Device and method of arraying articles by using robot, and article transfer system
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United States of America Patent
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May 9, 2017
Issued Date -
N/A
app pub date -
Feb 26, 2015
filing date -
Feb 28, 2014
priority date (Note) -
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Abstract
An article arraying device including a robot; a vision sensor for obtaining position information of each of randomly arranged articles; an arrangement pattern generating section for generating an arrangement pattern by using the position information, the arrangement pattern including pattern elements in a regular arrangement, in such a manner that any one of the pattern elements coincides with a position of a reference article in the randomly arranged articles; a picking motion generating section for generating a picking motion by using the position information, the robot picking up by the picking motion an article other than the reference article; an arraying motion generating section for generating an arraying motion, the robot placing by the arraying motion the picked-up article in a position juxtaposed to the reference article in accordance with the arrangement pattern; and a robot controlling section for controlling the picking motion and the arraying motion.
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