Robot

Patent metadata

Field	Value
Publication number	US-10625953-B2
Application number	US-201615776441-A
Country	US
Kind code	B2
Filing date	Nov 15, 2016
Priority date	Nov 16, 2015
Publication date	Apr 21, 2020
Grant date	Apr 21, 2020

Abstract

A robot configured to perform a work to a moving workpiece is provided, which includes a first robotic arm provided at a tip end thereof with a guide tool configured to support the workpiece, a second robotic arm provided at a tip end thereof with a work tool configured to perform a specific work to the workpiece, and a control device configured to control operations of the first and second robotic arms. The control device controls the operations of the first and second robotic arms according to timing information for which the workpiece reaches a workspace of the robot so that the guide tool guides the workpiece located in the workspace into the space and the work tool performs the specific work to the workpiece guided into the space.

First claim

What is claimed is:

1. A robot configured to [work on a] moving workpiece, comprising:
a first robotic arm provided at a tip end thereof with a guide tool configured to support the workpiece;
a second robotic arm provided at a tip end thereof with a work tool configured to perform a specific [task on] the workpiece; and
a control device configured to control operations of the first and second robotic arms,
wherein the control device controls the operations of the first and second robotic arms according to timing information [corresponding to the moment in time when] the workpiece reaches a workspace of the robot so that the guide tool guides the workpiece [into the workspace] and the work too performs the specific [task on] the workpiece guided into the [workspace].

2. The robot of claim 1 , further comprising a detecting means for detecting a timing at which the workpiece reaches the workspace of the robot and outputting a detection signal to the control device.

3. The robot of claim 1 , further comprising a contact sensor configured to detect that the guide tool contacts the workpiece and output a detection signal to the control device,
wherein the control device controls the operation of the second robotic arm so that the work tool performs the specific work to the workpiece when the detection signal is received from the contact sensor.

4. The robot of claim 1 , wherein, the first robotic arm is configured [via the guide tool] to [guide] a movement of the workpiece in a conveying direction and maintain the workpiece in a given posture, and the second robotic arm is configured [to supply at least one object to the workpiece being conveyed on the conveyor in the conveying direction].

5. The robot of claim 1 , further comprising a regulating member configured to stop within the workspace the workpiece located in the workspace,
wherein the first robotic arm supports one side surface of the workpiece located in the workspace by the guide tool and guides another side surface of the workpiece toward the regulating member.

Assignees

• Kawasaki Heavy Ind Ltd

Inventors

• Hasegawa Shogo
• Hibino Satoru
• Yamane Hideshi
• Mizumoto Hiroyuki
• Bando Kenji
• Himekawa Daichi
• Matsuoka Junichi
• UTO Tatsuhiro
• Kokushi Hiroki
• Tamada Souichi
• Haneda Akihiro
• Iwasaki Yukio

Classifications

• B25J9/044

  with forearm providing vertical linear movement · CPC title

• B25J9/1682

  Dual arm manipulator; Coordination of several manipulators · CPC title

• B65G47/52 Primary

  Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices (loading or unloading by means not incorporated in, or not operatively associated with, conveyors B65G65/00; transfer of workpieces during metal rolling B21B41/00) · CPC title

• B25J9/043 Primary

  double selective compliance articulated robot arms [SCARA] · CPC title

• B25J19/02

  Sensing devices · CPC title