Robot system and method of manufacturing processed product

Abstract

To automatically perform an attachment work of a material supply to a target object, a robot system includes a robot provided with a body, a first arm provided for the body and having a plurality of joints, a second arm provided for the body separately from the first arm and having a plurality of joints, and hand units respectively provided for the first arm and the second arm. The robot holds one of a plurality of types of workpiece components using the hand units of the first arm and the second arm at the same time, and the remaining type of the workpiece components is held and carried by the hand unit of the first arm or the second arm.

What is claimed is: 
     
         1 . A robot system that attaches a material supply to a target object, comprising:
 a first arm having a first hand mechanism;   a second arm having a second hand mechanism; and   a control device that is configured to operate the first hand mechanism to feed the material supply, the control device being configured to operate the second hand mechanism to press the material supply that was fed against the target object, and the control device being configured to operate the first arm to further feed the material supply while the second hand mechanism presses the material supply against the target object.   
     
     
         2 . The robot system according to  claim 1 , wherein
 the control device is configured to move the first arm to further feed the material supply and is configured to move the second arm in a direction same as a direction in which the first arm moves after operating the second hand mechanism to press the material supply against the target object.   
     
     
         3 . The robot system according to  claim 2 , wherein
 the first hand mechanism includes:
 a feeding mechanism configured to feed the material supply from an upstream side to a downstream side; 
 a first gripping mechanism configured to grip a tip end portion of the material supply that has been fed from the feeding mechanism; and 
 a cutting mechanism configured to cut the material supply on a downstream side from the first gripping mechanism, 
   the second hand mechanism includes:
 a second gripping mechanism configured to grip the material supply supported by the first hand mechanism; and 
 a pressing mechanism configured to press a tip end portion of the material supply that has been fed from the first hand mechanism against the target object, and 
   the control device being configured to:
 operate the second gripping mechanism to grip the material supply that is gripped by the first gripping mechanism, 
 operate the first gripping mechanism to ungrip the gripping, and operates the first arm and the second arm in cooperation to feed the material supply, 
 operate the second gripping mechanism to ungrip the gripping, and moves the first hand mechanism and the second hand mechanism to a previously set position, 
 operate the second arm to cause the pressing mechanism to press the tip end portion of the material supply against the target object, 
 operate the first arm to feed the material supply by a previously set length, 
 operate the second arm to move the pressing mechanism toward the first hand mechanism in a state in which the material supply is pressed against the target object, and 
 operate the first gripping mechanism to grip the material supply, and then operates the cutting mechanism to cut the material supply. 
   
     
     
         4 . The robot system according to  claim 3 , wherein
 the pressing mechanism includes a driven roller configured to press the material supply against the target object.   
     
     
         5 . The robot system according to  claim 3 , wherein
 the first gripping mechanism and the feeding mechanism are integrally provided,   the feeding mechanism includes:
 a winding roller holder loaded with a winding roller on which the material supply is wound, 
 a guide roller configured to guide the material supply fed from the winding roller toward the first gripping mechanism, and 
   the first hand mechanism includes a detachment mechanism configured to detachably hold the first gripping mechanism and the feeding mechanism that are integrally provided.   
     
     
         6 . The robot system according to  claim 1 , further comprising:
 a stage provided near the robot device;   a carry-in device configured to carry the target object before processing into the stage;   a positioning device configured to fix the target object that has been carried in to the stage at a previously set position; and   a carry-out device configured to carry the target object after processing out from the stage.   
     
     
         7 . The robot system according to  claim 1 , wherein, during the further feeding of the material, the control device is configured to move the first arm in a first direction to further feed the material supply and is configured to simultaneously move the second arm in a second direction, which is same as the first direction, as the second hand mechanism presses the material supply against the target object. 
     
     
         8 . The robot system according to  claim 1 , wherein
 the control device is configured to operate the first arm to further feed the material supply while the second hand mechanism presses the material supply against the target object prior to the material supply fed from the first hand mechanism being cut.   
     
     
         9 . The robot system according to  claim 1 ,
 wherein the first hand mechanism includes a cutting mechanism configured to cut the material supply, and   wherein the control device is configured to operate the first arm to further feed the material supply while the second hand mechanism presses the material supply against the target object prior to the material supply fed from the first hand mechanism being cut by the cutting mechanism.   
     
     
         10 . The robot system according to  claim 1 , wherein
 the control device is configured to operate the firsthand mechanism to feed the material supply a first length prior to the second hand mechanism pressing the material supply that was fed against the target object, and the control device is configured to operate the first arm to further feed the material supply a second length while the second hand mechanism presses the material supply against the target object to reach a total length of material supply that equals the first length plus the second length.   
     
     
         11 . The robot system according to  claim 10 , wherein
 the control device is configured to feed the material supply by the total length prior to the material supply being cut.   
     
     
         12 . A robot system that attaches a material supply to a target object, comprising:
 a first arm having a first hand mechanism;   a second arm having a second hand mechanism; and   a control device that is configured to operate the first hand mechanism to feed the material supply, the control device being configured to operate the second hand mechanism to press the material supply that was fed against the target object, and the control device being configured to simultaneously operate the first arm to move in a first direction to further feed the material supply and operate the second hand mechanism to press the material supply against the target object and move in a second direction, which is same as the first direction.   
     
     
         13 . A method of manufacturing a processed product, comprising the steps of:
 preparing a robot provided with a first arm having a first hand mechanism and a second arm having a second hand mechanism;   placing a target object on a stage provided near the robot, the target object being a component of the processed product;   feeding the material supply from the first hand mechanism;   pressing the material supply that was fed against the target object using the second hand mechanism; and   further feeding the material supply using the first arm while the second hand mechanism presses the material supply against the target object.   
     
     
         14 . The method of manufacturing a processed product according to  claim 13 , wherein
 during the further feeding of the material supply, the first arm moves in a first direction to further feed the material supply while the second hand mechanism to press the material supply against the target object and simultaneously moves in a second direction, which is same as the first direction.   
     
     
         15 . The method of manufacturing a processed product according to  claim 13 , wherein
 the first hand mechanism includes: a feeding mechanism configured to feed the material supply from an upstream side to a downstream side; a first gripping mechanism configured to grip a tip end portion of the material supply that has been fed from the feeding mechanism; and a cutting mechanism configured to cut the material supply on a downstream side from the first gripping mechanism, and   the second hand mechanism includes: a second gripping mechanism configured to grip the material supply supported by the first hand mechanism; and a pressing mechanism configured to press a tip end portion of the material supply that has been fed from the first hand mechanism against the target object.   
     
     
         16 . The method of manufacturing a processed product according to  claim 15 , further comprising the steps of:
 causing the second gripping mechanism to grip the material supply that is gripped by the first gripping mechanism;   causing the first gripping mechanism to ungrip the gripping, and operating the first arm and the second arm in cooperation to feed the material supply;   causing the second gripping mechanism to ungrip the gripping, and moving the first hand mechanism and the second hand mechanism to a previously set position;   operating the second arm to cause the pressing mechanism to press the tip end portion of the material supply against the target object;   operating the first arm to feed the material supply by a previously set length;   causing the first gripping mechanism to grip the material supply, and then causing the cutting mechanism to cut the material supply; and   operating the second arm to move the pressing mechanism toward the first hand mechanism in a state in which the material supply is pressed against the target object.   
     
     
         17 . The method of manufacturing a processed product according to  claim 13 , wherein
 the further feeding of the material supply is performed prior to the material supply fed from the first hand mechanism being cut.   
     
     
         18 . The method of manufacturing a processed product according to  claim 13 , further comprising
 cutting the material supply using a cutting mechanism in the first hand mechanism after the further feeding of the material supply is performed, wherein   the further feeding of the material supply is performed prior to the material supply fed from the first hand mechanism being cut.   
     
     
         19 . The method of manufacturing a processed product according to  claim 13 , wherein
 the feeding of the material supply from the first hand mechanism includes feeding the material supply a first length prior to the second hand mechanism pressing the material supply that was fed against the target object,   the further feeding of the material supply using the first arm while the second hand mechanism presses the material supply against the target object includes further feed the material supply a second length to reach a total length of material supply that equals the first length plus the second length.   
     
     
         20 . The method of manufacturing a processed product according to  claim 19 , wherein
 the material supply is fed by the total length prior to the material supply being cut.