Robot and method of operating the same

Patent metadata

Field	Value
Publication number	US-2019193277-A1
Application number	US-201716327678-A
Country	US
Kind code	A1
Filing date	Aug 29, 2017
Priority date	Aug 31, 2016
Publication date	Jun 27, 2019
Grant date	—

Abstract

A robot is provided which includes a first arm provided with a first holding part having a contact surface formed so as to conform to the shape of an outer circumferential surface of a cylindrical workpiece, and a second arm provided with a second holding part formed into one of a plate shape and a bar shape.

First claim

1 . A robot, comprising:
a first arm provided with a first holding part having a contact surface formed so as to conform to the shape of an outer circumferential surface of a cylindrical workpiece; and a second arm provided with a second holding part formed into one of a plate shape and a bar shape.

2 . The robot of claim 1 , wherein the contact surface of the first holding part is formed so as to be inclined from one end to the other end.

3 . The robot of claim 1 , wherein the contact surface of the first holding part is provided with an elastic member.

4 . The robot of claim 1 , wherein a tip-end part of the second holding part is formed in a tapered shape so that the thickness is reduced toward a tip end.

5 . The robot of claim 1 , wherein a protrusion is formed in the second holding part.

6 . The robot of claim 5 , wherein the second holding part is formed in a plate shape, and
wherein the protrusion is formed so as to conform to the shape of an opening part of the cylindrical workpiece when seen in a normal direction of a principal surface of the second holding part.

7 . The robot of claim 1 , further comprising a control device configured to operate the first arm so that the contact surface of the first holding part contacts the outer circumferential surface of the cylindrical workpiece, operate the second arm so that the second holding part contacts an opening part of the cylindrical workpiece, and then operate at least one of the first arm and the second arm so that the first holding part and the second holding part approach each other.

8 . A method of operating a robot having a first arm and a second arm, the first arm being provided with a first holding part having a contact surface formed so as to conform to the shape of an outer circumferential surface of a cylindrical workpiece, and the second arm being provided with a second holding part formed into one of a plate shape and a bar shape, the method comprising:
(A) operating the first arm so that the contact surface of the first holding part contacts the outer circumferential surface of the cylindrical workpiece; (B) operating the second arm so that the second holding part contacts an opening part of the cylindrical workpiece; and (C) operating at least one of the first arm and the second arm so that the first holding part and the second holding part approach each other after performing the (A) and (B).

9 . The method of claim 8 , wherein the contact surface of the first holding part is formed so as to be inclined from one end to the other end.

10 . The method of claim 8 , wherein the contact surface of the first holding part is provided with an elastic member.

11 . The method of claim 1 , wherein a tip-end part of the second holding part is formed in a tapered shape so that the thickness is reduced toward a tip end.

12 . The method of claim 1 , wherein a protrusion is formed in the second holding part.

13 . The method of claim 12 , wherein the second holding part is formed in a plate shape, and
wherein the protrusion is formed so as to conform to the shape of the opening part of the cylindrical workpiece when seen in a normal direction of a principal surface of the second holding part.

14 . The method of claim 12 , wherein the (B) includes (B 1 ) operating the second arm so that the protrusion of the second holding part slides on the opening part of the cylindrical workpiece.

15 . The method of claim 12 , wherein the (C) includes (C 1 ) operating the second arm so that an upper surface of the protrusion of the second holding part contacts an inner circumferential surface of the opening part of the cylindrical workpiece.

Assignees

• Kawasaki Heavy Ind Ltd

Inventors

• Bando Kenji
• Hirata Kazunori

Classifications

• B25J9/1682

  Dual arm manipulator; Coordination of several manipulators · CPC title

• B25J5/007

  mounted on wheels · CPC title

• B25J9/0093

  co-operating with conveyor means · CPC title

• B25J13/02 Primary

  Hand grip control means {(handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214)} · CPC title

• B25J15/0038

  Cylindrical gripping surfaces · CPC title