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US 10,220,515 B2Granted
Robot and control method for robot
AssigneeSeiko Epson Corporation
InventorsKenichi Maruyama, Ryuichi Okada, Sota Yamamoto, Toshio Tanaka
Life of this patent
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Abstract
A robot includes a first arm and a second arm. The robot molds a box body including a first plate body, a second plate body, a third plate body, and a fourth plate body, the first plate body and the second plate body being coupled in a first part, the second plate body and the third plate body being coupled in a second part, the third plate body and the fourth plate body being coupled in a third part, and the fourth plate body and the first plate body being coupled in a fourth part.
Claims6
A robot comprising:
- a first arm having a first end effector with a first contact section;
- a second arm having a second end effector with a second contact section;
- a sensing device;
- a force sensor;
- and
- a controller configured to move the first arm and the second arm to form a box body including a first plate body, a second plate body, a third plate body, and a fourth plate body, the first plate body and the second plate body being coupled along a first edge, the second plate body and the third plate body being coupled along a second edge, the third plate body and the fourth plate body being coupled along a third edge, and the fourth plate body and the first plate body being coupled along a fourth edge, wherein
- the controller is configured to move the first contact section on the first arm into contact with the fourth edge, and to move the second contact section on the second arm into contact with the second edge when the box body is in a first state,
- the controller is configured to apply torque to a joint of the robot to change the box body from the first state to a second state based on an output of the force sensor,
- the first state is a folded-up state having a configuration where a first angle formed by the first plate body and the second plate body at the first edge is larger than a second angle formed by the second plate body and the third plate body at the second edge,
- the second state has a configuration where the first angle formed by the first plate body and the second plate body is less than the first angle formed by the first plate body and the second plate body in the first state,
- the sensor is configured to detect the first angle and the second angle, and
- the controller is configured to apply a pushing force with the first arm into the fourth edge to move the fourth edge in a first direction extending from the third plate body to the first plate body and in a second direction extending from the third edge to the second edge in order to change the box body from the first state to the second state when the first contact section contacts the fourth edge and the second contact section contacts the second edge.
9 more elements
A control method for a robot, the control method comprising:
- molding, by controlling a first arm and a second arm of a robot, a box body including a first plate body, a second plate body, a third plate body, and a fourth plate body, the first plate body and the second plate body being coupled along a first edge, the second plate body and the third plate body being coupled along a second edge, the third plate body and the fourth plate body being coupled along a third edge, and the fourth plate body and the first plate body being coupled along a fourth edge;
- detecting, by a sensor, a first angle formed by the first plate body and the second plate body at the first edge and a second angle formed by the second plate body and the third plate body at the second edge;
- moving, by a controller, a first contact section on the first arm into contact with the fourth edge and moving, by the controller, a second contact section on the second arm into contact with the second edge when the box body is in a first state;
- applying, by the controller, a torque to a joint of the robot to change the box body from the first state to a second state based on an output of a force sensor;
- and
- applying, by the controller, a pushing force with the first arm into the fourth edge to move the fourth edge in a first direction extending from the third plate body to the first plate body and in a second direction extending from the third edge to the second edge in order to change the box body from the first state to the second state when the first contact section contacts the fourth edge and the second contact section contacts the second edge, wherein
- the first state is a folded-up state having a configuration where the first angle is larger than the second angle, and
- the second state has a configuration where the first angle is less than the first angle in the first state.
5 more elements
Dependencies are inferred from the claim text.