Robot and control method for robot

Patent metadata

Field	Value
Publication number	US-10220515-B2
Application number	US-201615362264-A
Country	US
Kind code	B2
Filing date	Nov 28, 2016
Priority date	Nov 30, 2015
Publication date	Mar 5, 2019
Grant date	Mar 5, 2019

Abstract

A robot includes a first arm and a second arm. The robot molds a box body including a first plate body, a second plate body, a third plate body, and a fourth plate body, the first plate body and the second plate body being coupled in a first part, the second plate body and the third plate body being coupled in a second part, the third plate body and the fourth plate body being coupled in a third part, and the fourth plate body and the first plate body being coupled in a fourth part.

First claim

What is claimed is:

1. A robot comprising:
a first arm having a first end effector with a first contact section;
a second arm having a second end effector with a second contact section;
a sensing device;
a force sensor; and
a controller configured to move the first arm and the second arm to form a box body including a first plate body, a second plate body, a third plate body, and a fourth plate body, the first plate body and the second plate body being coupled along a first edge, the second plate body and the third plate body being coupled along a second edge, the third plate body and the fourth plate body being coupled along a third edge, and the fourth plate body and the first plate body being coupled along a fourth edge, wherein
the controller is configured to move the first contact section on the first arm into contact with the fourth edge, and to move the second contact section on the second arm into contact with the second edge when the box body is in a first state,
the controller is configured to apply torque to a joint of the robot to change the box body from the first state to a second state based on an output of the force sensor,
the first state is a folded-up state having a configuration where a first angle formed by the first plate body and the second plate body at the first edge is larger than a second angle formed by the second plate body and the third plate body at the second edge,
the second state has a configuration where the first angle formed by the first plate body and the second plate body is less than the first angle formed by the first plate body and the second plate body in the first state,
the sensor is configured to detect the first angle and the second angle, and
the controller is configured to apply a pushing force with the first arm into the fourth edge to move the fourth edge in a first direction extending from the third plate body to the first plate body and in a second direction extending from the third edge to the second edge in order to change the box body from the first state to the second state when the first contact section contacts the fourth edge and the second contact section contacts the second edge.

2. The robot according to claim 1 , wherein the first angle in the folded-up state of the box body is 180 degrees.

3. The robot according to claim 1 , wherein
the first contact section and the second contact section are respectively planes,
the controller is configured to set a surface of the first contact section and a surface of the second contact section to be parallel,
the controller is configured to bring the first contact section into contact with the fourth part, and
the controller is configured to bring the second contact section into contact with the second part.

4. The robot according to claim 1 , wherein
the controller is configured to apply a pushing force with the first arm into the fourth edge to move the fourth edge in the second direction after applying the pushing force, with the first arm, to move the fourth part in the first direction and the second direction.

5. The robot according to claim 4 , wherein
the second end effector is configured to grip the box body,
the controller is configured to control the second end effector to grip the box body after the controller applies a pushing force with the first arm into the fourth edge to move the fourth edge in the second direction, and
the controller is configured to move the first arm to press a jig against the box body to fix the first angle.

6. A control method for a robot, the control method comprising:
molding, by controlling a first arm and a second arm of a robot, a box body including a first plate body, a second plate body, a third plate body, and a fourth plate body, the first plate body and the second plate body being coupled along a first edge, the second plate body and the third plate body being coupled along a second edge, the third plate body and the fourth plate body being coupled along a third edge, and the fourth plate body and the first plate body being coupled along a fourth edge;
detecting, by a sensor, a first angle formed by the first plate body and the second plate body at the first edge and a second angle formed by the second plate body and the third plate body at the second edge;
moving, by a controller, a first contact section on the first arm into contact with the fourth edge and moving, by the controller, a second contact section on the second arm into contact with the second edge when the box body is in a first state;
applying, by the controller, a torque to a joint of the robot to change the box body from the first state to a second state based on an output of a force sensor; and
applying, by the controller, a pushing force with the first arm into the fourth edge to move the fourth edge in a first direction extending from the third plate body to the first plate body and in a second direction extending from the third edge to the second edge in order to change the box body from the first state to the second state when the first contact section contacts the fourth edge and the second contact section contacts the second edge, wherein
the first state is a folded-up state having a configuration where the first angle is larger than the second angle, and
the second state has a configuration where the first angle is less than the first angle in the first state.

Assignees

• Seiko Epson Corp

Inventors

• Maruyama Kenichi
• Okada Ryuichi
• Yamamoto Sota
• Tanaka Toshio

Classifications

• B31B50/262

  involving folding, leading, or trailing flaps of blanks · CPC title

• Y10S901/02

  Arm motion controller · CPC title

• B31B2110/35

  rectangular, e.g. square · CPC title

• G05B2219/40076

  Fold flexible plate, non rigid material · CPC title

• B31B2100/0022

  made from tubular webs or blanks, including by tube or bottom forming operations · CPC title