Robot and working method by the robot

Patent metadata

Field	Value
Publication number	US-11027418-B2
Application number	US-201615776430-A
Country	US
Kind code	B2
Filing date	Nov 11, 2016
Priority date	Nov 16, 2015
Publication date	Jun 8, 2021
Grant date	Jun 8, 2021

Abstract

A robot and a working method by the robot is capable of favorably carrying out a specific work without requiring a jig for fixing an object, such as a workpiece etc., a device for adjusting the posture of the object, etc. One example of the robot includes a first robotic arm having at a tip end a hand part according to a specific work to be performed to an object, and a second robotic arm having at a tip end a hand part according to an assisting work to assist the specific work. The first robotic arm is configured to perform the specific work to the object. The second robotic arm is configured to perform the assisting work to regulate a movement of the object in a given direction, when the first robotic arm performs the specific work.

First claim

What is claimed is:

1. A robot, comprising:
a first robotic arm having at a tip end a hand part according to a specific work to be performed to a box of which an upper surface is opened and in which one or more non-self-standing plate-shaped articles are accommodated; and
a second robotic arm having at a tip end a hand part according to an assisting work to assist the specific work, and being configured to respectively contact two L-shaped regulating members with an upper surface and a side surface of the non-self-standing plate-shaped article,
wherein the second robotic arm is configured to perform, by respectively contacting the two L-shaped regulating members, for preventing that the non-self-standing plate-shaped article in the box spread in a given direction in a horizontal plane, with the upper surface and the side surface of the non-self-standing plate-shaped article, the assisting work to regulate a movement of the non-self-standing plate-shaped article in the given direction in the horizontal plane and secure a given space in the box, and
wherein the first robotic arm is configured to perform the specific work of:
(i) gripping the non-self-standing plate-shaped article, conveyed by a conveyor, with a grip device attached to the first robotic arm;
(ii) positioning the grip device between the two regulating members when viewed from the side surface of the non-self-standing plate-shaped article whose movement in the given direction in the horizontal plane is being regulated by the two regulating members; and
(iii) storing the non-self-standing plate-shaped article at a given position in the space inside the box.

2. A working method by a robot, the robot comprising a first robotic arm having at a tip end a hand part according to a specific work to be performed to a box of which an upper surface is opened and in which one or more non-self-standing plate-shaped articles are accommodated and a second robotic arm having at a tip end a hand part according to an assisting work to assist the specific work, the method comprising:
respectively contacting, by the second robotic arm, two L-shaped regulating members with an upper surface and a side surface of the non-self-standing plate-shaped article;
performing, by the second robotic arm, the assisting work to regulate a movement of the non-self-standing plate-shaped article in a given direction in a horizontal plane and secure a given space in the box by respectively contacting the two L-shaped regulating members, for preventing that the non-self-standing plate-shaped article in the box spread in the given direction in the horizontal plane, with the upper surface and the side surface of the non-self-standing plate-shaped article; and
performing, by the first robotic arm, the specific work of:
(i) gripping the non-self-standing plate-shaped article, conveyed by a conveyor, with a grip device attached to the first robotic arm;
(ii) positioning the grip device between the two regulating members when viewed from the side surface of the non-self-standing plate-shaped article whose movement in the given direction in the horizontal plane is being regulated by the two regulating members; and
(iii) storing the non-self-standing plate-shaped article at a given position in the space inside the box.

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 Soichi
• Haneda Akihiro
• Iwasaki Yukio

Classifications

• B25J9/043

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

• B25J9/0093

  co-operating with conveyor means · CPC title

• B25J9/0096

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

• B25J9/1005

  comprising adjusting means · CPC title

• B25J9/0087 Primary

  Dual arms (double SCARA arms B25J9/043) · CPC title