US RE50,190 E1
Control apparatus and robot system
Toyotaro Kinoshita, Azumino (JP); and Toshiyuki Ishigaki, Sakata (JP)
Assigned to SEIKO EPSON CORPORATION, (JP)
Filed by SEIKO EPSON CORPORATION, Tokyo (JP)
Filed on Dec. 29, 2022, as Appl. No. 18/090,599.
Application 18/090,599 is a reissue of application No. 16/000,084, filed on Jun. 5, 2018, granted, now 10,894,316, issued on Jan. 19, 2021.
Claims priority of application No. 2017-111275 (JP), filed on Jun. 6, 2017; and application No. 2017-214446 (JP), filed on Nov. 7, 2017.
Int. Cl. B25J 9/00 (2006.01); B25J 9/16 (2006.01); G05B 19/418 (2006.01); B65G 47/14 (2006.01)
CPC B25J 9/0093 (2013.01) [B25J 9/1697 (2013.01); G05B 19/4182 (2013.01); B65G 47/1421 (2013.01); G05B 2219/39102 (2013.01); G05B 2219/39241 (2013.01)] 17 Claims
OG exemplary drawing
 
2. The control apparatus according to claim 1,
wherein the plurality of control commands include third control command, and
the processor is configured to perform a third activation in which the vibration actuators transmit vibration to the container so as to separate the parts gathered in the container when the processor selects the third control command. [ A control apparatus that controls a robot system including a part feeder having a container that accommodates a part and a plurality of vibration actuators for vibrating the container, and a robot having an end effector for picking up a part from the container, the apparatus comprising: a processor that is configured to execute computer-executable instructions so as to control the part feeder and the robot, wherein the processor is configured to select one or more control commands from a plurality of control commands respectively including control parameters of the plurality of vibration actuators and transmits the selected control command to the part feeder for causing the part feeder to perform an operation according to the selected control command, the number of the vibration actuators is four, and the vibration actuators are mounted at four corners of a part accommodating region, the plurality of control commands include a separation command for causing the part feeder to execute a separation operation to separate a plurality of parts gathered in the container, and the plurality of control commands include a posture change command for causing the part feeder to execute a posture change operation to change a posture of a part in the container.]