Robot system

Patent metadata

Field	Value
Publication number	US-10814476-B2
Application number	US-201815944146-A
Country	US
Kind code	B2
Filing date	Apr 3, 2018
Priority date	Sep 15, 2010
Publication date	Oct 27, 2020
Grant date	Oct 27, 2020

Abstract

A robot includes a gripping section adapted to grip an object by open and close a pair of finger sections, a moving device adapted to relatively move the object and the gripping section, and a control device adapted to control the moving device to move the gripping section relatively toward the object, and dispose the pair of finger sections in a periphery of the object, and then control the gripping section to open and close the pair of finger sections in a plane parallel to a mounting surface on which the object is mounted, pinch the object between the pair of finger sections from a lateral side of the object, and grip the object with the gripping section at at least three contact points.

First claim

What is claimed is:

1. A robot comprising:
a base;
a shaft upstanding from the base;
a first arm having a proximal end and a distal end, the proximal end of the first arm being rotatably connected to the shaft;
a second arm having a proximal end and a distal end, the proximal end of the second arm being rotatably connected to the distal end of the first arm;
a third arm having a proximal end and a distal end, the third arm being movably connected to the distal end of the second arm, the third arm being axially translatable relative to the second arm;
a fourth arm having a proximal end and a distal end, the proximal end of the fourth arm being rotatably connected to the shaft;
a fifth arm having a proximal end and a distal end, the proximal end of the fifth arm being rotatably connected to the distal end of the fourth arm; and
a sixth arm having a proximal end and a distal end, the sixth arm being movably connected to the distal end of the fifth arm, the sixth arm being axially translatable relative to the fifth arm,
wherein the first, second, and third arms configure a first SCARA arm set, and
the fourth, fifth, and sixth arms configure a second SCARA arm set.

2. The robot according to claim 1 , further comprising:
a first gripping member that is attached to the distal end of the third arm, the first gripping member being rotatable relative to the second arm,
wherein the first gripping member is configured with first and second fingers,
the first and second fingers are configured to grip a first object therebetween.

3. The robot according to claim 2 , further comprising:
a first camera that is configured to take a first image of the first object; and
a control device, the control device including:
a memory that is configured to store computer-readable instructions; and
a processor that is configured to execute the computer-readable instructions so as to:
cause the first camera to transmit the first image to the control device; and
move the first and second fingers to grip the first object based on the first image.

4. The robot according to claim 2 , further comprising:
a first detector that is configured to detect a force for gripping the first object and to output a first detection result; and
a control device, the control device including:
a memory that is configured to store computer-readable instructions; and
a processor that is configured to execute the computer-readable instructions so as to:
cause the first detector to transmit the first detection result to the control device; and
move the first and second fingers to grip the first object based on the first detection result.

5. The robot according to claim 2 , further comprising:
a second gripping member that is attached to the distal end of the sixth arm, the second gripping member being rotatable relative to the fifth arm,
wherein the second gripping member is configured with third and fourth fingers, and
the third and fourth fingers are configured to grip a second object therebetween.

6. The robot according to claim 5 , further comprising:
a first camera that is configured to take a first image of the first object;
a control device, the control device including:
a memory that is configured to store computer-readable instructions; and
a processor that is configured to execute the computer-readable instructions so as to:
cause the first camera to transmit the first image to the control device; and
move the first and second fingers to grip the first object based on the first image; and

a second camera that is configured to take a second image of the second object,
wherein the processor is configured to execute the computer-readable instructions so as to:
cause the second camera to transmit the second image to the control device; and
move the third and fourth fingers to grip the second object based on the second image.

7. The robot according to claim 5 , further comprising:
a first detector that is configured to detect a force for gripping the first object and to output a first detection result;
a control device, the control device including:
a memory that is configured to store computer-readable instructions; and
a processor that is configured to execute the computer-readable instructions so as to:
cause the first detector to transmit the first detection result to the control device; and
move the first and second fingers to grip the first object based on the first detection result, and

a second detector that is configured to detect a force for gripping the second object and to output a second detection result,
wherein the processor is configured to execute the computer-readable instructions so as to:
cause the second detector to transmit the second detection result to the control device; and
move the third and fourth fingers to grip the second object based on the second detection result.

8. A dual arm robot comprising:
a base shaft;
a first SCARA arm assembly mounted to the base shaft, and
a second SCARA arm assembly mounted to the base shaft,
wherein each of the first and second SCARA arm assemblies includes:
an inner arm having a proximal end and a distal end, the proximal end of the inner arm being rotatably mounted to the base shaft;
an outer arm having a proximal end and a distal end, the proximal end of the outer arm being rotatably mounted to the distal end of the inner arm; and
an end arm having a proximal end and a distal end, the end arm being axially translatably connected to the distal end of the outer arm.

9. The dual arm robot according to claim 8 ,
wherein the first SCARA arm assembly further includes a first gripper attached to the distal end of the end arm, the first gripper being rotatable relative to the outer arm,
the first gripper being configured with first and second fingers, and
the first and second fingers being configured to grip a first object therebetween.

10. The dual arm robot according to claim 9 , further comprising:
a first camera operatively associated with the first SCARA arm assembly, the first camera being configured to take a first image of the first object; and
a control device, the control device including:
a memory that is configured to store computer-readable instructions; and
a processor that is configured to execute the computer-readable instructions so as to:
cause the first camera to transmit the first image to the control device; and
move the first and second fingers to grip the first object based on the first image.

11. The dual arm robot according to claim 9 , further comprising:
a first detector operatively associated with the first SCARA arm assembly, the first detector being configured to detect a force for gripping the first object and to output a first detection result; and
a control device, the control device including:
a memory that is configured to store computer-readable instructions; and
a processor that is configured to execute the computer-readable instructions so as to:
cause the first detector to transmit the first detection result to the control device; and
move the first and second fingers to grip the first object based on the first detection result.

12. The dual arm robot according to claim 9 ,
wherein the second SCARA arm assembly further includes a second gripper attached to the distal end of the end arm, the second gripper being rotatable relative to the outer arm,
the second gripper being configured with third and fourth fingers, and
the third and fourth fingers being configured to grip a second object therebetween.

13. The dual arm robot according to claim 12 , further comprising:
a first ca

Assignees

• Seiko Epson Corp

Inventors

• Yamaguchi Yukihiro
• Kosuge Kazuhiro
• Hirata Yasuhisa
• Kaisumi Aya

Classifications

• B25J9/043 Primary

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

• B25J15/08 Primary

  having finger members (B25J15/02, B25J15/04 take precedence) · CPC title

• Y10S901/27

  Arm part · CPC title

• B25J9/0096

  co-operating with a working support, e.g. work-table · CPC title

• Y10S901/50

  Miscellaneous · CPC title