# US 11,027,418 B2 · Robot and working method by the robot

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 11,027,418 B2
- Document ID: US11027418B2
- Status: Granted
- Kind: B2
- Application number: 15/776,430
- Filed: 2016-11-11
- Published: 2018-11-15
- Granted: 2021-06-08
- Earliest claimed: 2015-11-16
- Assignees: Kawasaki Jukogyo Kabushiki Kaisha
- Applicants: Kawasaki Jukogyo Kabushiki Kaisha
- Inventors: Shogo Hasegawa; Satoru Hibino; Hideshi Yamane; Hiroyuki Mizumoto; Kenji Bando; Daichi Himekawa; Junichi Matsuoka; Tatsuhiro Uto; Hiroki Kokushi; Soichi Tamada; Akihiro Haneda; Yukio Iwasaki
- Web page: https://patentgrep.com/patent/US11027418B2

## CPC

- B25J 9/0087: {Dual arms (double SCARA arms B25J9/043)}
- B25J 9/0093: {co-operating with conveyor means}
- B25J 9/0096: {co-operating with a working support, e.g. work-table}
- B25J 9/043: {double selective compliance articulated robot arms [SCARA]}
- B25J 9/162: {Mobile manipulator, movable base with manipulator arm mounted on it}
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})

## 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.

## Claims

### Claim 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.

### Claim 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.