Robot and crane cooperative work system
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorYasuhiko Hashimoto
Life of this patent
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Abstract
A robot and crane cooperative work system, includes a robot including a hand and an arm which are capable of treating a workpiece or to which a tool is mountable; and a crane which moves the workpiece or the robot, while suspending the workpiece or the robot by the crane, the robot treats the workpiece or the robot in such a manner that the robot operates the hand and the arm to attach the workpiece or the robot to the crane or detach the workpiece or the robot from the crane, the crane moves the workpiece or the robot, and the robot processes the workpiece.
Claims8
A robot and crane cooperative work system for use with a workpiece including an engagement section and a tool, the robot and crane cooperative work system comprising:
- a robot including an engagement section, a hand, an arm, a camera mounted to the hand or the arm, and a robot controller circuit configured to control an operation of the arm and an operation of the hand, the hand and the arm of the robot being configured to manipulate the workpiece and attach to the tool;
- and
- a crane including:
- a suspending unit which is engageable with the engagement sections of the workpiece and the robot;
- a movement mechanism which moves up and down the suspending unit and moves the suspending unit horizontally;
- and a crane controller circuit which is provided separately from the robot controller circuit and controls an operation of the movement mechanism, the crane being configured to:
- (i) move the workpiece while the workpiece is suspended, and (ii) move the robot while the robot is suspended, wherein:
- the engagement section of the robot is engageable with the crane and is configured to bear a load of the robot suspended by the crane,
- the robot controller circuit is configured to:
- control the operation of the arm and the operation of the hand;
- process an image taken by the camera to obtain the position of the engagement section of the workpiece;
- obtain positions of the engagement sections of the workpiece and the robot;
- obtain an actual position of the suspending unit of the crane bar processing the image taken by the camera;
- move the hand to the obtained actual position, at which the suspending unit is located, and cause the hand to hold the suspending unit;
- move the hand to guide the suspending unit held by the hand to a position set based on the obtained position of the engagement section of the workpiece, and attach the suspending unit to the engagement section of the workpiece;
- and
- move the hand to guide the suspending unit held by the hand to a position set based on the obtained position of the engagement section of the robot, and attach the suspending unit to the engagement section of the robot, and
- the robot is configured to process the workpiece using the tool.
Dependencies are inferred from the claim text.