US 11,858,146 B2
Working method and robot system
Nahomi Adachi, Chino (JP); Hiroaki Shimizu, Suwa (JP); Masaki Miyasaka, Chino (JP); and Kazufumi Oya, Matsumoto (JP)
Assigned to SEIKO EPSON CORPORATION, Tokyo (JP)
Filed by SEIKO EPSON CORPORATION, Tokyo (JP)
Filed on Jul. 28, 2021, as Appl. No. 17/386,566.
Claims priority of application No. 2020-128000 (JP), filed on Jul. 29, 2020.
Prior Publication US 2022/0032466 A1, Feb. 3, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01); B25J 15/00 (2006.01)
CPC B25J 9/1679 (2013.01) [B25J 9/162 (2013.01); B25J 13/082 (2013.01); B25J 15/0028 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A working method of performing work with increase or decrease in weight on an object by a robot system having a robot, a first hand with an assist device, and a second hand without the assist device, comprising switching between an assisted work state in which the first hand is coupled to the robot and work is performed with assistance by the assist device and a non-assisted work state in which the second hand is coupled to the robot and work is performed without assistance by the assist device according to a weight of the object.