Abstract: A robot includes a base part; a pair of scrapers provided to the base part so as to face each other, the pair of scrapers each having a proximal end connected to the base part and a distal end for cutting a surface, and the pair of scrapers extending so as to approach or recede from each other progressively from the proximal end toward the distal end; and a movement mechanism unit for rotating the base part between a first orientation in which one of the pair of scrapers is closer to a workpiece than the other scraper, and a second orientation in which the other scraper is closer to the workpiece than the one scraper.

Abstract: A device for determining the positions of a plurality of recessed portions to be formed on a surface of a workpiece by means of scraping, in which a robot uses a scraper to shave the surface of the workpiece to make the same flat, is provided with: an input accepting unit for accepting input of shape information of the surface and pattern information of the plurality of recessed portions on the surface; and a position determining unit for automatically determining the position of each recessed portion on the surface on the basis of the shape information and the pattern information accepted by the input accepting unit.

Abstract: A robot system includes a robot configured to move a scraper configured to scrape the surface, and a control device configured to control the robot. The control device is configured to execute the scraping process by moving the scraper in a direction along the surface while pressing the scraper against the surface by the robot, and during the execution of the scraping process, repeatedly increase and decrease a depth of scraping the surface by controlling a position of the robot so as to repeatedly increase and decrease a pressing force by which the robot presses the scraper against the surface.

Abstract: There is a need for a technology for executing a high quality scraping process with a robot. A robot system includes a robot configured to move a scraper for scraping a surface of a workpiece and a control device configured to control the robot. The control device is configured to abut the scraper against the surface in a trajectory, which is inclined so as to form an acute angle with respect to the surface, by moving the scraper by the robot in a direction along the surface and in a direction toward the surface, and during the scraper abutting against the surface, control a position of the robot such that a pressing force, by which the robot presses the scraper against the surface, becomes a predetermined magnitude while moving the scraper by the robot in the direction along the surface, to perform the scraping process.

Abstract: A robot system includes a part supply robot for supplying a part to a workpiece. A tip of an arm of the part supply robot is equipped with a master plate of a tool changer. A part holding jig includes a tool plate detachably attached to the master plate, a pull/release mechanism pulled onto and released from the workpiece in accordance with an operation via the master plate, and a part pressing mechanism coupled to the pull/release mechanism for pressing the part against the workpiece in a state where the pull/release mechanism is pulled onto the workpiece.

Abstract: An imaging control unit of this detection device controls the imaging orientation of a three-dimensional camera such that one end of a workpiece enters the field of view of the three-dimensional camera, and then controls the imagining orientation of the three-dimensional camera such that the other end of the workpiece enters the field of view of the three-dimensional camera. A coordinate acquisition unit acquires the position coordinates of one end acquired by the three-dimensional camera from three-dimensional information pertaining to the one end, and acquires the position coordinates of another end acquired by the three-dimensional camera from three-dimensional information pertaining to the other end.

Abstract: Provided is a position setting device that sets a position for stacking a second workpiece on a plurality of first workpieces. This position setting device is provided with a search unit that searches for a position where the second workpiece is allowed to be disposed on the first workpieces. The search unit includes a determination unit that determines whether to allow the second workpiece to be disposed so as to be supported on one of the first workpieces and another one of the first workpieces when the upper surface of the one first workpiece and the upper surface of the other first workpiece are different from each other in height. The determination unit allows the second workpiece to be disposed so as to be supported on both of the one first workpiece and the other first workpiece when the height difference is within a determination range.

Abstract: A grinding apparatus including a robot, a grinding tool attached to the robot, a force sensor configured to detect a force exerted on the grinding tool, and a controller connected with the force sensor and configured to control the robot. The controller includes a variation acquiring section configured to acquire the present position of the robot by pressing the grinding tool against a reference surface in such a manner that a pressing force detected by the force sensor is constant, and to acquire a difference between the acquired present position and a reference position of the robot stored in advance, the difference being acquired as a variation of the grinding tool.

Abstract: A robot system is provided with a robot, a hand, and a range sensor that acquires information about a distance to a workpiece. Claw parts of the hand include grip regions having a shape for gripping the workpiece. A controller stops the robot when the hand collides with the workpiece. The controller determines whether or not a target workpiece can be gripped by a part other than the grip regions of the hand. When it is determined that the target workpiece can be gripped by the part other than the grip regions, the controller performs control for gripping the target workpiece by using the hand, and for moving the target workpiece inside a container.

Abstract: A controller includes a generation unit that generates three-dimensional information, a deletion unit that deletes information about at least part of the measurement points in the three-dimensional information, and a determination unit that determines a state where the robot grips a workpiece. The generation unit generates first three-dimensional information before the robot implements an operation of gripping a target workpiece. The generation unit generates second three-dimensional information after the robot has implemented an operation of lifting the target workpiece. The deletion unit generates third three-dimensional information in which information about measurement points in the second three-dimensional information is deleted from the first three-dimensional information. The determination unit determines whether or not the workpiece in the third three-dimensional information matches the target workpiece.

Abstract: A robot system is provided with a robot, a hand, and a range sensor that acquires information about a distance to a workpiece. Claw parts of the hand include grip regions having a shape for gripping the workpiece. A controller stops the robot when the hand collides with the workpiece. The controller determines whether or not a target workpiece can be gripped by a part other than the grip regions of the hand. When it is determined that the target workpiece can be gripped by the part other than the grip regions, the controller performs control for gripping the target workpiece by using the hand, and for moving the target workpiece inside a container.

Abstract: A controller includes a generation unit that generates three-dimensional information, a deletion unit that deletes information about at least part of the measurement points in the three-dimensional information, and a determination unit that determines a state where the robot grips a workpiece. The generation unit generates first three-dimensional information before the robot implements an operation of gripping a target workpiece. The generation unit generates second three-dimensional information after the robot has implemented an operation of lifting the target workpiece. The deletion unit generates third three-dimensional information in which information about measurement points in the second three-dimensional information is deleted from the first three-dimensional information. The determination unit determines whether or not the workpiece in the third three-dimensional information matches the target workpiece.

Abstract: A grinding apparatus including a robot, a grinding tool attached to the robot, a force sensor configured to detect a force exerted on the grinding tool, and a controller connected with the force sensor and configured to control the robot. The controller includes a variation acquiring section configured to acquire the present position of the robot by pressing the grinding tool against a reference surface in such a manner that a pressing force detected by the force sensor is constant, and to acquire a difference between the acquired present position and a reference position of the robot stored in advance, the difference being acquired as a variation of the grinding tool.

Abstract: An object pick-up system able to use a simpler configuration to place picked up objects at a predetermined location with the directions of the picked up objects aligned. The object pick-up system is provided with a robot hand, manipulator, vision sensor, arrangement determination part setting the position and posture of the robot hand when gripping an object, manipulator controller controlling the manipulator, and robot hand controller controlling the robot hand. The manipulator controller places the robot hand at a position and posture giving rise to a moment in the object. The robot hand controller prevents an object from dropping from the robot hand while the object is rotated by the action of gravity.

Abstract: An object pick-up system able to use a simpler configuration to place picked up objects at a predetermined location with the directions of the picked up objects aligned. The object pick-up system is provided with a robot hand, manipulator, vision sensor, arrangement determination part setting the position and posture of the robot hand when gripping an object, manipulator controller controlling the manipulator, and robot hand controller controlling the robot hand. The manipulator controller places the robot hand at a position and posture giving rise to a moment in the object. The robot hand controller prevents an object from dropping from the robot hand while the object is rotated by the action of gravity.

Abstract: A robot system and a method, by which a robot can effectively and sequentially take out a plurality of randomly located workpieces, while avoiding interference by a simple calculation. A first detection coordinate system for determining the motion of the robot is defined on the lateral surface of the workpiece. The first detection coordinate system is translated by a predetermined distance in the negative direction of a Z-axis, and then an X-Z plane is rotated about an X-axis of the workpiece so that the X-Z plane is perpendicular to an X-Y plane of a robot coordinate system, whereby a work coordinate system is obtained. Next, the work coordinate system is rotated about the X-axis by a target angle, and then is translated by a distance corresponding to a radius of the workpiece in the positive direction of the Z-axis, whereby a second detection coordinate system is obtained and output.

Abstract: An object pick-up system able to use a simpler configuration to place picked up objects at a predetermined location with the directions of the picked up objects aligned. The object pick-up system is provided with a robot hand, manipulator, vision sensor, arrangement determination part setting the position and posture of the robot hand when gripping an object, manipulator controller controlling the manipulator, and robot hand controller controlling the robot hand. The manipulator controller places the robot hand at a position and posture giving rise to a moment in the object. The robot hand controller prevents an object from dropping from the robot hand while the object is rotated by the action of gravity.

Abstract: A robot system for successively taking out bulk stacked workpieces of the same type, wherein a hand of a robot comprises: a base part attached to an arm, a cylinder device with a cylinder and a piston rod, and a gripping part attached to a front end part of the piston rod. The robot system further comprises a fluid pressure adjusting device which adjust a fluid pressure inside of the cylinder, a movement detecting device which detects a retracting movement of the piston rod, and a judgment device which judge if the hand is gripping a designated number of workpieces, based on a magnitude of fluid pressure inside the cylinder and detection results of the movement detecting device.

Abstract: A robot system and a method, by which a robot can effectively and sequentially take out a plurality of randomly located workpieces, while avoiding interference by a simple calculation. A first detection coordinate system for determining the motion of the robot is defined on the lateral surface of the workpiece. The first detection coordinate system is translated by a predetermined distance in the negative direction of a Z-axis, and then an X-Z plane is rotated about an X-axis of the workpiece so that the X-Z plane is perpendicular to an X-Y plane of a robot coordinate system, whereby a work coordinate system is obtained. Next, the work coordinate system is rotated about the X-axis by a target angle, and then is translated by a distance corresponding to a radius of the workpiece in the positive direction of the Z-axis, whereby a second detection coordinate system is obtained and output.

Abstract: A robot system for successively taking out bulk stacked workpieces of the same type, wherein a hand of a robot comprises: a base part attached to an arm, a cylinder device with a cylinder and a piston rod, and a gripping part attached to a front end part of the piston rod. The robot system further comprises a fluid pressure adjusting device which adjust a fluid pressure inside of the cylinder, a movement detecting device which detects a retracting movement of the piston rod, and a judgment device which judge if the hand is gripping a designated number of workpieces, based on a magnitude of fluid pressure inside the cylinder and detection results of the movement detecting device.