Workpiece regrasping system for robot
A workpiece regrasping system for a robot. The system includes a manipulator grippable a workpiece; a deck member having a deck surface on which a workpiece is placeable; a support mechanism rotatably supporting the deck member about an axis parallel to the deck surface; a workpiece-orientation control section for controlling the manipulator so as to grip a workpiece at a first point of the workpiece and to bring the workpiece into abutment with the deck surface of the deck member, and configured to displace the workpiece together with the deck member about the axis, while maintaining a mutually abutted condition, until the workpiece occupies a desired orientation, with at least a part of a weight of the workpiece being carried on the deck surface; and a regrasping control section for controlling the manipulator so as to temporarily release the workpiece placed on the deck surface in the desired orientation and to regrasp the workpiece at a second point different from the first point. The workpiece-orientation control section may control an operation of the manipulator, or control a rotational drive section for the deck member, while maintaining the workpiece in abutment with the deck surface, to displace the workpiece to the desired orientation.
1. A workpiece regrasping system for a robot, comprising:
a manipulator capable of gripping a workpiece;
a deck member having a deck surface on which a workpiece is able to be placed;
a support mechanism supporting said deck member in a rotatable manner about an axis parallel to said deck surface;
a workpiece-orientation control section for controlling said manipulator so as to grip a workpiece at a first point of the workpiece and to bring the workpiece gripped by said manipulator into abutment with said deck surface of said deck member, said workpiece-orientation control section being configured to displace the workpiece together with said deck member about said axis, while maintaining a mutually abutted condition, until the workpiece occupies a desired orientation, with at least a part of a weight of the workpiece being carried on said deck surface; and
a regrasping control section for controlling said manipulator so as to temporarily release the workpiece placed on said deck surface in said desired orientation and thereafter to regrasp the workpiece at a second point different from the first point.
2. A workpiece regrasping system as set forth in claim 1 , wherein said workpiece-orientation control section controls an operation of said manipulator, while maintaining the workpiece in abutment with said deck surface, to displace the workpiece to said desired orientation.
3. A workpiece regrasping system as set forth in claim 1 , wherein said support mechanism includes a retaining member capable of releasably retaining said deck member at a certain rotational position; and wherein said workpiece-orientation control section controls an operation of said retaining member, while maintaining the workpiece in abutment with said deck surface, to retain said deck member at a rotational position at which the workpiece reached said desired orientation.
4. A workpiece regrasping system as set forth in claim 1 , wherein said support mechanism includes a drive section for driving said deck member for rotation about said axis; and wherein said workpiece-orientation control section controls an operation of said drive section, while maintaining the workpiece in abutment with said deck surface, to displace the workpiece to said desired orientation.
5. A workpiece regrasping system as set forth in claim 1 , comprising a plurality of manipulators, wherein said workpiece-orientation control section controls said plurality of manipulators so as to grip a single workpiece and displace the single workpiece to said desired orientation; and wherein said regrasping control section controls each of said plurality of manipulators so as to regrasp the single workpiece.