Transferring system and method of operating the same

Patent metadata

Field	Value
Publication number	US-2019344436-A1
Application number	US-201816482208-A
Country	US
Kind code	A1
Filing date	Jan 26, 2018
Priority date	Jan 30, 2017
Publication date	Nov 14, 2019
Grant date	—

Abstract

A transferring system includes a robot including a first arm having a first grip part and a second arm having a second grip part, a transferring device including a pair of to-be-gripped parts a pair of holding parts configured to hold a workpiece, and an elevator configured to ascend and descend the holding part, and a control device configured to control the robot and the transferring device. The control device operates the elevator so that the to-be-gripped parts move to a first position that is a position at which the first grip part or the second grip part is able to grip the to-be-gripped part, when causing the pair of holding parts to hold the workpiece.

First claim

1 . A transferring system, comprising:
a robot including a first arm having a first grip part and a second arm having a second grip part; a transferring device including a pair of to-be-gripped parts, a pair of holding parts configured to hold a workpiece, and an elevator configured to ascend and descend the holding part; and a control device configured to control the robot and the transferring device, wherein the control device operates the elevator so that the to-be-gripped parts move to a first position that is a position at which the first grip part or the second grip part is able to grip the to-be-gripped parts, when causing the pair of holding parts to hold the workpiece.

2 . The transferring system of claim 1 , wherein the control device operates the robot so that the first grip part grips one of the to-be-gripped parts, the second grip part grips the to-be-other grip part, and the pair of holding parts then hold and transfer the workpiece.

3 . The transferring system of claim 2 , wherein the control device operates the robot so that the pair of holding parts move so as to oppose to each other on both sides of the workpiece, and then scoop up the workpiece.

4 . The transferring system of claim 2 , wherein the control device operates the robot so that the hold of the to-be-gripped part is released after the workpiece is transferred, and then operates the elevator so that the to-be-gripped part moves to a second position that is an evacuating position of the to-be-gripped part.

5 . A method of operating a transferring system provided with a robot including a first arm having a first grip part and a second arm having a second grip part, the transferring system being further provided with a transferring device including a pair of to-be-gripped parts, a pair of holding parts configured to hold a workpiece, and an elevator configured to ascend and descend the holding parts, the method comprising the steps of:
(A) operating the elevator so that the to-be-gripped parts move from a first position that is an evacuating position of the to-be-gripped part to a second position that is a position at which one of the first grip part and the second grip part is able to grip the to-be-gripped part.

6 . The method of claim 5 , further comprising (B) operating the robot so that the first grip part grips one of the to-be-gripped parts, the second grip part grips the to-be-other grip part, and the pair of holding parts then hold and transfer the workpiece.

7 . The method of claim 6 , wherein (B) includes causing the robot to operate the first arm and the second arm so that the pair of holding parts oppose to each other on both sides of the workpiece, and then scoop up the workpiece.

8 . The method of claim 6 , further comprising (C), after (B), operating the robot so that the hold of the to-be-gripped part is released, and then operating the elevator so that the to-be-gripped part moves to a second position that is an evacuating position of the to-be-gripped part.

Assignees

• Kawasaki Heavy Ind Ltd

Inventors

• Hashimoto Yasuhiko
• Bando Kenji
• Hirata Kazunori

Classifications

• G05B2219/39109

  Dual arm, multiarm manipulation, object handled in cooperation · CPC title

• B25J9/1682

  Dual arm manipulator; Coordination of several manipulators · CPC title

• B25J9/0093

  co-operating with conveyor means · CPC title

• B25J9/0087 Primary

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

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title