 42, and the second end effector 32 rotate in the horizontal plane, and the wrist portion 34 moves linearly in the vertical direction.

The dual-arm robot 100 is provided with an electric motor 52 (see FIG. 7) that relatively rotates or linearly rotates two members to which the joints J1 to J8 are connected. For example, the electric motor 52 is a servo motor. Further, the dual-arm robot 100 is provided with an encoder 53 (see FIG. 7) that detects the rotational position of each electric motor.

FIG. 5 is a front view of the first end effector 12. The first end effector 12 has a base 23 connected to the wrist unit 14 and a first suction unit 26 provided on the base 23.

The base 23 has a shaft 24 and a bracket 25 connected to the shaft 24. The shaft 24 is connected to the wrist portion 14 via a rotary joint J4 in a state of being coaxial with the axis L4. The bracket 25 is formed of a flat plate extending in a direction orthogonal to the shaft 24. The shaft 24 is connected to the center of the bracket 25 in the longitudinal direction.

The bracket 25 is provided with two first suction portions 26. First suction portions 26 are arranged at both ends of the bracket 25 in the longitudinal direction. The first suction portion 26 is formed in a cup shape having a suction port 26a at the tip. The first suction portion 26 faces downward. That is, the suction port 26a opens downward. The first suction portion 26 is made of an elastic material such as rubber. The first suction portion 26 is attached to the bracket 25 via the shaft 26b.

The base 23 can rotate about the axis L4. As the base 23 rotates, the first suction portion 26 also rotates around the axis L4.

FIG. 6 is a front view of the second end effector 32. The second end effector 32 has a base 43 connected to the wrist portion 34, a second suction portion 47 provided on the base 43, and a third suction portion 48 provided on the base 43.

The base 43 has a shaft 44 and a bracket 45 connected to the shaft 44. The shaft 44 is connected to the wrist portion 34 via a rotary joint J8 in a state of being coaxial with the axis L8. The bracket 45 is formed of a flat plate extending in a direction orthogonal to the shaft 44. A shaft 44 is connected to the center of the bracket 45 in the longitudinal direction.

The bracket 45 is provided with a second suction portion 47 and a third suction portion 48. The second suction portion 47 is arranged at one end of the bracket 45 in the longitudinal direction, and the third suction portion 48 is arranged at the other end of the bracket 45 in the longitudinal direction.

The second suction portion 47 is formed in a cup shape having a suction port 47a at the tip. The second suction portion 47 faces upward. That is, the suction port 47a opens upward. That is, the second suction unit 47 faces in the opposite direction to the first suction unit 26. The second suction portion 47 is made of an elastic material such as rubber. The second suction portion 47 is attached to the bracket 45 via the shaft 47b.

The third suction portion 48 is formed in a cup shape having a suction port 48a at the tip. The third suction portion 48 faces downward. That is, the suction port 48a opens downward. That is, the third suction unit 48 faces in the same direction as the first suction unit 26. The third suction portion 48 is made of an elastic material such as rubber. The third suction portion 48 is attached to the bracket 45 via the shaft 48b.

The base 43 can rotate about the axis L8. As the base 43 rotates, the second suction portion 47 and the third suction portion 48 also rotate around the axis L8.

A tube (not shown) is connected to each of the first suction unit 26, the second suction unit 47, and the third suction unit 48. The tube is connected to a vacuum generator (not shown). The vacuum generator is housed in the base 5. Negative pressure is generated in the internal spaces of the first suction unit 26, the second suction unit 47, and the third suction unit 48 by suction by the vacuum generator. Due to this negative pressure, the first suction part 26, the second suction part 47, and the third suction part 48 suck the work w. The tube is provided with an on-off valve 54 (see FIG. 7). By opening and closing the on-off valve 54, the suction and release of the first suction unit 26, the second suction unit 47, and the third suction unit 48 are switched.

FIG. 7 is a block diagram of the control unit 6. The control unit 6 includes a calculation unit 61, a storage unit 62, and a servo control unit 63. The arithmetic unit 61 is formed by a processor such as a CPU. The storage unit 62 is formed of a ROM, a RAM, or the like. The servo control unit 63 is formed by a processor such as a CPU.

Information such as a basic program as a robot controller and various data is stored in the storage unit 62. The calculation unit 61 controls various operations of the dual-arm robot 10 by reading and executing software such as a basic program stored in the storage unit 62. The output signal of the sensor 71 of the counting unit 7, which will be described later, is input to the calculation unit 61. Further, the output signal of the vision sensor 8 is also input to the calculation unit 61. Further, the calculation unit 61 outputs a control signal to the on-off valve 54 of the tube connected to each suction unit.

The servo control unit 63 supplies a drive current to each electric motor of the dual-arm robot 10, and inputs a detection signal from each encoder. For example, the calculation unit 61 generates a control command for the dual-arm robot 10 and outputs the control command to the servo control unit 63. The servo control unit 63 outputs a drive current to the electric motor 52 corresponding to each of the joints J1 to J8 based on the control command. At this time, the servo control unit 63 controls the drive current based on the detection signal of each encoder 53.

<Structure of counting unit>
The counting unit 7 has a sensor 71 that detects the work w, and is based on the amount of movement of the work w by the first robot arm 1 while the sensor 71 is detecting the work w conveyed by the first robot arm 1. And count the number of works w.

Specifically, the counting unit 7 calculates the number of works w based on the amount of movement of the work w by the first robot arm 1 while the sensor 71 detects the work w conveyed by the first robot arm 1. It further has a calculation unit 74. The calculation unit 61 of the control unit 6 functions as a calculation unit 74.

The counting unit 7 has two sensors 71. When distinguishing between the two sensors 71, one sensor 71 is referred to as a first sensor 71A, and the other sensor 71 is referred to as a second sensor 71B. The configurations of the first sensor 71A and the second sensor 71B are the same.

The sensor 71 is an optical sensor that detects the work w depending on the presence or absence of light reception. The sensor 71 has a light emitting unit 72 and a light receiving unit 73. The sensor 71 is a so-called photo interrupter. The light emitting unit 72 emits one light flux. In this embodiment, the light emitting unit 72 emits a luminous flux in the horizontal direction. The light receiving unit 73 is arranged at a position facing the light emitting unit 72. The light receiving unit 73 receives the light flux from the light emitting unit 72. The light receiving unit 73 detects the presence of an object between the light emitting unit 72 and the light receiving unit 73 by blocking the light flux from the light emitting unit 72. For example, the light receiving unit 73 outputs an ON signal when the light flux from the light emitting unit 72 is cut off. The output of the light receiving unit 73 is input to the control unit 6.

The first sensor 71A is arranged on the left side of the peeling station 93. That is, the first sensor 71A is arranged between the first mounting portion 91 and the peeling station 93. The second sensor 71B is arranged on the right side of the peeling station 93. That is, the second sensor 71B is arranged between the peeling station 93 and the second mounting portion 92.

When counting the work w, the calculation unit 61 controls the operation of the first robot arm 1 in a state where the work w is held, and the light emitting unit is applied to the held work (hereinafter referred to as “holding work”) w. It is passed between 72 and the light receiving unit 73. At this time, the first robot arm 1 moves the holding work w in the thickness direction of the holding work w.

FIG. 8 is a diagram showing the relationship between the movement amount of the holding work w and the output of the sensor 71. FIG. 8 shows an example in which the holding work w moves from top to bottom in the vertical direction. When the holding work w passes between the light emitting unit 72 and the light receiving unit 73, the sensor 71 detects the holding work w and outputs an ON signal. Since the calculation unit 61 operates the first robot arm 1, the amount of movement of the holding work w in the thickness direction of the holding work w can be known. The calculation unit 74 obtains the thickness of the holding work w based on the movement amount ΔZ of the holding work w while the sensor 71 outputs the ON signal. Since the moving direction of the holding work w coincides with the thickness direction of the holding work w, the moving amount ΔZ of the holding work w while the sensor 71 is outputting the ON signal corresponds to the thickness of the holding work w.

The thickness of one work w is stored in the storage unit 62 in advance. The calculation unit 74 calculates the number of holding works w based on the thickness of the holding work w and the thickness of one work w.

<Operation of robot system>
Subsequently, the operation of the robot system 100 will be described.

First, the control unit 6 causes the first robot arm 1 and the second robot arm 3 to execute an operation of taking out the work w from the work WB. Specifically, the first robot arm 1 and the second robot arm 3 are deformed and moved, and the first suction portion 26 of the first end effector 12 and the third suction portion 48 of the second end effector 32 are moved to the maximum of the work bundle WB. It is moved to the outer layer, that is, the surface of the uppermost work w. Then, the first suction portion 26 of the first robot arm 1 and the third suction portion 48 of the second robot arm 3 suck the work w on the uppermost layer. As a result, the uppermost work w is held by the first robot arm 1 and the second robot arm 3. After that, the first robot arm 1 and the second robot arm 3 raise the first end effector 12 and the second end effector 32. The uppermost work w is lifted and separated from the work WB.

Here, when the uppermost work w is lifted, one or a plurality of works w may be in close contact with each other. Oil may be applied to the surface of the work w to improve workability and prevent rust. In such a case, the plurality of works w are likely to be in close contact with each other. Alternatively, a plurality of works w may be brought into close contact with each other due to static electricity. In this way, the number of holding works w held by the first robot arm 1 and the second robot arm 3 may be a plurality of pieces.

Therefore, the control unit 6 causes the first robot arm 1 and the second robot arm 3 to perform a counting operation for counting the number of the holding work w, following the taking-out operation. Specifically, the first robot arm 1 and the second robot arm 3 move the holding work w above the first sensor 71A. Then, the first robot arm 1 and the second robot arm 3 pass the holding work w in the vertical direction between the light emitting portion 72 and the light receiving portion 73 of the first sensor 71A in a posture in which the thickness direction thereof faces the vertical direction. .. The calculation unit 74 of the control unit 6 calculates the number of the holding work w based on the amount of movement of the holding work w while the first sensor 71A detects the holding work w.

When there is only one holding work w, the control unit 6 causes the first robot arm 1 and the second robot arm 3 to perform a transfer operation for transferring the holding work w to the second transfer unit 92. Specifically, the first robot arm 1 and the second robot arm 3 are deformed and moved to move the holding work w onto the second mounting portion 92. The first suction portion 26 and the third suction portion 48 release the suction, and the holding work w is placed on the second mounting portion 92. As a result, the transfer of the work w to the second mounting portion 92 is completed. The work w mounted on the second mounting portion 92 is conveyed to the processing machine by a belt conveyor.

On the other hand, when there are a plurality of holding works w, the control unit 6 causes the first robot arm 1 and the second robot arm 3 to perform a peeling operation for peeling the plurality of holding works w. Here, the case where the holding work w is two pieces will be described. When distinguishing each of the two holding works w, the work sucked by the first suction portion 26 is referred to as a first work w1, and the work in close contact with the first work w1 is referred to as a second work w2.

In the peeling operation, first, the first robot arm 1 and the second robot arm 3 convey the holding work w to the peeling station 93 as shown in FIG. At this time, the first robot arm 1 and the second robot arm 3 release the holding work w in a state where the portion of the holding work w sucked by the first suction portion 26 protrudes from the peeling station 93. Place on. Specifically, the peeling station 93 is formed of a flat plate having a substantially rectangular planar shape. A cutout portion 93a is formed in a portion of the peeling station 93 corresponding to one corner of a rectangle. The first robot arm 1 and the second robot arm 3 place the holding work w on the peeling station 93 so that the portion of the holding work w that is sucked by the first suction portion 26 is located at the notch portion 93a. Place.

After that, the second robot arm 3 releases the suction of the first work w1 by the third suction unit 48. Subsequently, as shown in FIGS. 10 and 11, the second robot arm 3 moves the second suction portion 47 below the portion of the second work w2 that protrudes from the peeling station 93. At this time, the second robot arm 3 can switch the suction portion to be used from the third suction portion 48 to the second suction portion 47 by rotating the second end effector 32 around the axis L8.

Specifically, the second robot arm 3 inserts the second suction portion 47 below the second work w2 in the cutout portion 93a. The second robot arm 3 attracts the holding work w to the second suction unit 47 from the side opposite to the first suction unit 26. That is, the first suction unit 26 sucks the first work w1, and the second suction unit 47 sucks the second work w2.

In this state, the first robot arm 1 and the second robot arm 3 relatively move the first suction portion 26 and the second suction portion 47 in the direction in which the first suction portion 26 and the second suction portion 47 are separated from each other. Performs a moving separation operation. Specifically, as shown in FIG. 12, while the second robot arm 3 maintains that state, the first robot arm 1 raises the first suction portion 26 from the start position Ha0 (see FIG. 11) to the separation position Ha1. Let me. When the first suction portion 26 rises to the separation position Ha1, the first work w1 is at least partially peeled off from the second work w2. The first robot arm 1 and the second robot arm 3 peel off the first work w1 and the second work w2 by this separation operation.

Subsequently, the second robot arm 3 releases the suction of the second work w2 by the second suction unit 47. As shown in FIG. 13, the second robot arm 3 moves the third suction unit 48 to the start position Hb0 above the first work w1 and causes the third suction unit 48 to suck the first work w1. At this time, the second robot arm 3 switches the suction portion to be used from the second suction portion 47 to the third suction portion 48 by rotating the second end effector 32 around the axis L8.

The start position Hb0 is determined based on the imaging result of the vision sensor 8. For example, the control unit 6 determines the size of the work w (for example, the size in the longitudinal direction) based on the image pickup result of the vision sensor 8, and changes the start position Hb0 according to the size of the work w. When the size of the work w in the longitudinal direction is smaller than the predetermined threshold value, the control unit 6 is on the other hand, and when the size of the work w in the longitudinal direction is equal to or larger than the predetermined threshold value, the length of the work w from the separation position Ha1 A position separated by a predetermined second distance (> first distance) in the direction is set as the start position Hb0. Alternatively, the control unit 6 sets the start position Hb0 at a position that is inside the edge of the work w by a predetermined amount from the edge farthest from the first suction unit 26, based on the image pickup result of the vision sensor 8. You may. If the dimensions of the work w are known in advance, the start position Hb0 may be set in advance according to the dimensions of the work w.

After that, the second robot worm 3 raises the third suction portion 48 to the separation position Hb1 as shown in FIG. The height of the separation position Hb1 is substantially the same as the height of the separation position Ha1 of the first suction portion 26. As a result, the first work w1 is completely peeled off from the second work w2.

Subsequently, the control unit 6 causes the first robot arm 1 and the second robot arm 3 to execute a counting operation for counting the number of the holding work w in order to confirm whether or not the holding work w has become one. .. The counting operation at this time is executed using the second sensor 71B. The basic operation in the counting operation is the same as the counting operation using the first sensor 71A described above.

When there is only one holding work w, the control unit 6 causes the first robot arm 1 and the second robot arm 3 to execute the transfer operation. Specifically, the first robot arm 1 and the second robot arm 3 move the holding work w, that is, the first work w1 onto the second mounting portion 92, and are subjected to the first suction portion 26 and the third suction portion 48. Release the adsorption. As a result, the work w is placed on the second mounting portion 92.

Subsequently, the first robot arm 1 and the second robot arm 3 attract the work w of the peeling station 93 by the first suction unit 26 and the third suction unit 48, and then the work w is 1 by using the second sensor 71B. After confirming that the number of sheets is the same, the transfer operation to the second mounting unit 92 is executed.

When there are a plurality of holding works w, if there are two holding works w before the peeling operation, the holding work w has failed to be peeled, so that the control unit 6 has the first robot arm 1 and the second. The robot arm 3 is made to perform the peeling operation again. Specifically, the first robot arm 1 and the second robot arm 3 move the holding work w onto the peeling station 93 again, and execute the peeling operation again. Then, the peeling operation is repeated until the number of holding works w after the peeling operation becomes one.

When the holding work w before the peeling operation is 3 or more, the holding work w before the peeling operation is 2 until the peeling operation and the counting operation by the first robot arm 1 and the second robot arm 3. Is similar to.

When the number of holding works w counted after the peeling operation is one, the control unit 6 causes the first robot arm 1 and the second robot arm 3 to execute the transfer operation. Here, a plurality of works w remain in the peeling station 93. The number of works w remaining in the peeling station 93 is determined based on the counting result by the first sensor 71A and the counting result by the second sensor 71B. When the work w of the peeling station 93 is one, the first robot arm 1 and the second robot arm 3 suck the work w of the peeling station 93 by the first suction portion 26 and the third suction portion 48, and then the work w of the peeling station 93 is sucked. The second sensor 71B is used to confirm that there is only one work w, and the transfer operation to the second mounting portion 92 is executed. When there are a plurality of work ws of the peeling station 93, the first robot arm 1 and the second robot arm 3 perform a peeling operation, a counting operation, and a temporary placement operation with respect to the work w of the peeling station 93 as described above. (If necessary) and the transfer operation are executed until the work w on the peeling station 93 disappears.

On the other hand, when the number of the counted holding works w is a plurality of sheets, the control unit 6 executes a temporary placing operation of placing the holding work w on the temporary placing station 94 on the first robot arm 1 and the second robot arm 3. Let me. Specifically, the first robot arm 1 and the second robot arm 3 move a plurality of holding works w onto the temporary storage station 94 to release the suction by the first suction unit 26 and the third suction unit 48. As a result, the work w is placed on the temporary storage station 94. After that, as in the case where the counted holding work w is one, the control unit 6 obtains the number of works w remaining in the peeling station 93, and the peeling operation, the counting operation, and the temporary placement are performed according to the obtained number of pieces. The first robot arm 1 and the second robot arm 3 are made to perform necessary operations such as an operation (if necessary) and a transfer operation until the work w on the peeling station 93 disappears.

When the work w on the peeling station 93 disappears, the first station 1 and the second station 3 move the work w placed on the temporary storage station 94 to the peeling station 93 and execute the peeling operation or the like. The temporary storage station 94 may be formed with a notch portion similar to the notch portion 93a of the peeling station 93. In that case, the control unit 6 causes the first robot arm 1 and the second robot arm 3 to perform the peeling operation at the temporary storage station 94. As a result, the process of moving the work w placed on the temporary storage station 94 to the peeling station 93 can be omitted, so that the overall efficiency can be improved.

When the work w on the peeling station 93 and the temporary storage station 94 disappears, the control unit 6 causes the first robot arm 1 and the second robot arm 3 to perform the taking-out operation and the subsequent operations again.

In this way, the robot system 100 transfers the plurality of works w stacked on the first mounting portion 91 one by one to the second mounting portion 92.

Here, the above-mentioned separation operation will be described in more detail. The separation operation by the first robot arm 1 has various modes other than the mode in which the first suction portion 26 is simply pulled upward. 15 to 17 are diagrams for explaining a modified example of the movement locus of the first suction portion 26 in the separation operation. 18 to 21 are diagrams for explaining a modification of the vertical movement locus of the first suction portion 26 in the separation operation. In FIGS. 18 to 21, the vertical axis represents the vertical position and the horizontal axis represents the time.

For example, the first robot arm 1 does not linearly move the first suction portion 26 from the start position H0 to the separation position H1, but moves the first suction portion 26 inside from the start position Ha0 as shown in FIG. After passing through the intermediate position Ha21, the robot is moved diagonally upward to the distance position Ha1. Here, the "inside" means the side close to the center of gravity of the work W1, and the "outside" means the side far from the center of gravity of the work W1. The height of the intermediate position Ha21 is lower than that of the separated position Ha1.

By moving the first suction portion 26 inward when it is raised in this way, the first work w1 is likely to be curved, and a force in the shearing direction acts on the first work w1. When the first work w1 is curved or a force in the shearing direction acts on the first work w1, the first work w1 is likely to be separated from the second work w2.

In the example of FIG. 16, the first robot arm 1 moves the first suction portion 26 diagonally upward from the start position Ha0 to pass through the intermediate position Ha22, and then moves outward in the substantially horizontal direction to the separated position Ha1. Move. The height of the intermediate position Ha22 is substantially the same as that of the separated position Ha1. In this case as well, the same effects as in the example of FIG. 15 occur.

In the example of FIG. 17, the first robot arm 1 moves the first suction portion 26 diagonally upward from the start position Ha0 to pass through the intermediate position Ha23, and then moves outward in the substantially horizontal direction to the separated position Ha1. Move. The height of the intermediate position Ha23 is higher than that of the separated position Ha1. In this case as well, the same effects as in the example of FIG. 15 occur.

The larger the amount of movement of the first suction portion 26 inward and upward, the greater the force generated in the first work w1 in the bending and shearing directions, and the easier it is for the first work w1 to peel off.

Next, the vertical movement locus of the first suction portion 26 in the separation operation will be described with reference to FIGS. 18 to 21. In FIGS. 18 to 21, only the vertical position of the first suction portion 26 is focused on. The vertical movement locus of the first suction unit 26 shown in FIGS. 18 to 21 is not limited to the case where the first suction unit 26 is simply moved in the vertical direction, as shown in FIGS. 15 to 17, the first suction unit 26 Can also be applied when moving in a direction inclined with respect to the vertical direction.

For example, as shown in FIG. 18, the first robot arm 1 is intermittently moved upward. Specifically, the first robot arm 1 moves the first suction unit 26 from the start position Ha0 to the separation position Ha1 while repeating the movement and the stop a plurality of times. As a result, the first work w1 can be vibrated, and the separation between the first work w1 and the second work w2 can be promoted. When the first work w1 and the second work w2 are only partially peeled off and a portion that is in close contact with each other remains, the first work w1 is vibrated to be in close contact with the second work w2 of the first work w1. It is possible to promote peeling from the second work w2 in the portion where the work is performed.

In the example of FIG. 19, the first robot arm 1 monotonically raises the first suction portion 26 from the start position Ha0 to the separation position Ha1, and then moves the first suction portion 26 up and down at the separation position Ha1. In this case, since the first work w1 vibrates in a state where the first work w1 is greatly curved, the portion of the first work w1 that is in close contact with the second work w2 is further peeled off from the second work w2. Can be prompted.

In the example of FIG. 20, the first robot arm 1 monotonically raises the first suction portion 26 from the start position Ha0 to the intermediate position Ha24, then moves the first suction portion 26 up and down at the intermediate position Ha24, and then moves the first suction portion 26 up and down. It is monotonically raised to the separation position Ha1. In this case, the first work w1 vibrates in a state where the first work w1 is curved to some extent at the intermediate position Ha24, and the peeling of the first work w1 from the second work w2 is promoted. After that, when the first work w1 is further curved as the first suction portion 26 rises to the separation position Ha1, vibration may remain in the first work w1. That is, the synergistic effect of the curvature of the first work w1 and the vibration further promotes the peeling of the first work w1 from the second work 2.

In the example of FIG. 21, the first robot arm 1 moves the first suction portion 26 up and down from the start position Ha0 to the separation position Ha1. In this case, the first work w1 is curved while vibrating. Therefore, the synergistic effect of the curvature of the first work w1 and the vibration promotes the peeling of the first work w1 from the second work 2.

Further, when the first robot arm 1 moves the first suction portion 26 from the start position Ha0 to the separation position Ha1, the suction pressure of the first suction portion 26 and / or the second suction portion 47 may be changed. Specifically, the suction pressure is changed so that the suction pressure repeatedly increases and decreases. This fluctuation in suction pressure may be combined with a monotonous rise from the start position Ha0 of the first suction portion 26 to the separation position Ha1, or may be combined with a rise of the first suction portion 26 as shown in FIGS. 18 to 21. good.

As described above, the robot system 100 holds the work w of the outermost layer of the work bundle WB in which a plurality of plate-shaped work w is laminated by suction and transfers it to the second mounting portion 92 (mounting portion). The first robot arm 1 includes a first robot arm 1 and a counting unit 7 for counting the number of works w held by the first robot arm 1, and the first robot arm 1 is a first arm main body having a plurality of joints J1 to J4. 11 and a first end effector 12 connected to the first arm main body 11 and adsorbing the work w, and when the number of the work w counted by the counting unit 7 is a plurality of pieces, a plurality of works. A peeling operation for peeling each of w is executed, and one work w is transferred to the second mounting portion 92.

According to this configuration, since the first robot arm 1 has the first arm main body 11 having a plurality of joints J1 to J4, the first robot arm 1 can be deformed and moved relatively freely. Then, the first robot arm 1 takes out the work w from the work bundle WB, peels off the plurality of works w, and transfers the work w to the second mounting portion 92. Therefore, even if the dimensions of the work w are changed or the position of the work bundle WB or the second mounting portion 92 is changed, the robot system 100 flexibly responds to the change and transfers the work w. Can be realized. That is, the robot system 100 can improve the versatility as a device for transferring the plate-shaped work w one by one.

Further, the robot system 100 includes a second arm main body 31 having a plurality of joints J5 to J8, and a second robot arm 3 having a second end effector 32 connected to the second arm main body 31 and sucking the work w. Further provided, the first robot arm 1 executes a peeling operation in cooperation with the second robot arm 3.

According to this configuration, the robot system 100 includes two robot arms, a first robot arm 1 and a second robot arm 3. As a result, the robot system 100 can perform the taking-out operation, the peeling operation, and the placing operation with a high degree of freedom.

Further, the first end effector 12 has a first suction portion 26 that sucks the work w, and the second end effector 32 has a second suction portion 47 that sucks the work w. The suction unit 47 sucks a work w different from the work w to which the first suction part 26 of the plurality of works w is sucked, for example, the second work w2 from the side opposite to the first suction part 26.

According to this configuration, when the peeling operation of the plurality of workpieces w is performed, the first suction portion 26 of the first end effector 12 and the second suction portion 47 of the second end effector 12 each have a plurality of pieces from opposite sides. Work w is adsorbed. As described above, by providing the first robot arm 1 and the second robot arm 3, the robot system 100 can suck a plurality of pieces of work w from opposite sides and execute the peeling operation. As a result, the plurality of workpieces w can be easily peeled off.

In addition, the second end effector 32 further has a third suction portion 48 facing away from the second suction portion 47, and the first robot arm 1 and the second robot arm 3 have a first suction portion 26. The outermost work w is taken out from the work bundle WB in a state where the third suction part 48 has sucked the outermost work w from the same side, and in the peeling operation, the first suction part 26 and the second suction part 47 are used. Separate works w of the plurality of works w are adsorbed from opposite sides, and the first adsorbing portion 26 and the second adsorbing portion 47 are moved in a direction in which the first adsorbing portion 26 and the second adsorbing portion 47 are separated from each other. By moving them relative to each other, the first work w1 adsorbed by the first suction unit 26 and the second work w2 adsorbed by the second suction unit 47 are peeled off.

According to this configuration, the second end effector 32 has a second suction portion 47 and a third suction portion 48 facing opposite sides, respectively. Since the second suction portion 47 sucks the work w from the side opposite to the first suction portion 26, the third suction portion 48 facing the opposite side to the second suction portion 47 is on the same side as the first suction portion 26. Will turn to. Therefore, when the work w is taken out from the work bundle WB and the work w is transferred to the second mounting portion 92, the third suction portion 48 sucks and holds the work w in cooperation with the first suction portion 26. can do. On the other hand, in the second end effector 32, the suction portion to be used is switched from the third suction portion 48 to the second suction portion 47, so that the second suction portion 47 is used to peel the plurality of works w in the peeling operation. be able to. That is, by using the second robot arm 3 by switching between the second suction portion 47 and the third suction portion 48 of the second end effector 32, not only the peeling operation but also the take-out and transfer of the work w can be performed. 1 It can be performed together with the robot arm 1.

Further, the robot system 100 further includes a dual-arm robot 10 having a first robot arm 1 and a second robot arm 3.

According to this configuration, the first robot arm 1 and the second robot arm 3 can be controlled by one dual-arm robot 10.

Further, the counting unit 7 has a sensor 71 that detects the work w, and counts the number of works w based on the movement amount of the work w conveyed by the first robot arm 1 and the detection of the work w by the sensor 71. do.

According to this configuration, the counting unit 7 can be made a simple configuration, and the cost of the counting unit 7 can be reduced. Specifically, the sensor 71 does not need to detect the number of works w by itself. The sensor 71 only needs to detect the work w. Since the first robot arm 1 conveys the work w, the amount of movement of the work w can be easily known due to the characteristics of the robot. The number of works w can be obtained by combining the movement amount of the work w and the detection of the work by the sensor 71.

Specifically, the counting unit 7 calculates the number of works w based on the amount of movement of the work w by the first robot arm 1 while the sensor 71 detects the work w conveyed by the first robot arm 1. Count.

According to this configuration, as the number of works w conveyed by the first robot arm 1 increases, the amount of movement of the work w while the sensor 71 detects the work w increases. The amount of movement of the work w while the sensor 71 is detecting the work w is determined according to the number of the work w to be conveyed. That is, if the sensor 71 can detect the existence of the work w, the number of works w can be obtained from the movement amount of the work w while the sensor 71 is detecting the work w. Since it is not necessary to detect the number of workpieces w by the sensor 71 alone, a simple and inexpensive sensor can be adopted as the sensor 71.

Specifically, the sensor 71 is an optical sensor that detects the work w depending on the presence or absence of light reception.

According to this configuration, the sensor 71 can be composed of an optical sensor. Optical sensors are popular sensors and are not quite expensive. By adopting an optical sensor as the sensor 71, the counting unit 7 can be made into a simple configuration, and the cost of the counting unit 7 can be reduced.

<< Embodiment 2 >>
Subsequently, the robot system 200 according to the second embodiment will be described. FIG. 22 is a schematic plan view showing a schematic configuration of the robot system 200. In FIG. 22, the vision sensor 8 is not shown.

The robot system 200 differs from the robot system 100 in the configurations of the second end effector 232 and the peeling station 293 of the second robot arm 203. Along with this, the operations of the first robot arm 1 and the second robot arm 203 are different from those of the robot system 100. Therefore, among the configurations of the robot system 200, the same configurations as those of the robot system 100 are designated by the same reference numerals and the description thereof will be omitted, and the different configurations and operations of the robot system 200 and the robot system 100 will be mainly described.

The second robot arm 203 has a second arm main body 31 having a plurality of joints, and a second end effector 232 that is connected to the second arm main body 31 and attracts the work w. The configuration of the second arm main body 31 of the second robot arm 203 is the same as the configuration of the second arm main body 31 of the second robot arm 3.

FIG. 23 is a front view of the second end effector 232. The second end effector 232 has a base 43 connected to the wrist portion 34 of the second arm main body 31, and two third suction portions 248 provided on the base 43. The configuration of the base 43 of the second end effector 232 is the same as the configuration of the base 43 of the second end effector 32.

The third suction portion 248 is formed in a cup shape having a suction port 248a at the tip. The third suction portion 248 faces downward. That is, the suction port 248a opens downward. That is, the third suction unit 248 faces in the same direction as the first suction unit 26. The third suction portion 248 is made of an elastic material such as rubber.

The third suction portion 248 is attached to the bracket 45 via the shaft 48b. A tube (not shown) is connected to the third suction portion 248. The tube is connected to a vacuum generator (not shown). The vacuum generator is housed in the base 5. Negative pressure is generated in the internal space of the third suction unit 248 by suction by the vacuum generator. By this negative pressure, the third suction unit 248 can suck the work w.

The peeling station 293 has a plurality of base suction portions 295 that suck the work w. A plurality of holes 293b are formed on the mounting surface 293a on which the work w is mounted in the peeling station 293.

Specifically, the base suction portion 295 is formed in a cup shape having a suction port 295a at the tip. The base suction portion 295 is arranged in the hole 293b in a state of facing upward. That is, the suction port 295a opens upward. The tip of the base suction portion 295 (that is, the suction port 295a) is located flush with the mounting surface 293a or slightly above the mounting surface 293a. The base suction portion 295 is made of an elastic material such as rubber.

A tube (not shown) is connected to the base suction portion 295. The tube is connected to a vacuum generator (not shown). Negative pressure is generated in the internal space of the base suction portion 295 by suction by the vacuum generator. By this negative pressure, the base suction unit 295 can suck the work w.

<Operation of robot system>
Subsequently, the operation of the robot system 200 will be described with reference to FIGS. 24 to 28. Similar to the robot system 100, the robot system 200 performs a series of operations such as an extraction operation, a counting operation, a peeling operation (only when necessary), and a transfer operation. The operations of the first robot arm 1 and the second robot arm 203 in each operation are slightly different from those of the robot system 100.

Specifically, in the take-out operation, the outermost layer of the work bundle WB, that is, the uppermost work w is sucked by the first suction portion 26 of the first end effector 12 and the third suction portion 248 of the second end effector 232. Lift and take out the work w from the work bundle WB. At this time, the work w is held by a total of four suction portions, that is, two first suction portions 26 and two third suction portions 248.

The counting operation and the transfer operation are the same as the operations of the robot system 100 except that the work w is held by the two first suction units 26 and the two third suction units 248.

In the peeling operation, first, the first robot arm 1 and the second robot arm 203 execute a transport operation of transporting the holding work w to the peeling station 293 (that is, the base suction portion 295).

After the transfer operation, as shown in FIG. 24, the first robot arm 1 attracts the first work w1 to the first suction portion 26 at the start position Ha0, and the second robot arm 203 is attracted to the third suction portion 248. The first work w1 is adsorbed at the start position Hb0. That is, the first suction unit 26 and the third suction unit 248 suck the first work w1 from the same side.

The start position Ha0 of the first suction unit 26 may be the same as the position where the first suction unit 26 was sucked during the take-out operation and the counting operation. In that case, the first suction unit 26 does not move as it was when the holding work w was placed on the peeling station 293 after the counting operation, and also maintains the suction of the holding work w. The start position Hb0 of the third suction unit 248 is a position relatively close to the start position Ha0 of the first suction unit 26. For example, the distance D1 between the start position Hb0 of the third suction portion 248 and the start position Ha0 of the first suction portion 26 is larger than the distance D2 between the start position Ha0 of the first suction portion 26 and the center of gravity G of the first work W1. short.

At the same time, the base suction unit 295 sucks the work w on the peeling station 293, that is, the second work w2. That is, the base suction unit 295 sucks the work w on the peeling station 293 from the side opposite to the first suction part 26 and the third suction part 248.

Next, the first robot arm 1 and the second robot arm 203 execute the first separation operation of moving the first suction unit 26 in the direction of separation from the base suction unit 295. Specifically, as shown in FIG. 25, the first robot arm 1 raises the first suction portion 26 to the separation position Ha1 while the second robot arm 203 maintains the state. When the first suction portion 26 rises to the separation position Ha1, the first work w1 is at least partially peeled off from the second work w2.

At this time, since the third suction portion 248 is located relatively close to the first suction portion 26, the portion of the first work w1 that has been sucked by the first suction portion 26 and the third suction portion 248 are sucked. There is a large curvature between the parts. As a result, the peeling between the first work w1 and the second work w2 is promoted.

Next, the first robot arm 1 and the second robot arm 203 execute a second separation operation of moving the third suction unit 248 in a direction away from the base suction unit 295. Specifically, as shown in FIG. 26, the second robot arm 203 raises the third suction portion 248 to the first separation position Hb1 while the first robot arm 1 maintains the state. The height of the first separation position Hb1 of the third suction portion 248 is substantially the same as the height of the separation position Ha1 of the first suction portion 26. When the third suction portion 248 rises to the first separation position Hb1, the portion of the first work w1 sucked by the third suction portion 248 and the peripheral portion thereof are peeled off from the second work w2.

Subsequently, the first robot arm 1 and the second robot arm 203 are placed at the re-suction position Hb2, which is a position farther from the first suction unit 26 than the position where the first robot arm 1 and the second robot arm 203 were sucked by the third suction unit 248 during the second separation operation. The holding operation of sucking the first work w1 again is executed. Specifically, as shown in FIG. 27, while the first robot arm 1 maintains the state, the second robot arm 203 releases the suction of the first work w1 by the third suction unit 248 at the separation position Hb1. The third suction unit 248 is moved to the re-suction position Hb2. The re-adsorption position Hb2 is a position relatively far from the start position Ha0 or the separation position Ha1 of the first adsorption unit 26. For example, the distance D3 between the re-suction position Hb2 and the separation position Ha1 of the first suction portion 26 is longer than the distance D2 between the separation position Ha1 of the first suction portion 26 and the center of gravity G of the first work W1.

After that, the first robot arm 1 and the second robot arm 203 execute a third separation operation of moving the third suction unit 248 in a direction away from the base suction unit 295. Specifically, as shown in FIG. 28, the second robot arm 203 raises the third suction portion 248 to the second separation position Hb3 while the first robot arm 1 maintains the state. The height of the second separation position Hb3 of the third suction portion 248 is substantially the same as the height of the separation position Ha1 of the first suction portion 26 and the height of the first separation position Hb1 of the third suction portion 248. When the third suction portion 248 rises to the second separation position Hb3, the portion of the first work w1 sucked by the third suction portion 248 and the peripheral portion thereof are peeled off from the second work w2.

In this way, the first robot arm 1 and the second robot arm 203 peel off the first work w1 and the second work w2. When the first work w1 is separated from the second work w2, the control unit 6 causes the first robot arm 1 and the second robot arm 203 to execute the counting operation.

After that, when the second work w2 is transferred from the peeling station 293 to the second mounting portion 92, the base suction portion 295 releases the suction of the second work w2.

In this way, the first work w1 can be gradually peeled off from the second work w2 by performing the separation operation a plurality of times by changing the portion to be sucked by the third suction portion 248. In particular, such a peeling operation is effective for a large work w.

As described above, the robot system 200 further includes a base suction portion 295 that sucks the work w in the peeling operation, and the first end effector 12 has a first suction portion 26 that sucks the work w and has a second end. The effector 232 has a third suction portion 248 that sucks the work w, and in the peeling operation, the first robot arm 1 and the second robot arm 203 carry a plurality of works w to the base suction portion 295. After the transfer operation, the first suction unit 26 and the third suction unit 248 suck the first work w1 (one work) of the plurality of works w from the same side and the base suction unit 295. Separates the first suction part 26 from the base suction part 295 in a state where the second work w2 (another work) of the plurality of works w is sucked from the side opposite to the first suction part 26 and the third suction part 248. The first separation operation of moving in the direction of movement is executed, and after the first separation operation, the second separation operation of moving the third suction unit 248 in the direction of separation from the base suction unit 295 is executed, and the second separation operation is performed. After that, the suction by the third suction part 248 is released, and the work w is sucked again by the third suction part 248 at a position farther from the first suction part 26 than the position where the third suction part 248 was sucked at the time of the second separation operation. The third separation operation of moving the suction unit 248 in the direction of separation from the base suction unit 295 is executed.

According to this configuration, the first work w1 of the plurality of works w is adsorbed by the first suction unit 26 and the third suction unit 248, while the second work w2 of the plurality of works w is the base suction unit 295. Is adsorbed by. Then, the first work w1 can be gradually separated from the second work w2 by sequentially executing the separation operation of the first suction unit 26 and the third suction unit 248. In addition to that, while maintaining the suction of the first work w1 by the first suction unit 26, the third suction unit 248 changes the location and sucks the first work w1 again to further execute the separation operation, thereby performing a wide range. The first work w1 can be peeled off from the second work w2.

<< Embodiment 3 >>
Subsequently, the second end effector 332 of the robot system according to the third embodiment will be described. FIG. 29 is a perspective view of the second end effector 332 according to the third embodiment. The robot system according to the third embodiment has a different configuration of the second end effector 332 from the robot system 100 according to the first embodiment. Along with this, the peeling operation of the robot system according to the third embodiment is also different from that of the robot system 100 according to the first embodiment. Therefore, among the configurations of the robot system according to the third embodiment, the same configurations as the robot system 100 are designated by the same reference numerals and the description thereof will be omitted. The operation will be mainly explained.

The second end effector 332 includes a base 343 connected to a wrist portion 34 (see FIG. 6), a second suction portion 47 provided on the base 343, a third suction portion 48 provided on the base 343, and a base. It has an air nozzle 349 provided in 343. The air nozzle 349 injects air into the edge of the work w adsorbed on the second end effector 332. The air nozzle 349 is an example of an air injection unit.

The base 343 has a shaft 44 and a bracket 345 connected to the shaft 44. The shaft 44 is connected to the wrist portion 34 via a rotary joint J8 (see FIG. 6) in a state of being coaxial with the axis L8. The bracket 345 has a first straight line portion 345a extending substantially linearly and a second straight line portion 345b extending substantially perpendicularly to the first straight line portion 345a from the end portion of the first straight line portion 345a. The bracket 345 is formed in a substantially L shape. The shaft 44 is connected to the center of the first straight line portion 345a in the longitudinal direction in a state orthogonal to the first straight line portion 345a.

The bracket 345 is provided with a second suction portion 47, a third suction portion 48, and an air nozzle 349. The second suction portion 47 is arranged at one end of the first straight portion 345a in the longitudinal direction, and the third suction portion 48 is arranged at the other end of the first straight portion 345a in the longitudinal direction. The configuration of the second suction unit 47 and the third suction unit 48 is the same as that of the robot system 100.

The air nozzle 349 is provided in the second straight line portion 345b. The air nozzle 349 is arranged above the second straight line portion 345b. The air nozzle 349 is configured to inject air toward the suction port 47a of the second suction portion 47. More specifically, the air nozzle 349 injects air toward the space slightly above the suction port 47a of the second suction portion 47.

The base 343 can rotate about the axis L8. As the base 343 rotates, the second suction portion 47, the third suction portion 48, and the air nozzle 349 also rotate around the axis L8.

Tubes (not shown) are connected to the second suction portion 47, the third suction portion 48, and the air nozzle 349, respectively. The tubes connected to the second suction unit 47 and the third suction unit 48 are connected to a vacuum generator (not shown). The tube is provided with an on-off valve 54 (see FIG. 7). By opening and closing the on-off valve 54, the suction and release of the second suction unit 47 and the third suction unit 48 are switched. The tube connected to the air nozzle 349 is connected to an air compressor (not shown). The tube is provided with an on-off valve 54 (see FIG. 7). By opening and closing the on-off valve 54, the injection of air from the air nozzle 349 and the stop of injection are switched. The vacuum generator and the air compressor are housed in the base 5.

Next, the operation of the robot system will be described. The take-out operation, counting operation, and transfer operation by the first robot arm 1 and the second robot arm 3 are the same as those in the first embodiment. FIG. 30 is a schematic plan view showing the arrangement of the first and second end effectors 12, 332 immediately before the start of the peeling operation. FIG. 31 is a schematic front view showing the arrangement of the first and second end effectors 12, 332 immediately before the start of the peeling operation. FIG. 32 is a schematic front view showing a state when the first robot arm 1 performs a separation operation in the peeling operation.

In the peeling operation, the first robot arm 1 and the second robot arm 3 convey the holding work w to the peeling station 93, and the second robot arm 3 releases the suction of the first work w1 by the third suction unit 48. , The same as in the first embodiment until the second robot arm 3 attracts the holding work w to the second suction portion 47 at the cutout portion 93a from the side opposite to the first suction portion 26.

At this time, as shown in FIGS. 30 and 31, the air nozzle 349 is arranged so as to inject air into the space above the peeling station 93. Specifically, the air nozzle 349 is arranged so as to inject air into the edge of the work w placed on the peeling station 93.

In this state, the first robot arm 1 and the second robot arm 3 relatively move the first suction portion 26 and the second suction portion 47 in the direction in which the first suction portion 26 and the second suction portion 47 are separated from each other. Performs a moving separation operation. Specifically, while the second robot arm 3 maintains that state, the first robot arm 1 raises the first suction portion 26 from the start position Ha0 (see FIG. 31) to the separation position Ha1 (see FIG. 32).

At this time, the control unit 6 injects air into the air nozzle 349. The air nozzle 349 injects air into the edges of the first work w1 and the second work w2. As a result, air is blown between the first work w1 and the second work w2 that are peeled off by the first suction portion 26 and the second suction portion 47, and the first work w1 and the second work w2 are peeled off. Be promoted.

The injection of air from the air nozzle 349 may be continued as long as the first suction portion 26 rises from the start position Ha0 to the separation position Ha1, or may be performed intermittently. The injection of air from the air nozzle 349 may be performed only for a part of the period until the first suction portion 26 rises from the start position Ha0 to the separation position Ha1. The injection of air from the air nozzle 349 may be started before the first suction portion 26 rises.

Subsequent operations of the first robot arm 1 and the second robot arm 3 are the same as in the first embodiment.

As described above, the second end effector 332 has an air nozzle 349 (air injection unit) that injects air to the edge of the adsorbed work w, and the air nozzle 349 has the work when the peeling operation is executed. Air is injected to the edge of w.

According to this configuration, air is injected from the air nozzle 349 between the work w to be separated by the first robot arm 1 and the second robot arm 3, and the separation of the work w can be promoted.

<< Embodiment 4 >>
Subsequently, the first end effector 412 of the robot system according to the fourth embodiment will be described. FIG. 33 is a perspective view of the first end effector 412 according to the fourth embodiment. The robot system according to the fourth embodiment has a different configuration of the first end effector 412 from the robot system 100 according to the first embodiment. Along with this, the peeling operation of the robot system according to the fourth embodiment is also different from that of the robot system 100 according to the first embodiment. Therefore, among the configurations of the robot system according to the fourth embodiment, the same configurations as the robot system 100 are designated by the same reference numerals and the description thereof will be omitted. The operation will be mainly explained.

The first end effector 412 has a base 423 connected to a wrist portion 14 (see FIG. 5), a first suction portion 26 provided on the base 423, and an air nozzle 429 provided on the base 423. .. The air nozzle 429 injects air into the edge of the work w adsorbed on the first end effector 412. The air nozzle 429 is an example of an air injection unit.

The base 423 has a shaft 24 and a bracket 425 connected to the shaft 24. The shaft 24 is connected to the wrist portion 14 via a rotary joint J4 (see FIG. 5) in a state of being coaxial with the axis L4. The bracket 425 has a first straight line portion 425a extending substantially linearly and a second straight line portion 425b extending substantially perpendicular to the first straight line portion 425a from substantially the center in the longitudinal direction of the first straight line portion 425a. .. The bracket 425 is formed in a substantially T shape. The shaft 24 is connected to the center of the first straight line portion 425a in the longitudinal direction in a state orthogonal to the first straight line portion 425a. The tip of the second straight line portion 425b is inclined upward with respect to the horizontal plane.

The bracket 425 is provided with two first suction portions 26 and an air nozzle 429. The first suction portions 26 are arranged at both ends of the first straight portion 425a in the longitudinal direction. The configuration of the first suction unit 26 is the same as that of the robot system 100.

The air nozzle 429 is provided in the second straight line portion 425b. The air nozzle 429 is provided at the inclined tip portion of the second straight line portion 425b. The air nozzle 429 is arranged below the second straight line portion 425b.

The base 423 can rotate about the axis L4. As the base 423 rotates, the first suction portion 26 and the air nozzle 429 also rotate around the axis L4.

A tube (not shown) is connected to each of the first suction unit 26 and the air nozzle 429. The tube connected to the first suction unit 26 is connected to a vacuum generator (not shown). The tube is provided with an on-off valve 54 (see FIG. 7). By opening and closing the on-off valve 54, the suction and release of each of the first suction portions 26 can be switched. The tube connected to the air nozzle 429 is connected to an air compressor (not shown). The tube is provided with an on-off valve 54 (see FIG. 7). By opening and closing the on-off valve 54, the injection of air from the air nozzle 429 and the stop of injection are switched. The vacuum generator and the air compressor are housed in the base 5.

Next, the operation of the robot system will be described. The take-out operation, counting operation, and transfer operation by the first robot arm 1 and the second robot arm 3 are the same as those in the first embodiment. FIG. 34 is a schematic front view showing the arrangement of the first and second end effectors 421 and 32 immediately before the start of the peeling operation. FIG. 35 is a schematic front view showing a state when the first robot arm 1 performs a separation operation in the peeling operation.

In the peeling operation, the first robot arm 1 and the second robot arm 3 convey the holding work w to the peeling station 93, and the second robot arm 3 releases the suction of the first work w1 by the third suction unit 48. , The same as in the first embodiment until the second robot arm 3 attracts the holding work w to the second suction portion 47 at the cutout portion 93a from the side opposite to the first suction portion 26.

At this time, as shown in FIG. 34, the air nozzle 429 is arranged so as to inject air to the edge of the work w held by the first suction portion 26, that is, the edge of the work w on the peeling station 93. There is.

In this state, the first robot arm 1 and the second robot arm 3 relatively move the first suction portion 26 and the second suction portion 47 in the direction in which the first suction portion 26 and the second suction portion 47 are separated from each other. Performs a moving separation operation. Specifically, while the second robot arm 3 maintains that state, the first robot arm 1 raises the first suction portion 26 from the start position Ha0 (see FIG. 34) to the separation position Ha1 (see FIG. 35).

At this time, the control unit 6 injects air into the air nozzle 429. The air nozzle 429 injects air into the edges of the first work w1 and the second work w2. As a result, air is blown between the first work w1 and the second work w2 that are peeled off by the first suction portion 26 and the second suction portion 47, and the first work w1 and the second work w2 are peeled off. Be promoted.

The injection of air from the air nozzle 429 may be continued as long as the first suction portion 26 rises from the start position Ha0 to the separation position Ha1, or may be performed intermittently. The injection of air from the air nozzle 429 may be performed only for a part of the period until the first suction portion 26 rises from the start position Ha0 to the separation position Ha1. The injection of air from the air nozzle 429 may be started before the first suction portion 26 rises.

Subsequent operations of the first robot arm 1 and the second robot arm 3 are the same as in the first embodiment.

As described above, the first end effector 412 has an air nozzle 429 (air injection unit) that injects air to the edge of the adsorbed work w, and the air nozzle 429 is a work when the peeling operation is executed. Air is injected to the edge of w.

According to this configuration, air is injected from the air nozzle 429 between the work w to be separated by the first robot arm 1 and the second robot arm 3, and the separation of the work w can be promoted.

Further, the control unit 6 may inject air into the air nozzle 429 when the first suction unit 26 takes out the work w of the outermost layer from the first mounting unit 91. Specifically, the air nozzle 429 injects air into the edge of the work w held by the first suction portion 26 in the first mounting portion 91. As a result, peeling of the work w can be promoted even when the work w is taken out from the first mounting portion 91.

The first end effector 412 can also be applied to the robot system 200 of the second embodiment. FIG. 36 is a schematic front view showing a state immediately before the first robot arm 1 performs the first separation operation in the peeling operation of the modified example of the fourth embodiment. FIG. 37 is a schematic front view showing a state in which the first robot arm 1 performs the first separation operation in the peeling operation.

Specifically, as shown in FIG. 36, in the start straight line of the first separation operation, the first robot arm 1 attracts the first work w1 to the first suction portion 26 at the start position Ha0, and the second robot arm 203 Adsorbs the first work w1 to the third suction unit 248 at the start position Hb0. At this time, the air nozzle 429 of the first end effector 412 is arranged so as to inject air to the edge of the work w held by the first suction portion 26, that is, the edge of the work w on the peeling station 93. ..

In this state, the first robot arm 1 and the second robot arm 3 execute the first separation operation of moving the first suction unit 26 in the direction of separation from the base suction unit 295, as shown in FIG. 37. Specifically, while the second robot arm 203 maintains that state, the first robot arm 1 raises the first suction portion 26 to the separation position Ha1.

At this time, the control unit 6 injects air into the air nozzle 429. The air nozzle 429 injects air into the edges of the first work w1 and the second work w2. As a result, air is blown between the first work w1 and the second work w2 that are peeled off by the first suction portion 26 and the base suction portion 295, and the peeling between the first work w1 and the second work w2 is promoted. Will be done.

<< Other Embodiments >>
As described above, the above-described embodiment has been described as an example of the technology disclosed in the present application. However, the technique in the present disclosure is not limited to this, and can be applied to embodiments in which changes, replacements, additions, omissions, etc. are made as appropriate. It is also possible to combine the components described in the above embodiment to form a new embodiment. In addition, among the components described in the attached drawings and detailed explanations, not only the components essential for problem solving but also the components not essential for problem solving in order to exemplify the above-mentioned technology. Can also be included. Therefore, the fact that those non-essential components are described in the accompanying drawings or detailed description should not immediately determine that those non-essential components are essential.

For example, the dual-arm robot 10 includes, but is not limited to, a first robot arm 1 and a second robot arm 3 or a second robot arm 203. For example, the robot provided with the first robot arm 1 and the robot provided with the second robot arm 3 or the second robot arm 203 may be separate robots. In that case, the two robots can coordinately control each robot arm to cause the robot arm to perform the above-mentioned operation.

As the work w to which the robot systems 100 and 200 are transferred, any work may be adopted as long as it is a plate-shaped work. For example, the work is not limited to sheet metal, and may be a resin sheet material or film material, or may be paper leaves.

The configurations of the first end effector 12, the second end effector 32, and the second end effector 232 are not limited to the above-described configurations. For example, the number of the first suction portions 26 included in the first end effector 12 may be one or three or more. The number of the second suction portions 47 included in the second end effector 32 may be two or more. The number of the third suction portion 48 included in the second end effector 32 may be three or more. The number of the third suction portions 248 included in the second end effector 232 may be one or three or more.

The counting unit 7 is not limited to the sensor 71, that is, the one having an optical sensor. Any configuration can be adopted as long as the work w held by the first robot arm 1 can be counted. For example, the counting unit counts the number of works w based on the amount of movement of the work w when the work w is moved by the first robot arm 1 from a predetermined start position until it is detected by the sensor. May be good. FIG. 38 is a schematic side view for explaining the counting operation according to the modified example. The sensor 271 in this modification is a sensor that detects the work w based on the approach of the work w, for example, a proximity switch. In this case, in the counting operation, the first robot arm 1 positions the holding work w sucked by the first suction unit 26 at the start position P0 above the sensor. The start position P0 is a position where there is a margin so that the holding work w does not come into contact with the sensor 271 even if there are a plurality of holding works w, and it is always a constant position. The first robot arm 1 moves the holding work w downward from the start position P0. The sensor is arranged on the movement locus of the holding work w. The first robot arm 1 moves the holding work w until the sensor 271 detects the holding work w. Since the start position P0 is always the same, the movement amount D1 of the holding work w until the holding work w is detected by the sensor 271 when the holding work w is one is known in advance. When the holding work w is two pieces (two-dot chain line in the figure), the movement amount D2 of the holding work w until the holding work w is detected by the sensor 271 is larger than that when the holding work w is one piece. It gets shorter. The difference in the amount of movement depends on the number of holding works w. Therefore, the number of holding works w can be obtained from the amount of movement of the holding work w until the holding work w is detected by the sensor 271.

The sensor 271 may be a sensor that detects the work w based on the contact of the work w, for example, a limit switch. Alternatively, the sensor 271 can be replaced with the sensor 71. Since the sensor 71, which is an optical sensor, can also detect the work w, the same counting operation using the sensor 271 described above can be realized.

Alternatively, the counting unit has a sensor that detects the amount of movement of the stylus, and when the first robot arm 1 moves the work w to a predetermined end position, the amount of movement of the stylus pushed by the work w. The number of works w may be counted based on the above. FIG. 39 is a schematic side view illustrating a counting operation according to another modification. The sensor 371 in this modification is for detecting the movement amount of the stylus 372 with an encoder or the like (for example, a dial gauge). In this case, in the counting operation, the first robot arm 1 positions the holding work w at the start position above the sensor 371 of the counting unit 7. Even if there are a plurality of holding works w, the starting position may be a position having a margin so that the holding work w does not come into contact with the stylus 372, and may not always be a fixed position. The first robot arm 1 moves the holding work w sucked by the first suction unit 26 downward from the start position to the predetermined end position P1. The stylus 372 is arranged on the movement locus of the holding work w. The end position P1 is a position where the holding work w comes into contact with the stylus 372 and pushes down the stylus 372 when there is only one holding work w, and is always a constant position. That is, since the end position P1 is always the same, when the holding work w is one piece, the movement amount of the stylus 372 is always a predetermined amount when the holding work w reaches the end position P1. When there are two holding works w (two-dot chain line in the figure), the stylus 372 is pushed down by an amount obtained by adding an amount corresponding to the thickness of one work w to the predetermined amount. In FIG. 39, for convenience of explanation, the state of the sensor 371 (dashed-dotted line) when the holding work w is two pieces is shifted laterally from the sensor 371 (solid line) when the holding work w is one piece. Is illustrated. In this way, the detection value of the sensor 371 when the holding work w reaches the end position P1 changes according to the number of holding works w. Since the thickness of one work w is known, the number of holding works w is calculated based on the detected value.

Further, an air nozzle 593b similar to the air nozzles 349 and 429 may be provided at the peeling station 593 as shown in FIG. 40. FIG. 40 is a schematic front view showing a state when the first robot arm 1 performs a separation operation in the peeling operation of the robot system according to another embodiment. The air nozzle 593a is arranged so as to inject air to the edge of the work w placed on the peeling station 593. When the first robot arm 1 raises the first suction unit 26 to the separation position Ha1 and separates the first work w1 from the second work w2, the control unit 6 injects air into the air nozzle 593b. The air nozzle 593b injects air into the edges of the first work w1 and the second work w2. As a result, air is blown between the first work w1 and the second work w2 that are peeled off by the first suction portion 26 and the second suction portion 47, and the first work w1 and the second work w2 are peeled off. Be promoted.

Further, the temporary storage station 94 may be omitted. When there is no temporary storage station 94 and there are a plurality of holding works w counted after the peeling operation, the first robot arm 1 and the second robot arm 3 place the holding work w on the first mounting portion 91. Return to.

The first mounting portion 91 may be provided with a plurality of base suction portions for sucking the work w, such as the peeling station 293. In this case, when there are only a few pieces of work w mounted on the first mounting portion 91, the work w of the lowest layer is sucked by the base suction portion, so that the first suction of the first robot arm 1 is performed. The work w held by the portion 26 and the work w of the lowermost layer can be separated from each other.

100,200 Robot system 1 1st robot arm 11 1st arm body 12,412 1st end effector 26 1st suction unit 3,203 2nd robot arm 31 2nd arm body 32,232,332 2nd end effector 47 2 Adsorption unit 48, 248 3rd adsorption unit 7 Counting unit 71 Sensor 92 2nd mounting unit (mounting unit)
295 Base adsorption part 349,429 Air nozzle (air injection part)
WB work bundle w work

Claims (15)

A first robot arm that holds the work on the outermost layer of a work bundle in which a plurality of plate-shaped works are laminated by suction and transfers it to a predetermined mounting portion.
A counting unit for counting the number of workpieces held by the first robot arm is provided.
The first robot arm
It has a first arm body having a plurality of joints and a first end effector connected to the first arm body and sucking a work.
A robot system that executes a peeling operation for peeling a plurality of workpieces when the number of workpieces counted by the counting unit is a plurality of workpieces, and transfers one workpiece to the above-described stationary portion. In the robot system according to claim 1,
A second robot arm having a second arm main body having a plurality of joints and a second end effector connected to the second arm main body and sucking a work is further provided.
The first robot arm is a robot system that executes the peeling operation in cooperation with the second robot arm. In the robot system according to claim 2.
At least one of the first end effector and the second end effector has an air injection unit that injects air into the edge of the adsorbed work.
The air injection unit is a robot system that injects air into the edge of a work when the peeling operation is executed. In the robot system according to claim 2 or 3.
The first end effector has a first suction portion that sucks the work.
The second end effector has a second suction portion that sucks the work.
In the peeling operation, the second suction portion is a robot system that sucks a work other than the work to be sucked by the first suction portion among a plurality of works from the side opposite to the first suction portion. In the robot system according to claim 4,
The second end effector further has a third suction portion facing the opposite side of the second suction portion.
The first robot arm and the second robot arm
The work of the outermost layer is taken out from the work bundle in a state where the first suction part and the third suction part suck the work of the outermost layer from the same side.
In the peeling operation, the first suction portion and the second suction portion are attracted to different works from a plurality of workpieces from opposite sides, and the first suction portion and the second suction portion are separated from each other. A robot system that peels off a work sucked by the first suction part and a work sucked by the second suction part by relatively moving the first suction part and the second suction part in the direction in which the first suction part is sucked. In the robot system according to claim 2.
Further provided with a base suction portion for sucking the work in the peeling operation,
The first end effector has a first suction portion that sucks the work.
The second end effector has a third suction portion that sucks the work.
In the peeling operation, the first robot arm and the second robot arm are
A transport operation for transporting a plurality of workpieces to the base suction portion is executed.
After the transfer operation, the first suction part and the third suction part suck one of the plurality of works from the same side, and the base suction part sucks another of the plurality of works. In a state where the work is sucked from the side opposite to the first suction portion and the third suction portion, the first separation operation of moving the first suction portion in a direction away from the base suction portion is executed.
After the first separation operation, a second separation operation for moving the third suction portion in a direction away from the base suction portion is executed.
After the second separation operation, the suction by the third suction portion is released, and the work is located at a position farther from the first suction portion than the position where the third suction portion was sucked during the second separation operation. A robot system that executes a third separation operation in which the third suction portion is sucked again and the third suction portion is moved in a direction away from the base suction portion. In the robot system according to claim 6,
The first end effector has an air injection portion that injects air onto the edge of the adsorbed work.
The air injection unit is a robot system that injects air into the edge of a work at least when the first separation operation is executed. In the robot system according to any one of claims 2 to 7.
A robot system further comprising a dual-arm robot having the first robot arm and the second robot arm. In the robot system according to any one of claims 1 to 8.
The counting unit has a sensor that detects a work, and is a robot system that counts the number of works based on the amount of movement of the work conveyed by the first robot arm and the detection of the work by the sensor. In the robot system according to claim 9,
The counting unit is a robot system that counts the number of works based on the amount of movement of the work by the first robot arm while the sensor detects the work conveyed by the first robot arm. In the robot system according to claim 10,
The sensor is a robot system that is an optical sensor that detects a workpiece based on the presence or absence of light reception. In the robot system according to claim 9,
The counting unit is a robot system that counts the number of works based on the amount of movement of the work when the work is moved by the first robot arm from a predetermined start position until it is detected by the sensor. In the robot system according to claim 12,
The sensor is a robot system that detects a work based on the approach or contact of the work. In the robot system according to any one of claims 1 to 8.
The counting unit has a sensor that detects the amount of movement of the stylus, and is based on the amount of movement of the stylus that is pushed and moved by the work when the first robot arm moves the work to a predetermined end position. A robot system that counts the number of workpieces. In the robot system according to claim 14,
The sensor is a robot system that is a dial gauge.

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